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Network Control Variables for Robot #109

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Merged
woolstar merged 1 commit into from
Jun 23, 2026
Merged

Network Control Variables for Robot #109

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6 changes: 3 additions & 3 deletions src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -277,9 +277,9 @@ public static class ShooterConstants
public static final Current FEEDER_CURRENT_LIMIT = Amps.of(60);
public static final Voltage FEEDER_VOLTAGE = Volts.of(6);
public static final Current ROTOR_CURRENT_LIMIT = Amps.of(80);
public static final Voltage ROTOR_FAST_VOLTAGE = Volts.of(3.0);
public static final Voltage ROTOR_MID_VOLTAGE = Volts.of(1.5);
public static final Voltage ROTOR_RETRACTED_VOLTAGE = Volts.of(1.0);
public static final Voltage ROTOR_FAST_VOLTAGE = Volts.of(8.0);
public static final Voltage ROTOR_MID_VOLTAGE = Volts.of(8.0);
public static final Voltage ROTOR_RETRACTED_VOLTAGE = Volts.of(8.0);

// TODO: Tune these values with testing!
public static AngularVelocity getFlywheelSpeedForDistance(Distance distance)
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13 changes: 13 additions & 0 deletions src/main/java/frc/robot/NetParams.java
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@@ -0,0 +1,13 @@
package frc.robot;

public class NetParams
{
public NetParams()
{
turretAngle = 0;
flywheelSpeed = 70;
}

public double turretAngle;
public double flywheelSpeed;
}
18 changes: 7 additions & 11 deletions src/main/java/frc/robot/RobotContainer.java
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Expand Up @@ -13,6 +13,7 @@
import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.units.measure.Dimensionless;
import edu.wpi.first.units.measure.LinearVelocity;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.button.CommandJoystick;
Expand All @@ -24,6 +25,7 @@
import frc.robot.subsystems.intake.Intake;
import frc.robot.subsystems.shooter.Shooter;
import frc.robot.util.MeasureUtil;
import frc.robot.NetParams;

@Logged
public class RobotContainer
Expand All @@ -39,7 +41,8 @@ public class RobotContainer
private final Shooter _shooter = new Shooter(_drive::getState, _intake::isExtended, _intake::isRetracted);
private final Autos _autos = new Autos(_drive, _shooter, _intake);
// private Dimensionless _driveMultiplier = DriveConstants.FULL_SPEED_SCALE;
private double _manualFlywheelRPM = MANUAL_FLYWHEEL_START_RPM;
private double _manualFlywheelRPM = MANUAL_FLYWHEEL_START_RPM;
private NetParams _params;

public RobotContainer()
{
Expand All @@ -66,12 +69,6 @@ private SwerveRequest.FieldCentric getFieldCentricRequest()
return _fieldCentric.withVelocityX(getDrive()).withVelocityY(getStrafe()).withRotationalRate(getRotate());
}

private void setManualFlywheelRPM(double rpm)
{
_manualFlywheelRPM = Math.max(0.0, rpm);
_shooter.setManualFlywheel(_manualFlywheelRPM);
}

private void configureBindings()
{
_drive.setDefaultCommand(_drive.applyRequest(this::getFieldCentricRequest));
Expand All @@ -82,7 +79,7 @@ private void configureBindings()
// _driver.button(1).whileTrue(Commands.parallel(_shooter.shoot(),
// Commands.startEnd(() -> _drive.disableVisionPoseCorrection(true), () ->
// _drive.disableVisionPoseCorrection(false))));
_driver.button(1).whileTrue(_shooter.manualShootCmd(() -> _manualFlywheelRPM));
_driver.button(1).whileTrue(_shooter.manualShootCmd(() -> _params.flywheelSpeed));
// _driver.button(2).whileTrue(Commands.startEnd(() -> _driveMultiplier =
// DriveConstants.SLOW_MODE_SCALE, () -> _driveMultiplier =
// DriveConstants.FULL_SPEED_SCALE));
Expand All @@ -104,13 +101,12 @@ private void configureBindings()
_operator.leftTrigger().whileTrue(_intake.runRollersForward());
_operator.leftBumper().whileTrue(_intake.runRollersReverse());
_operator.rightTrigger().whileTrue(_intake.jiggle());
_operator.y().onTrue(Commands.runOnce(() -> setManualFlywheelRPM(MANUAL_FLYWHEEL_START_RPM)));
_operator.x().onTrue(Commands.runOnce(() -> setManualFlywheelRPM(_manualFlywheelRPM - MANUAL_FLYWHEEL_STEP_RPM)));
_operator.b().onTrue(Commands.runOnce(() -> setManualFlywheelRPM(_manualFlywheelRPM + MANUAL_FLYWHEEL_STEP_RPM)));
_operator.a().onTrue(Commands.runOnce(_shooter::stopManualFlywheel));
_operator.rightBumper().whileTrue(_shooter.runManualFeeder());
_operator.povDown().onTrue(_intake.getRetractCmd());
_operator.povUp().onTrue(_intake.getExtendCmd());

SmartDashboard.putData(_shooter.setTurretAngleCmd(() -> _params.turretAngle));
}

public Command getAutonomousCommand()
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5 changes: 5 additions & 0 deletions src/main/java/frc/robot/subsystems/shooter/Shooter.java
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Expand Up @@ -201,6 +201,11 @@ public Command setManualTurretAngle(Angle angle)
return runOnce(() -> setManualTurretAngleCommand(angle));
}

public Command setTurretAngleCmd(DoubleSupplier angle)
{
return runOnce(() -> setManualTurretAngleCommand(Degrees.of(angle.getAsDouble())));
}

public Command manualShootCmd(DoubleSupplier speed)
{
// @formatter:off
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