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5/29 Testing Changes #15

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12 changes: 6 additions & 6 deletions src/main/java/frc/robot/DeviceIDs.java
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Expand Up @@ -36,22 +36,22 @@ public static class drivetrainIDs {
public static final int BACK_RIGHT_ABSOLUTE_ENCODER_CAN = 3;
}

// Rotor and Motion IDs: 10~29
public static class rotorIDs {
public static final int SERIALIZER_ROLLERS_CAN = 10;
public static final int INTAKE_ROLLERS_WEST_CAN = 11;
public static final int INTAKE_ROLLERS_EAST_CAN = 18;
public static final int TRANSFER_ROLLERS_WEST_CAN = 13;
public static final int TRANSFER_ROLLERS_EAST_CAN = 12;
public static final int FLYWHEEL_TOP_WEST_CAN = 15;
public static final int SHOOTER_TRANSFER_EAST_CAN = 12;
public static final int SHOOTER_TRANSFER_WEST_CAN = 13;

public static final int FLYWHEEL_TOP_EAST_CAN = 14;
public static final int FLYWHEEL_BOTTOM_WEST_CAN = 17;
public static final int FLYWHEEL_TOP_WEST_CAN = 15;
public static final int FLYWHEEL_BOTTOM_EAST_CAN = 16;
public static final int FLYWHEEL_BOTTOM_WEST_CAN = 17;
}

// Motion Profile IDs: 30~49
public static class motionIDs {
public static final int HOOD_PIVOT_CAN = 32;
public static final int INTAKE_PIVOT_CAN = 30;
public static final int HOOD_CAN = 32;
}
}
12 changes: 10 additions & 2 deletions src/main/java/frc/robot/RobotContainer.java
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@@ -1,3 +1,4 @@

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
Expand All @@ -21,8 +22,10 @@
import edu.wpi.first.wpilibj2.command.DeferredCommand;
import frc.robot.DeviceIDs.controllerIDs;
import frc.robot.commands.AddVisionMeasurement;
import frc.robot.commands.ResetPose;
import frc.robot.commands.states.Intaking;
import frc.robot.commands.states.RetractIntake;
import frc.robot.commands.states.Shooting;
import frc.robot.constants.ConstSystem;
import frc.robot.constants.ConstSystem.constControllers;
import frc.robot.subsystems.DriverStateMachine;
Expand Down Expand Up @@ -57,13 +60,15 @@ public class RobotContainer {
private final StateMachine loggedStateMachineInstance = stateMachineInstance;
public static final RobotPoses robotPose = new RobotPoses();
private final RobotPoses loggedRobotPose = robotPose;
public static final Intaking intakingInstance = new Intaking();
public static final RetractIntake RetractingInstance = new RetractIntake();
public static final Vision visionInstance = new Vision();
private final Vision loggedVisionInstance = visionInstance;
public static final Telemetry telemetryInstance = new Telemetry();
private final Telemetry loggedTelemetryInstance = telemetryInstance;

public static final Intaking intakingInstance = new Intaking();
public static final RetractIntake RetractingInstance = new RetractIntake();
public static final Shooting shooting = new Shooting();

Command TRY_NONE = Commands.deferredProxy(
() -> stateMachineInstance.tryState(RobotState.NONE));

Expand Down Expand Up @@ -103,6 +108,9 @@ private void configDriverBindings() {
.whileTrue(intakingInstance);
conDriver.btn_LeftTrigger
.whileTrue(RetractingInstance);
conDriver.btn_RightBumper
.whileTrue(shooting);
conDriver.btn_North.whileTrue(new ResetPose());
// Example Pose Drive
conDriver.btn_X
.whileTrue(EXAMPLE_POSE_DRIVE)
Expand Down
5 changes: 2 additions & 3 deletions src/main/java/frc/robot/commands/states/Intaking.java
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Expand Up @@ -18,19 +18,18 @@ public Intaking() {
@Override
public void initialize() {
RobotContainer.motionInstance.setIntakePivotAngle(ConstMotion.INTAKE_PIVOT_DEPLOY);
RobotContainer.rotorsInstance.setIntakeRollersSpeed(0.5);

@TaylerUva TaylerUva May 30, 2026

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why hardcoded? should be in constants

}

// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
RobotContainer.rotorsInstance.setIntakeRollersSpeeds(ConstRotors.INTAKE_ROLLERS_SPEED);

}

// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
RobotContainer.rotorsInstance.setIntakeRollersSpeeds(ConstRotors.STOP);
RobotContainer.rotorsInstance.setIntakeRollersSpeeds(ConstRotors.STOP_ALL);

}

Expand Down
2 changes: 1 addition & 1 deletion src/main/java/frc/robot/commands/states/Shooting.java
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Expand Up @@ -42,7 +42,7 @@ public void execute() {
public void end(boolean interrupted) {
RobotContainer.rotorsInstance.setFlywheelSpeeds(ConstRotors.STOP_ALL);
RobotContainer.rotorsInstance.setTransferRollersSpeeds(ConstRotors.STOP_ALL);
RobotContainer.rotorsInstance.setSerializerRollersSpeed(ConstRotors.STOP_ALL);
RobotContainer.rotorsInstance.setSerializerRollersSpeed(ConstRotors.STOP);

}

Expand Down
16 changes: 8 additions & 8 deletions src/main/java/frc/robot/constants/ConstDrivetrain.java
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Expand Up @@ -56,17 +56,17 @@ public class ConstDrivetrain {
public static final Time ROTATION_DELAY = Seconds.of(0.5);

// TODO: Swoffsets
public static final Angle FRONT_LEFT_ABS_ENCODER_OFFSET = Rotations.of(-0.178466796875);
public static final Angle FRONT_RIGHT_ABS_ENCODER_OFFSET = Rotations.of(-0.498779296875);
public static final Angle BACK_LEFT_ABS_ENCODER_OFFSET = Rotations.of(-0.459716796875);
public static final Angle BACK_RIGHT_ABS_ENCODER_OFFSET = Rotations.of(-0.31201171875);
public static final Angle FRONT_LEFT_ABS_ENCODER_OFFSET = Rotations.of(0.229248046875);
public static final Angle FRONT_RIGHT_ABS_ENCODER_OFFSET = Rotations.of(0.406005859375);
public static final Angle BACK_LEFT_ABS_ENCODER_OFFSET = Rotations.of(0.476806640625);
public static final Angle BACK_RIGHT_ABS_ENCODER_OFFSET = Rotations.of(-0.144775390625);

public static class PRACTICE_BOT {
// TODO: Swoffsets
public static final Angle FRONT_LEFT_ABS_ENCODER_OFFSET = Rotations.of(-0.199462890625);
public static final Angle FRONT_RIGHT_ABS_ENCODER_OFFSET = Rotations.of(0.474365234375);
public static final Angle BACK_LEFT_ABS_ENCODER_OFFSET = Rotations.of(-0.447265625);
public static final Angle BACK_RIGHT_ABS_ENCODER_OFFSET = Rotations.of(-0.3193359375);
public static final Angle FRONT_LEFT_ABS_ENCODER_OFFSET = Rotations.of(0.229248046875);
public static final Angle FRONT_RIGHT_ABS_ENCODER_OFFSET = Rotations.of(0.406005859375);
public static final Angle BACK_LEFT_ABS_ENCODER_OFFSET = Rotations.of(0.476806640625);
public static final Angle BACK_RIGHT_ABS_ENCODER_OFFSET = Rotations.of(-0.144775390625);
}

public static final double SLOW_MODE_MULTIPLIER = 0.5;
Expand Down
10 changes: 4 additions & 6 deletions src/main/java/frc/robot/constants/ConstRotors.java
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Expand Up @@ -20,12 +20,13 @@ public class ConstRotors {
public static final TalonFXConfiguration TRANSFER_ROLLERS_WEST_CONFIGURATION = new TalonFXConfiguration();
public static final TalonFXConfiguration FLYWHEEL_EAST_CONFIGURATION = new TalonFXConfiguration();
public static final TalonFXConfiguration FLYWHEEL_WEST_CONFIGURATION = new TalonFXConfiguration();
public static final AngularVelocity INTAKE_ROLLERS_SPEED = Units.RPM.of(3);
public static final AngularVelocity FLYWHEEL_SHOOTING_SPEED = Units.RPM.of(1000);
public static final AngularVelocity INTAKE_ROLLERS_SPEED = Units.RPM.of(1000);
public static final AngularVelocity FLYWHEEL_SHOOTING_SPEED = Units.RPM.of(3000);
public static final AngularVelocity INTAKE_ROLLER_SPEED = Units.RPM.of(2000);
public static final AngularVelocity INTAKE_TRANSFER_SPEED = Units.RPM.of(3000);
public static final AngularVelocity SERIALIZER_SHOOTING_SPEED = Units.RPM.of(4000);
public static final double SERIALIZER_SHOOTING_SPEED = 1;
public static final AngularVelocity STOP_ALL = Units.RPM.of(0);

@TaylerUva TaylerUva May 30, 2026

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not a good name

public static final double STOP = 0;

static {

Expand Down Expand Up @@ -83,7 +84,4 @@ public class ConstRotors {
TRANSFER_ROLLERS_WEST_CONFIGURATION.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;

}

public static final AngularVelocity STOP = Units.RPM.of(0);

}
2 changes: 1 addition & 1 deletion src/main/java/frc/robot/subsystems/Motion.java
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Expand Up @@ -19,7 +19,7 @@
public class Motion extends SubsystemBase {
/** Creates a new Motion. */
final TalonFX intakePivot = new TalonFX(DeviceIDs.motionIDs.INTAKE_PIVOT_CAN);
final TalonFX hoodPivot = new TalonFX(DeviceIDs.motionIDs.HOOD_PIVOT_CAN);
final TalonFX hoodPivot = new TalonFX(DeviceIDs.motionIDs.HOOD_CAN);

MotionMagicExpoVoltage hoodPivotMotionRequest = new MotionMagicExpoVoltage(0);
MotionMagicExpoVoltage intakePivotMotionRequest = new MotionMagicExpoVoltage(0);
Expand Down
13 changes: 9 additions & 4 deletions src/main/java/frc/robot/subsystems/Rotors.java
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Expand Up @@ -23,8 +23,8 @@ public class Rotors extends SubsystemBase {
final TalonFX serializerRollers = new TalonFX(rotorIDs.SERIALIZER_ROLLERS_CAN);
final TalonFX intakeRollersWest = new TalonFX(rotorIDs.INTAKE_ROLLERS_WEST_CAN);
final TalonFX intakeRollersEast = new TalonFX(rotorIDs.INTAKE_ROLLERS_EAST_CAN);
final TalonFX transferRollersWest = new TalonFX((rotorIDs.TRANSFER_ROLLERS_WEST_CAN));
final TalonFX transferRollersEast = new TalonFX((rotorIDs.TRANSFER_ROLLERS_EAST_CAN));
final TalonFX transferRollersWest = new TalonFX((rotorIDs.SHOOTER_TRANSFER_WEST_CAN));
final TalonFX transferRollersEast = new TalonFX((rotorIDs.SHOOTER_TRANSFER_EAST_CAN));
final TalonFX flywheelTopWest = new TalonFX((rotorIDs.FLYWHEEL_TOP_WEST_CAN));
final TalonFX flywheelTopEast = new TalonFX((rotorIDs.FLYWHEEL_TOP_EAST_CAN));
final TalonFX flywheelBottomWest = new TalonFX((rotorIDs.FLYWHEEL_BOTTOM_WEST_CAN));
Expand Down Expand Up @@ -77,8 +77,8 @@ public AngularVelocity getTransferRollersVelocity() {
return transferRollersEast.getVelocity().getValue();
}

public void setSerializerRollersSpeed(AngularVelocity speed) {
serializerRollers.setControl(serializerVelocityRequest.withVelocity(speed));
public void setSerializerRollersSpeed(Double speed) {
serializerRollers.set(speed);
}
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public void setIntakeRollersSpeeds(AngularVelocity speed) {
Expand Down Expand Up @@ -111,6 +111,11 @@ public boolean isFlyWheelAtSpeed(AngularVelocity tolerance) {

}

public void setIntakeRollersSpeed(double speed) {
intakeRollersWest.set(speed);
intakeRollersEast.setControl(intakeRollerEastFollower);
}
Comment on lines +114 to +117

@TaylerUva TaylerUva May 30, 2026

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Its following itself


@Override
public void periodic() {
// This method will be called once per scheduler run
Expand Down