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Shooter and Hood (#4)
* Buns placeholder * AdjustableHood * Shooter * HoodedShooterSupersystem * Global Constants Comment * Fixes + Magic Numbers * Apply Prettier format * Magic ahh numbers * Apply Prettier format * @PotmanNob your CI stuff is buns fr * Update src/main/java/frc/robot/Subsystems/AdjustableHood/AdjustableHood.java oops :( Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * More constants * Copilot Fix 1 Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Fixing buns CI stuff * Fixing requested changes * Apply Prettier format --------- Co-authored-by: github-actions <github-actions@github.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Co-authored-by: Otto Watson-Brown <ottowatsonbrown@icloud.com>
1 parent 92ad5a9 commit b79b4c0

19 files changed

+668
-8
lines changed

‎.github/scripts/constants.py‎

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@@ -61,7 +61,7 @@ def check_for_magic_numbers(file_path):
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def is_file_excused(file_path, project_root):
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filename = os.path.basename(file_path)
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if filename in excused_files:
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if filename in excused_files or 'constants' in filename.lower():
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return True
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relative_path = os.path.relpath(file_path, project_root)

‎src/main/java/frc/robot/GlobalConstants.java‎

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@@ -10,7 +10,7 @@ public enum RobotMode {
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SIM,
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} // No point in having replay tbh
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public static final RobotMode ROBOT_MODE = RobotBase.isReal() ? RobotMode.REAL : RobotMode.SIM; // Change this to TESTING or SIM for testing purposes
13+
public static final RobotMode ROBOT_MODE = RobotBase.isReal() ? RobotMode.REAL : RobotMode.SIM; // Change this to TESTING for testing purposes
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public static final double SIMULATION_PERIOD = 0.02;
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}

‎src/main/java/frc/robot/Subsystems/AdjustableHood/AdjustableHood.java‎

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package frc.robot.Subsystems.AdjustableHood;
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import static frc.robot.GlobalConstants.*;
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import static frc.robot.Subsystems.AdjustableHood.AdjustableHoodConstants.SUBSYSTEM_NAME;
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import edu.wpi.first.units.measure.Angle;
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import org.littletonrobotics.junction.Logger;
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import org.team7525.subsystem.Subsystem;
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public class AdjustableHood extends Subsystem<AdjustableHoodStates> {
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private AdjustableHoodIO io;
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private AdjustableHoodIOInputsAutoLogged inputs;
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private Angle dynamicSetpoint;
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private static AdjustableHood instance;
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public static AdjustableHood getInstance() {
18+
if (instance == null) {
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AdjustableHoodIO AdjustableHoodio =
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switch (ROBOT_MODE) {
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case SIM -> new AdjustableHoodIOSim();
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case REAL -> new AdjustableHoodIOReal();
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case TESTING -> new AdjustableHoodIOReal();
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};
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instance = new AdjustableHood(AdjustableHoodio);
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}
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return instance;
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}
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private AdjustableHood(AdjustableHoodIO io) {
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super(SUBSYSTEM_NAME, AdjustableHoodStates.IDLE);
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this.io = io;
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inputs = new AdjustableHoodIOInputsAutoLogged();
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}
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@Override
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public void runState() {
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if (getState() == AdjustableHoodStates.DYNAMIC) {
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io.setHoodSetpoint(dynamicSetpoint);
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} else {
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io.setHoodSetpoint(getState().getSetpoint());
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}
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io.updateInputs(inputs);
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Logger.processInputs(SUBSYSTEM_NAME, inputs);
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Logger.recordOutput(SUBSYSTEM_NAME + "/State", getState().getStateString());
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}
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public void setDynamicHoodSetpoint(Angle setpoint) {
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dynamicSetpoint = setpoint;
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}
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public boolean atSetpoint() {
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return io.atHoodSetpoint();
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}
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}

‎src/main/java/frc/robot/Subsystems/AdjustableHood/AdjustableHoodConstants.java‎

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package frc.robot.Subsystems.AdjustableHood;
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import static edu.wpi.first.units.Units.Degrees;
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import static edu.wpi.first.units.Units.Inches;
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import static edu.wpi.first.units.Units.KilogramSquareMeters;
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import static frc.robot.GlobalConstants.ROBOT_MODE;
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import edu.wpi.first.math.controller.ProfiledPIDController;
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import edu.wpi.first.math.trajectory.TrapezoidProfile;
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import edu.wpi.first.math.trajectory.TrapezoidProfile.Constraints;
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import edu.wpi.first.units.measure.Angle;
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import edu.wpi.first.units.measure.Distance;
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import edu.wpi.first.units.measure.MomentOfInertia;
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import java.util.function.Supplier;
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public class AdjustableHoodConstants {
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public static final String SUBSYSTEM_NAME = "Adjustable Hood";
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public static final Angle IDLE_ANGLE = Degrees.of(0);
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public static final Angle FIXED_ANGLE = Degrees.of(45);
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public static final Angle MAX_ANGLE = Degrees.of(60);
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public static final Angle MIN_ANGLE = Degrees.of(0);
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public static final Constraints constraints = new TrapezoidProfile.Constraints(
27+
Math.toRadians(180), // Max angular velocity in radians per second (random)
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Math.toRadians(90) // Max angular acceleration in radians per second squared (random)
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);
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public static final Supplier<ProfiledPIDController> PIVOT_PID = () ->
32+
switch (ROBOT_MODE) {
33+
case SIM -> new ProfiledPIDController(0.1, 0, 0.01, constraints);
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default -> new ProfiledPIDController(0.1, 0, 0.01, constraints);
35+
};
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public static final class Real {
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public static final Angle PIVOT_TOLERANCE = Degrees.of(0.5); // Random tolerance of 0.5 degrees
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public static final int PIVOT_CAN_ID = 1; // Random value
41+
public static final double GEAR_RATIO = 25; // Random ahh gear ratio of 25:1
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}
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public static final class Sim {
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public static final Angle PIVOT_TOLERANCE = Degrees.of(0.5); // Random tolerance of 0.5 degrees
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public static final double GEAR_RATIO = 25; // Random ahh gear ratio of 25:1
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public static final MomentOfInertia PIVOT_MOI = KilogramSquareMeters.of(1); // Random moment of inertia
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public static final Distance PIVOT_LENGTH = Inches.of(8); // Random length of 8 inches
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public static final int NUM_PIVOT_MOTORS = 1; // Number of motors used for the pivot
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public static final Angle PIVOT_STARTING_ANGLE = Degrees.of(0); // Starting angle of the pivot motor
52+
}
53+
}

‎src/main/java/frc/robot/Subsystems/AdjustableHood/AdjustableHoodIO.java‎

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package frc.robot.Subsystems.AdjustableHood;
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import edu.wpi.first.units.measure.Angle;
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import org.littletonrobotics.junction.AutoLog;
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public interface AdjustableHoodIO {
7+
@AutoLog
8+
public static class AdjustableHoodIOInputs {
9+
10+
public Angle hoodSetpoint;
11+
public double hoodPosition;
12+
}
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14+
public abstract void updateInputs(AdjustableHoodIOInputs inputs);
15+
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public abstract void setHoodSetpoint(Angle setpoint);
17+
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public abstract boolean atHoodSetpoint();
19+
}

‎src/main/java/frc/robot/Subsystems/AdjustableHood/AdjustableHoodIOReal.java‎

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package frc.robot.Subsystems.AdjustableHood;
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3+
import static edu.wpi.first.units.Units.Rotations;
4+
import static frc.robot.GlobalConstants.ROBOT_MODE;
5+
import static frc.robot.Subsystems.AdjustableHood.AdjustableHoodConstants.PIVOT_PID;
6+
import static frc.robot.Subsystems.AdjustableHood.AdjustableHoodConstants.Real.*;
7+
8+
import com.ctre.phoenix6.hardware.TalonFX;
9+
import edu.wpi.first.math.controller.ProfiledPIDController;
10+
import edu.wpi.first.math.util.Units;
11+
import edu.wpi.first.units.measure.Angle;
12+
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
13+
import frc.robot.GlobalConstants.RobotMode;
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public class AdjustableHoodIOReal implements AdjustableHoodIO {
16+
17+
private TalonFX pivotMotor;
18+
private Angle hoodSetpoint;
19+
private ProfiledPIDController pivotController;
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21+
public AdjustableHoodIOReal() {
22+
pivotMotor = new TalonFX(PIVOT_CAN_ID);
23+
pivotMotor.setPosition(0); // Zero the motor position
24+
pivotController = PIVOT_PID.get();
25+
pivotController.setTolerance(PIVOT_TOLERANCE.in(Rotations));
26+
}
27+
28+
@Override
29+
public void updateInputs(AdjustableHoodIOInputs inputs) {
30+
inputs.hoodSetpoint = hoodSetpoint;
31+
inputs.hoodPosition = Units.rotationsToDegrees(
32+
pivotMotor.getPosition().getValueAsDouble() / GEAR_RATIO
33+
);
34+
35+
if (ROBOT_MODE == RobotMode.TESTING) {
36+
SmartDashboard.putData("Hood PID Controller", pivotController);
37+
}
38+
}
39+
40+
@Override
41+
public void setHoodSetpoint(Angle hoodSetpoint) {
42+
this.hoodSetpoint = hoodSetpoint;
43+
pivotMotor.set(
44+
pivotController.calculate(
45+
pivotMotor.getPosition().getValueAsDouble() / GEAR_RATIO,
46+
hoodSetpoint.in(Rotations)
47+
)
48+
);
49+
}
50+
51+
@Override
52+
public boolean atHoodSetpoint() {
53+
return (
54+
Math.abs(
55+
(pivotMotor.getPosition().getValueAsDouble() / GEAR_RATIO) -
56+
hoodSetpoint.in(Rotations)
57+
) <
58+
PIVOT_TOLERANCE.in(Rotations)
59+
);
60+
}
61+
}

‎src/main/java/frc/robot/Subsystems/AdjustableHood/AdjustableHoodIOSim.java‎

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package frc.robot.Subsystems.AdjustableHood;
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3+
import static edu.wpi.first.units.Units.Degrees;
4+
import static edu.wpi.first.units.Units.KilogramSquareMeters;
5+
import static edu.wpi.first.units.Units.Meters;
6+
import static edu.wpi.first.units.Units.Radians;
7+
import static frc.robot.GlobalConstants.SIMULATION_PERIOD;
8+
import static frc.robot.Subsystems.AdjustableHood.AdjustableHoodConstants.*;
9+
10+
import com.ctre.phoenix6.hardware.TalonFX;
11+
import com.ctre.phoenix6.sim.TalonFXSimState;
12+
import edu.wpi.first.math.controller.ProfiledPIDController;
13+
import edu.wpi.first.math.system.plant.DCMotor;
14+
import edu.wpi.first.math.util.Units;
15+
import edu.wpi.first.units.measure.Angle;
16+
import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim;
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18+
public class AdjustableHoodIOSim implements AdjustableHoodIO {
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20+
private TalonFX pivotMotor;
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private TalonFXSimState pivotMotorTalonSim;
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private SingleJointedArmSim pivotSim;
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private ProfiledPIDController pivotController;
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private Angle pivotSetpoint;
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public AdjustableHoodIOSim() {
27+
pivotMotor = new TalonFX(Real.PIVOT_CAN_ID);
28+
pivotMotorTalonSim = pivotMotor.getSimState();
29+
pivotSim = new SingleJointedArmSim(
30+
DCMotor.getKrakenX60(Sim.NUM_PIVOT_MOTORS),
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Sim.GEAR_RATIO,
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Sim.PIVOT_MOI.in(KilogramSquareMeters),
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Sim.PIVOT_LENGTH.in(Meters),
34+
MIN_ANGLE.in(Radians),
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MAX_ANGLE.in(Radians),
36+
false,
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Sim.PIVOT_STARTING_ANGLE.in(Radians)
38+
);
39+
40+
pivotController = PIVOT_PID.get();
41+
pivotController.setTolerance(Sim.PIVOT_TOLERANCE.in(Radians));
42+
pivotSetpoint = Sim.PIVOT_STARTING_ANGLE;
43+
}
44+
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@Override
46+
public void updateInputs(AdjustableHoodIOInputs inputs) {
47+
pivotSim.update(SIMULATION_PERIOD);
48+
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inputs.hoodSetpoint = pivotSetpoint;
50+
inputs.hoodPosition = Units.radiansToDegrees(pivotSim.getAngleRads());
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pivotMotorTalonSim.setRawRotorPosition(Units.radiansToRotations(pivotSim.getAngleRads()));
53+
pivotMotorTalonSim.setRotorVelocity(
54+
Units.radiansToRotations(pivotSim.getVelocityRadPerSec())
55+
);
56+
}
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@Override
59+
public void setHoodSetpoint(Angle setpoint) {
60+
pivotSetpoint = setpoint;
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pivotSim.setInputVoltage(
62+
pivotController.calculate(
63+
Units.radiansToDegrees(pivotSim.getAngleRads()),
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pivotSetpoint.in(Degrees)
65+
)
66+
);
67+
}
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@Override
70+
public boolean atHoodSetpoint() {
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return pivotController.atSetpoint();
72+
}
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}

‎src/main/java/frc/robot/Subsystems/AdjustableHood/AdjustableHoodStates.java‎

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package frc.robot.Subsystems.AdjustableHood;
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import static frc.robot.Subsystems.AdjustableHood.AdjustableHoodConstants.*;
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import edu.wpi.first.units.measure.Angle;
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import frc.robot.Subsystems.HoodedShooterSupersystem.HoodedShooterSupersystem;
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import java.util.function.Supplier;
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import org.team7525.subsystem.SubsystemStates;
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public enum AdjustableHoodStates implements SubsystemStates {
11+
IDLE("IDLE", () -> IDLE_ANGLE),
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FIXED("FIXED", () -> FIXED_ANGLE),
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DYNAMIC("DYNAMIC", () -> HoodedShooterSupersystem.getInstance().calculateHoodSetpoint());
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private final String stateName;
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private final Supplier<Angle> setpointSupplier;
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AdjustableHoodStates(String stateName, Supplier<Angle> setpointSupplier) {
19+
this.stateName = stateName;
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this.setpointSupplier = setpointSupplier;
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}
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@Override
24+
public String getStateString() {
25+
return stateName;
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}
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public Angle getSetpoint() {
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return setpointSupplier.get();
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}
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}

‎src/main/java/frc/robot/Subsystems/HoodAndShooter/HoodAndShooter.java‎

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This file was deleted.

‎src/main/java/frc/robot/Subsystems/HoodedShooterSupersystem/HoodedShooterSupersystem.java‎

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package frc.robot.Subsystems.HoodedShooterSupersystem;
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import static edu.wpi.first.units.Units.Degrees;
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import static edu.wpi.first.units.Units.RotationsPerSecond;
5+
import static frc.robot.Subsystems.HoodedShooterSupersystem.HoodedShooterSupersystemConstants.*;
6+
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import edu.wpi.first.units.measure.Angle;
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import edu.wpi.first.units.measure.AngularVelocity;
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import frc.robot.Subsystems.AdjustableHood.AdjustableHood;
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import frc.robot.Subsystems.Shooter.Shooter;
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import org.littletonrobotics.junction.Logger;
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import org.team7525.subsystem.Subsystem;
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public class HoodedShooterSupersystem extends Subsystem<HoodedShooterSupersystemStates> {
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private static HoodedShooterSupersystem instance;
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private AdjustableHood hood;
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private Shooter shooter;
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public static HoodedShooterSupersystem getInstance() {
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if (instance == null) {
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instance = new HoodedShooterSupersystem();
23+
}
24+
return instance;
25+
}
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private HoodedShooterSupersystem() {
28+
super(SUBSYSTEM_NAME, HoodedShooterSupersystemStates.IDLE);
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hood = AdjustableHood.getInstance();
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shooter = Shooter.getInstance();
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}
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@Override
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public void runState() {
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hood.setState(getState().getAdjustableHoodState());
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shooter.setState(getState().getShooterState());
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hood.periodic();
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shooter.periodic();
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Logger.recordOutput(SUBSYSTEM_NAME + "/State", getState().getStateString());
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}
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/*
45+
* Checks if the hood and shooter are both at their setpoints.
46+
* The manager subsystem should use this method to determine when to switch from warming up to shooting.
47+
* Those states should be identical but one tells the indexer to pass the ball to the shooter.
48+
*/
49+
public boolean readyToShoot() {
50+
return hood.atSetpoint() && shooter.atSetpoint();
51+
}
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public Angle calculateHoodSetpoint() {
54+
// Placeholder for actual hood setpoint calculation logic
55+
return Degrees.of(FAKE_VALUE); // Replace with actual calculation
56+
}
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public AngularVelocity calculateShooterSetpoint() {
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// Placeholder for actual shooter setpoint calculation logic
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return RotationsPerSecond.of(FAKE_VALUE_2); // Replace with actual calculation
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}
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}

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