Create BaseZeroing command －_－b - #98
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Pull request overview
This PR adds a reusable BaseZeroing command intended to encapsulate the logic/state for zeroing a single CTRE TalonFX-driven mechanism within the robot command-based structure.
Changes:
- Introduces
BaseZeroingcommand with timer-based zeroing detection logic. - Adds SmartDashboard telemetry for rotor-velocity-at-zero checks.
- Adds lifecycle handling hooks via provided
BooleanSupplier/Consumer<Boolean>callbacks.
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| boolean deltaRotorVelocity = motor.getVelocity().getValue().minus(lastRotorVelocity) | ||
| .lte(Units.RotationsPerSecond.of(-0.5)); | ||
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| if (deltaRotorVelocity && lastRotorVelocity.lte(Units.RotationsPerSecond.of(0))) { | ||
| zeroingSuccess = true; | ||
| } else { | ||
| lastRotorVelocity = motor.getVelocity().getValue(); | ||
| } |
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| @Override | ||
| public boolean isFinished() { | ||
| boolean rotorVelocityIsZero = motor.getVelocity().getValue().isNear(Units.RotationsPerSecond.zero(), 0.01); | ||
| SmartDashboard.putBoolean("Zeroing/Pivot/Is Rotor Velocity Zero", rotorVelocityIsZero); | ||
| return zeroingSuccess && rotorVelocityIsZero; | ||
| } |
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| @Override | ||
| public void end(boolean interrupted) { | ||
| if (!interrupted) { | ||
| setHasZeroed.accept(true); | ||
| motor.setPosition(zeroedPosition); | ||
| System.out.println(name + " Zeroing Successful!!!! Yippee and hooray!!! :3"); | ||
| } else { | ||
| System.out.println(name + " was never zeroed :((( blame eli"); | ||
| } | ||
| } |
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| boolean rotorVelocityIsZero = motor.getVelocity().getValue().isNear(Units.RotationsPerSecond.zero(), 0.01); | ||
| SmartDashboard.putBoolean("Zeroing/Pivot/Is Rotor Velocity Zero", rotorVelocityIsZero); | ||
| return zeroingSuccess && rotorVelocityIsZero; |
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