Changes from Saturday, 22 Feb at Mayhem and at field: (1) Added second shooter wheel Falcon. (2) Switched PID Tuner back to shooter. (3) Code changes for removal of climber ratchet. (It works!)

Author: coach-streeter

src/main/java/org/mayheminc/robot2020/Constants.java

@@ -20,12 +20,13 @@
 public final class Constants {
 
     public final class Talon {
-        public static final int DRIVE_RIGHT_A = 3; // high current
-        public static final int DRIVE_RIGHT_B = 4; // high current
         public static final int DRIVE_LEFT_A = 1; // high current
         public static final int DRIVE_LEFT_B = 2; // high current
+        public static final int DRIVE_RIGHT_A = 3; // high current
+        public static final int DRIVE_RIGHT_B = 4; // high current
 
-        public static final int SHOOTER_WHEEL = 5; // high current
+        public static final int SHOOTER_WHEEL_LEFT = 5; // high current
+        public static final int SHOOTER_WHEEL_RIGHT = 17; // high current
         public static final int SHOOTER_FEEDER = 6;
         public static final int SHOOTER_TURRET = 7;
         public static final int SHOOTER_HOOD = 8;
@@ -41,7 +42,7 @@ public final class Talon {
         public static final int CLIMBER_WALKER_LEFT = 15;
         public static final int CLIMBER_WALKER_RIGHT = 16;
 
-        public static final int CONTROL_PANEL_ROLLER = 17; // WON"T FIT!!!
+        public static final int CONTROL_PANEL_ROLLER = 18; // WON"T FIT!!!
     }
 
     public final class Solenoid {

src/main/java/org/mayheminc/robot2020/RobotContainer.java

@@ -62,7 +62,7 @@ public RobotContainer() {
         pidtuner = new PidTuner(RobotContainer.DRIVER_STICK.DRIVER_STICK_ENA_BUTTON_SIX,
                 RobotContainer.DRIVER_STICK.DRIVER_STICK_ENA_BUTTON_SEVEN,
                 RobotContainer.DRIVER_STICK.DRIVER_STICK_ENA_BUTTON_ELEVEN,
-                RobotContainer.DRIVER_STICK.DRIVER_STICK_ENA_BUTTON_TEN, intake);
+                RobotContainer.DRIVER_STICK.DRIVER_STICK_ENA_BUTTON_TEN, shooter);
 
         cameraLights.set(true);
     }
@@ -166,16 +166,12 @@ private void configureDriverPadButtons() {
         // Debug shooter pid velocity
         DRIVER_PAD.DRIVER_PAD_BLUE_BUTTON.whenPressed(new ShooterAdjustWheel(100.0));
         DRIVER_PAD.DRIVER_PAD_GREEN_BUTTON.whenPressed(new ShooterAdjustWheel(-100.0));
-        DRIVER_PAD.DRIVER_PAD_RED_BUTTON.whenPressed(new ShooterSetWheel(0.0));
+        DRIVER_PAD.DRIVER_PAD_RED_BUTTON.whenPressed(new ShooterSetWheelVBus(0.0));
         DRIVER_PAD.DRIVER_PAD_YELLOW_BUTTON.whenPressed(new ShooterSetWheel(3000));
         // TODO:  above hard-coded constant (3000) should be a named constant from Shooter.java
 
         DRIVER_PAD.DRIVER_PAD_LEFT_UPPER_TRIGGER_BUTTON.whileHeld(new ShooterSetFeeder(1.0));
 
-        // debug climber pistons
-        // DRIVER_PAD.DRIVER_PAD_D_PAD_UP.whenPressed(new ClimberSetPistons(true));
-        // DRIVER_PAD.DRIVER_PAD_D_PAD_UP.whenPressed(new ClimberSetPistons(false));
-
     }
 
     private void configureOperatorStickButtons() {
@@ -206,8 +202,7 @@ private void configureOperatorPadButtons() {
         OPERATOR_PAD.OPERATOR_PAD_D_PAD_UP.whileHeld(new ShooterSetHoodVBus(+1.0));
         OPERATOR_PAD.OPERATOR_PAD_D_PAD_DOWN.whileHeld(new ShooterSetHoodVBus(-1.0));
 
-        // OPERATOR_PAD.OPERATOR_PAD_RIGHT_Y_AXIS_UP.whileHeld(new
-        // ClimberSetWinchesPower(0.7));
+        OPERATOR_PAD.OPERATOR_PAD_RIGHT_Y_AXIS_UP.whileHeld(new ClimberSetWinchesPower(0.7));
         OPERATOR_PAD.OPERATOR_PAD_RIGHT_Y_AXIS_DOWN.whileHeld(new ClimberSetWinchesPower(-0.7));
 
         // OPERATOR_PAD.OPERATOR_PAD_LEFT_Y_AXIS_UP.whenPressed(new

src/main/java/org/mayheminc/robot2020/subsystems/Climber.java

@@ -20,8 +20,8 @@
 public class Climber extends SubsystemBase {
   private final MayhemTalonSRX winchLeft = new MayhemTalonSRX(Constants.Talon.CLIMBER_WINCH_LEFT);
   private final MayhemTalonSRX winchRight = new MayhemTalonSRX(Constants.Talon.CLIMBER_WINCH_RIGHT);
-  private final MayhemTalonSRX walkerLeft = new MayhemTalonSRX(Constants.Talon.CLIMBER_WALKER_LEFT);
-  private final MayhemTalonSRX walkerRight = new MayhemTalonSRX(Constants.Talon.CLIMBER_WALKER_RIGHT);
+  // private final MayhemTalonSRX walkerLeft = new MayhemTalonSRX(Constants.Talon.CLIMBER_WALKER_LEFT);
+  // private final MayhemTalonSRX walkerRight = new MayhemTalonSRX(Constants.Talon.CLIMBER_WALKER_RIGHT);
 
   private final Solenoid pistons = new Solenoid(Constants.Solenoid.CLIMBER_PISTONS);
 
@@ -37,13 +37,13 @@ public Climber() {
     winchRight.configNominalOutputVoltage(+0.0f, -0.0f);
     winchRight.configPeakOutputVoltage(+12.0, -12.0);
 
-    walkerRight.setNeutralMode(NeutralMode.Brake);
-    walkerRight.configNominalOutputVoltage(+0.0f, -0.0f);
-    walkerRight.configPeakOutputVoltage(+12.0, -12.0);
+    // walkerRight.setNeutralMode(NeutralMode.Brake);
+    // walkerRight.configNominalOutputVoltage(+0.0f, -0.0f);
+    // walkerRight.configPeakOutputVoltage(+12.0, -12.0);
 
-    walkerLeft.setNeutralMode(NeutralMode.Brake);
-    walkerLeft.configNominalOutputVoltage(+0.0f, -0.0f);
-    walkerLeft.configPeakOutputVoltage(+12.0, -12.0);
+    // walkerLeft.setNeutralMode(NeutralMode.Brake);
+    // walkerLeft.configNominalOutputVoltage(+0.0f, -0.0f);
+    // walkerLeft.configPeakOutputVoltage(+12.0, -12.0);
 
   }
 
@@ -70,13 +70,13 @@ public void setWinchRightSpeed(double power) {
     winchRight.set(ControlMode.PercentOutput, power);
   }
 
-  public void setWalkerLeftSpeed(double power) {
-    walkerLeft.set(ControlMode.Velocity, power);
-  }
+  // public void setWalkerLeftSpeed(double power) {
+  //   walkerLeft.set(ControlMode.Velocity, power);
+  // }
 
-  public void setWalkerRightSpeed(double power) {
-    walkerRight.set(ControlMode.Velocity, power);
-  }
+  // public void setWalkerRightSpeed(double power) {
+  //   walkerRight.set(ControlMode.Velocity, power);
+  // }
 
   public void setPistons(boolean b) {
     pistons.set(b);

src/main/java/org/mayheminc/robot2020/subsystems/Drive.java

@@ -27,6 +27,7 @@ public class Drive extends SubsystemBase {
 	public static final boolean COAST_MODE = false;
 
 	// PID loop variables
+	// TODO:  Suppress 'deprecated' warnings from the compiler 
 	private PIDController m_HeadingPid;
 	private PIDHeadingError m_HeadingError;
 	private PIDHeadingCorrection m_HeadingCorrection;

src/main/java/org/mayheminc/robot2020/subsystems/Shooter.java

@@ -16,7 +16,8 @@
 import org.mayheminc.util.PidTunerObject;
 
 public class Shooter extends SubsystemBase implements PidTunerObject {
-    private final MayhemTalonSRX shooterWheelTalon = new MayhemTalonSRX(Constants.Talon.SHOOTER_WHEEL);
+    private final MayhemTalonSRX shooterWheelLeft = new MayhemTalonSRX(Constants.Talon.SHOOTER_WHEEL_LEFT);
+    private final MayhemTalonSRX shooterWheelRight = new MayhemTalonSRX(Constants.Talon.SHOOTER_WHEEL_RIGHT);
     private final MayhemTalonSRX turretTalon = new MayhemTalonSRX(Constants.Talon.SHOOTER_TURRET);
     private final MayhemTalonSRX hoodTalon = new MayhemTalonSRX(Constants.Talon.SHOOTER_HOOD);
     private final MayhemTalonSRX feederTalon = new MayhemTalonSRX(Constants.Talon.SHOOTER_FEEDER);
@@ -47,20 +48,24 @@ public class Shooter extends SubsystemBase implements PidTunerObject {
      * Creates a new Shooter.
      */
     public Shooter() {
+        configureWheelFalcons();
         configureTurretTalon();
-        configureWheelTalon();
         configureHoodTalon();
         configureFeederTalon();
 
-        shooterWheelTalon.config_kP(0, 3.0, 0);
-        shooterWheelTalon.config_kI(0, 0.0, 0);
-        shooterWheelTalon.config_kD(0, 0.0, 0);
-        shooterWheelTalon.config_kF(0, 0.048); // 1023.0 / convertRpmToTicksPer100ms(5760), 0);
+        shooterWheelLeft.config_kP(0, 3.0, 0);
+        shooterWheelLeft.config_kI(0, 0.0, 0);
+        shooterWheelLeft.config_kD(0, 0.0, 0);
+        shooterWheelLeft.config_kF(0, 0.046);          // 1023.0 / convertRpmToTicksPer100ms(5760), 0);
+
+        // set right Falcon to follow the left Falcon
+		shooterWheelRight.changeControlMode(ControlMode.Follower);
+		shooterWheelRight.set(shooterWheelLeft.getDeviceID());
     }
 
     public void init() {
+        configureWheelFalcons();
         configureTurretTalon();
-        configureWheelTalon();
         configureHoodTalon();
         configureFeederTalon();
 
@@ -120,11 +125,20 @@ void configureTurretTalon() {
         this.setTurretVBus(0.0);
     }
 
-    private void configureWheelTalon() {
-        shooterWheelTalon.setFeedbackDevice(FeedbackDevice.IntegratedSensor);
-        shooterWheelTalon.setNeutralMode(NeutralMode.Coast);
-        shooterWheelTalon.configNominalOutputVoltage(+0.0f, -0.0f);
-        shooterWheelTalon.configPeakOutputVoltage(+12.0, 0.0);
+    private void configureWheelFalcons() {
+        shooterWheelLeft.setFeedbackDevice(FeedbackDevice.IntegratedSensor);
+        shooterWheelLeft.setNeutralMode(NeutralMode.Coast);
+        shooterWheelLeft.configNominalOutputVoltage(+0.0f, -0.0f);
+        shooterWheelLeft.configPeakOutputVoltage(+12.0, 0.0);
+        shooterWheelLeft.setInverted(false);
+        shooterWheelLeft.setSensorPhase(false);
+        
+        shooterWheelRight.setFeedbackDevice(FeedbackDevice.IntegratedSensor);
+        shooterWheelRight.setNeutralMode(NeutralMode.Coast);
+        shooterWheelRight.configNominalOutputVoltage(+0.0f, -0.0f);
+        shooterWheelRight.configPeakOutputVoltage(+12.0, 0.0);
+        shooterWheelRight.setInverted(true);
+        shooterWheelRight.setSensorPhase(true);
     }
 
     @Override
@@ -150,15 +164,29 @@ public double getAzimuthForCapturedImage() {
     }
 
     private void UpdateDashboard() {
-        SmartDashboard.putNumber("Shooter Wheel pos", shooterWheelTalon.getSelectedSensorPosition(0));
-        SmartDashboard.putNumber("Shooter Wheel speed", shooterWheelTalon.getSelectedSensorVelocity(0));
+        SmartDashboard.putNumber("Shooter Wheel pos", shooterWheelLeft.getSelectedSensorPosition(0));
+        SmartDashboard.putNumber("Shooter Wheel speed", shooterWheelLeft.getSelectedSensorVelocity(0));
         SmartDashboard.putNumber("Shooter Wheel RPM",
-                convertTicksPer100msToRPM(shooterWheelTalon.getSelectedSensorVelocity(0)));
+                convertTicksPer100msToRPM(shooterWheelLeft.getSelectedSensorVelocity(0)));
 
         SmartDashboard.putNumber("Shooter Wheel target RPM", m_targetSpeedRPM);
         SmartDashboard.putNumber("Shooter Wheel Error",
-                m_targetSpeedRPM - convertTicksPer100msToRPM(shooterWheelTalon.getSelectedSensorVelocity(0)));
-        SmartDashboard.putNumber("Shooter Wheel Voltage", shooterWheelTalon.getMotorOutputVoltage());
+                m_targetSpeedRPM - convertTicksPer100msToRPM(shooterWheelLeft.getSelectedSensorVelocity(0)));
+        SmartDashboard.putNumber("Shooter Wheel Voltage", shooterWheelLeft.getMotorOutputVoltage());
+        SmartDashboard.putNumber("Shooter Wheel Bus Voltage", shooterWheelLeft.getBusVoltage());
+        SmartDashboard.putNumber("Shooter Wheel Current", shooterWheelLeft.getSupplyCurrent());
+
+        SmartDashboard.putNumber("Shooter Wheel R-pos", shooterWheelRight.getSelectedSensorPosition(0));
+        SmartDashboard.putNumber("Shooter Wheel R-speed", shooterWheelRight.getSelectedSensorVelocity(0));
+        SmartDashboard.putNumber("Shooter Wheel R-RPM",
+                convertTicksPer100msToRPM(shooterWheelRight.getSelectedSensorVelocity(0)));
+
+        SmartDashboard.putNumber("Shooter Wheel R-target RPM", m_targetSpeedRPM);
+        SmartDashboard.putNumber("Shooter Wheel R-Error",
+                m_targetSpeedRPM - convertTicksPer100msToRPM(shooterWheelRight.getSelectedSensorVelocity(0)));
+        SmartDashboard.putNumber("Shooter Wheel R-Voltage", shooterWheelRight.getMotorOutputVoltage());
+        SmartDashboard.putNumber("Shooter Wheel R-Bus Voltage", shooterWheelRight.getBusVoltage());
+        SmartDashboard.putNumber("Shooter Wheel R-Current", shooterWheelRight.getSupplyCurrent());
 
         SmartDashboard.putNumber("Shooter turret pos", turretTalon.getPosition());
         SmartDashboard.putNumber("Shooter turret vbus", turretTalon.getMotorOutputVoltage());
@@ -235,67 +263,67 @@ public void setFeederSpeed(double pos) {
     public void setShooterWheelSpeed(double rpm) {
         double ticks = convertRpmToTicksPer100ms(rpm);
         m_targetSpeedRPM = rpm;
-        shooterWheelTalon.set(ControlMode.Velocity, ticks);
+        shooterWheelLeft.set(ControlMode.Velocity, ticks);
     }
 
     public void setShooterWheelSpeedVBus(double pos) {
-        shooterWheelTalon.set(ControlMode.PercentOutput, pos);
+        shooterWheelLeft.set(ControlMode.PercentOutput, pos);
     }
 
     public double getShooterWheelSpeed() {
-        return convertTicksPer100msToRPM(shooterWheelTalon.getSelectedSensorVelocity(0));
+        return convertTicksPer100msToRPM(shooterWheelLeft.getSelectedSensorVelocity(0));
     }
 
     public double getShooterWheelTargetSpeed() {
         return m_targetSpeedRPM;
     }
 
     public double getShooterWheelSpeedVBus() {
-        return shooterWheelTalon.getMotorOutputVoltage();
+        return shooterWheelLeft.getMotorOutputVoltage();
     }
 
     ////////////////////////////////////////////////////
     // PidTunerObject
     @Override
     public double getP() {
-        return turretTalon.getP();
+        return shooterWheelLeft.getP();
     }
 
     @Override
     public double getI() {
-        return turretTalon.getI();
+        return shooterWheelLeft.getI();
     }
 
     @Override
     public double getD() {
-        return turretTalon.getD();
+        return shooterWheelLeft.getD();
     }
 
     @Override
     public double getF() {
-        return turretTalon.getF();
+        return shooterWheelLeft.getF();
 
     }
 
     @Override
     public void setP(double d) {
-        turretTalon.config_kP(0, d, 0);
+        shooterWheelLeft.config_kP(0, d, 0);
     }
 
     @Override
     public void setI(double d) {
-        turretTalon.config_kI(0, d, 0);
+        shooterWheelLeft.config_kI(0, d, 0);
     }
 
     @Override
     public void setD(double d) {
-        turretTalon.config_kD(0, d, 0);
+        shooterWheelLeft.config_kD(0, d, 0);
 
     }
 
     @Override
     public void setF(double d) {
-        turretTalon.config_kF(0, d, 0);
+        shooterWheelLeft.config_kF(0, d, 0);
     }
 
 }