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Created timer for robot agitation #61

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Merged
jaymendo670-png merged 9 commits into from
Jun 13, 2026
Merged

Created timer for robot agitation #61

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312f1e6
Created timer for robot agitation
FRCTeam3255-Shared-K1-10 Jun 13, 2026
9bace30
robot agitation
FRCTeam3255-Shared-K1-10 Jun 13, 2026
29a2c9d
intake agitation
FRCTeam3255-Shared-K1-10 Jun 13, 2026
ebcfdab
intake agitation
FRCTeam3255-Shared-K1-10 Jun 13, 2026
ed183ca
changed hasElasped to advancedIfElasped
FRCTeam3255-Shared-K1-10 Jun 13, 2026
c9574d0
removed unecessary comment
FRCTeam3255-Shared-K1-10 Jun 13, 2026
623cf3a
changed back advancedIfElapsed
FRCTeam3255-Shared-K1-10 Jun 13, 2026
89082df
removed unused imports in shooting
FRCTeam3255-Shared-K1-10 Jun 13, 2026
7081779
we replaced start with restart to ensure it starts at 0 seconds.
FRCTeam3255-Shared-K1-10 Jun 13, 2026
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20 changes: 19 additions & 1 deletion src/main/java/frc/robot/commands/states/Shooting.java
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@

package frc.robot.commands.states;

import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.RobotContainer;
import frc.robot.constants.ConstMotion;
Expand All @@ -12,6 +13,9 @@

public class Shooting extends Command {
/** Creates a new Shooting. */

private final Timer intakeAgitationTimer = new Timer();

public Shooting() {

// Use addRequirements() here to declare subsystem dependencies.
Expand All @@ -24,11 +28,24 @@ public void initialize() {
RobotContainer.stateMachineInstance.setRobotState((StateMachine.RobotState.SHOOTING));
RobotContainer.rotorsInstance.setTransferRollersSpeeds(ConstRotors.TRANSFER_ROLLERS_SPEED);
RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.SERIALIZER_SHOOTING_SPEED);
intakeAgitationTimer.restart();

}

// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if (!RobotContainer.motionInstance.getIntakePivotAngle().isNear(ConstMotion.RETRACT_INTAKE_PIVOT_ANGLE,
ConstMotion.INTAKE_PIVOT_TOLERANCE)
&& intakeAgitationTimer.hasElapsed(ConstMotion.INTAKE_PIVOT_AGITATION_TIME)) {
RobotContainer.motionInstance.setIntakePivotAngle(ConstMotion.RETRACT_INTAKE_PIVOT_ANGLE);
intakeAgitationTimer.restart();

} else if (intakeAgitationTimer.hasElapsed((ConstMotion.INTAKE_PIVOT_AGITATION_TIME))) {
RobotContainer.motionInstance.setIntakePivotAngle(ConstMotion.DEPLOY_INTAKE_PIVOT_ANGLE);
intakeAgitationTimer.restart();
}
Comment thread
TaylerUva marked this conversation as resolved.

}

// Called once the command ends or is interrupted.
Expand All @@ -38,7 +55,8 @@ public void end(boolean interrupted) {
RobotContainer.rotorsInstance.setTransferRollersPercentOutput(ConstRotors.STOP);
RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.STOP);
RobotContainer.motionInstance.setHoodPivotAngle(ConstMotion.HOOD_PIVOT_ANGLE_RETRACT);

RobotContainer.motionInstance.setIntakePivotAngle(ConstMotion.DEPLOY_INTAKE_PIVOT_ANGLE);
intakeAgitationTimer.stop();
}

// Returns true when the command should end.
Expand Down
3 changes: 3 additions & 0 deletions src/main/java/frc/robot/constants/ConstMotion.java
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Original file line number Diff line number Diff line change
Expand Up @@ -15,9 +15,12 @@

import edu.wpi.first.units.Units;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.Time;

/** Add your docs here. */
public class ConstMotion {
public static final Angle INTAKE_PIVOT_TOLERANCE = Degrees.of(1.0);
public static final Time INTAKE_PIVOT_AGITATION_TIME = Units.Seconds.of(1.0 / 3.0);
public static final TalonFXConfiguration INTAKE_PIVOT_CONFIGURATION = new TalonFXConfiguration();
public static final TalonFXConfiguration HOOD_PIVOT_CONFIGURATION = new TalonFXConfiguration();
public static final Angle DEPLOY_INTAKE_PIVOT_ANGLE = Degrees.of(125);
Expand Down
12 changes: 0 additions & 12 deletions src/main/java/frc/robot/subsystems/Motion.java
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Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,6 @@ public class Motion extends SubsystemBase {
Angle lastDesiredIntakePivotAngle = Degrees.zero();

private boolean hoodAtPostion = false;
private boolean intakePivotAtPosition = false;

public Motion() {
intakePivot.getConfigurator().apply(ConstMotion.INTAKE_PIVOT_CONFIGURATION);
Expand Down Expand Up @@ -80,17 +79,6 @@ public boolean isHoodPivotAtAngle(Angle tolerance) {
return hoodAtPostion;
}

public boolean isIntakePivotAtAngle(Angle tolerance) {
Angle lowerlim = lastDesiredIntakePivotAngle.minus(tolerance);
Angle upperlim = lastDesiredIntakePivotAngle.plus(tolerance);

Angle intakePivotAngle = getIntakePivotAngle();

intakePivotAtPosition = intakePivotAngle.gte(lowerlim)
&& intakePivotAngle.lte(upperlim);
return intakePivotAtPosition;
}

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