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Added NetParams for Feeder #110

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Added NetParams for Feeder #110

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2 changes: 2 additions & 0 deletions src/main/java/frc/robot/NetParams.java
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Original file line number Diff line number Diff line change
Expand Up @@ -6,8 +6,10 @@ public NetParams()
{
turretAngle = 0;
flywheelSpeed = 70;
feederRate = 1;
}

public double turretAngle;
public double flywheelSpeed;
public double feederRate;
}
4 changes: 2 additions & 2 deletions src/main/java/frc/robot/RobotContainer.java
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Expand Up @@ -79,7 +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(() -> _params.flywheelSpeed));
_driver.button(1).whileTrue(_shooter.manualShootCmd(() -> _params.flywheelSpeed, () -> _params.feederRate, () -> 1));
// _driver.button(2).whileTrue(Commands.startEnd(() -> _driveMultiplier =
// DriveConstants.SLOW_MODE_SCALE, () -> _driveMultiplier =
// DriveConstants.FULL_SPEED_SCALE));
Expand All @@ -102,7 +102,7 @@ private void configureBindings()
_operator.leftBumper().whileTrue(_intake.runRollersReverse());
_operator.rightTrigger().whileTrue(_intake.jiggle());
_operator.a().onTrue(Commands.runOnce(_shooter::stopManualFlywheel));
_operator.rightBumper().whileTrue(_shooter.runManualFeeder());
_operator.rightBumper().whileTrue(_shooter.runManualFeeder(() -> _params.feederRate, () -> 1));
_operator.povDown().onTrue(_intake.getRetractCmd());
_operator.povUp().onTrue(_intake.getExtendCmd());

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10 changes: 9 additions & 1 deletion src/main/java/frc/robot/subsystems/shooter/Feeder.java
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,7 @@ public class Feeder
private Voltage _feederMotorVoltage = Volts.of(0.0);
@Logged
private boolean _enabled = false;
private Voltage _feederMotorRate = Volts.of(0);

public Feeder()
{
Expand All @@ -34,6 +35,8 @@ public Feeder()
config.inverted(false).idleMode(IdleMode.kBrake).smartCurrentLimit((int)ShooterConstants.FEEDER_CURRENT_LIMIT.in(Amps)).voltageCompensation(GeneralConstants.MOTOR_VOLTAGE.in(Volts));

_feederMotor.configure(config, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters);

_feederMotorRate = ShooterConstants.FEEDER_VOLTAGE;
}

public void periodic()
Expand All @@ -44,10 +47,15 @@ public void periodic()
public void set(boolean on)
{
_enabled = on;
Voltage targetVoltage = on ? ShooterConstants.FEEDER_VOLTAGE : Volts.zero();
Voltage targetVoltage = on ? _feederMotorRate : Volts.zero();
_feederMotor.setVoltage(targetVoltage.in(Volts));
}

public void setRate(double rate)
{
_feederMotorRate = GeneralConstants.MOTOR_VOLTAGE.times(rate);
}

private class FeederHook extends MotorHook
{
@Override
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17 changes: 14 additions & 3 deletions src/main/java/frc/robot/subsystems/shooter/Shooter.java
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Expand Up @@ -156,11 +156,12 @@ public Command setFlywheelVelocity(AngularVelocity velocity)
});
}

public Command runManualFeeder()
public Command runManualFeeder(DoubleSupplier rate, DoubleSupplier rotation)
{
return startEnd(() ->
{
beginManualControl(false);
_feeder.setRate(rate.getAsDouble());
_feeder.set(true);
setRotorEnabled(true);
}, () ->
Expand Down Expand Up @@ -206,12 +207,17 @@ public Command setTurretAngleCmd(DoubleSupplier angle)
return runOnce(() -> setManualTurretAngleCommand(Degrees.of(angle.getAsDouble())));
}

public Command manualShootCmd(DoubleSupplier speed)
public Command setManualFeederRate(DoubleSupplier rate)
{
return runOnce(() -> setManualFeederCommand(rate.getAsDouble()));
}

public Command manualShootCmd(DoubleSupplier speed, DoubleSupplier rate, DoubleSupplier rotation)
{
// @formatter:off
return Commands.parallel(
Commands.startEnd(() -> setManualFlywheel(speed.getAsDouble()), () -> stopManualFlywheel()),
runManualFeeder()
runManualFeeder(rate, rotation)
);
// @formatter:on
}
Expand Down Expand Up @@ -352,6 +358,11 @@ private void setManualTurretAngleCommand(Angle angle)
_turret.setManualAngle(angle);
}

private void setManualFeederCommand(double rate)
{
_feeder.setRate(rate);
}

public void stopShooter()
{
_state = ShooterState.Idle;
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