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Some pivot fixes #55

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Merged
Danx3mer merged 2 commits into from
Apr 25, 2025
Merged

Some pivot fixes #55

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4d62704
Update README.md
lucas01b0x Apr 24, 2025
25b0ef8
fix stalling and algae holding angle
Danx3mer Apr 25, 2025
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8 changes: 4 additions & 4 deletions README.md
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Original file line number Diff line number Diff line change
@@ -1,11 +1,11 @@
# 118 Everybot
# 118 Everybot (2025 SZN)

StuyPulse's code for the Everybot designed by 118.

## Our Changes from the 118 Everybot
- Replaced Drivetrain and Pivot motors with NEOs so we can have encoders
- Add LEDS
- Add LimeLight 2 for alignment to HP station/reef
- Replaced Drivetrain and Pivot motors with NEOs for encoders
- Add LEDs
- Add LimeLight 2 for better Odometry

## Mechanisms
- ALGAE from Ground to PROCESSOR
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6 changes: 2 additions & 4 deletions src/main/java/com/stuypulse/robot/constants/Settings.java
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Expand Up @@ -5,7 +5,6 @@
package com.stuypulse.robot.constants;

import com.stuypulse.stuylib.network.SmartNumber;
import com.stuypulse.stuylib.network.SmartString;

import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.units.Units;
Expand Down Expand Up @@ -87,17 +86,16 @@ public interface Pivot {
public static final double PIVOT_STALL_DEBOUNCE = .25; // Placeholder

public static final String CTRLMODE_MANUAL = "MANUAL";
public static final String CTRLMODE_STATES = "STATES";
public static final String CTRLMODE_STATES = "USING_STATES";

Rotation2d DEFAULT_ANGLE = Rotation2d.fromDegrees(0);
Rotation2d CORAL_STOW_ANGLE = Rotation2d.fromDegrees(-3);
Rotation2d ALGAE_HOLDING_ANGLE = Rotation2d.fromDegrees(-25);
Rotation2d ALGAE_HOLDING_ANGLE = Rotation2d.fromDegrees(-45);
Rotation2d ALGAE_INTAKE_ANGLE = Rotation2d.fromDegrees(-70);
Rotation2d MAX_ANGLE = Rotation2d.fromDegrees(-85);
}

public interface Drivetrain {
public static final int DRIVE_MOTOR_CURRENT_LIMIT = 60;
public static final double TRACK_WIDTH = 0.0;
}
}
4 changes: 2 additions & 2 deletions src/main/java/com/stuypulse/robot/subsystems/pivot/PivotImpl.java
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Expand Up @@ -109,9 +109,9 @@ public void periodic() {
super.periodic();

if (stallDetector.getAsBoolean()){
if(rollerMotor.get() > 0) { //Check Stalling Direction: Check if hitting top hard stop
if(getPivotRotation().getDegrees()>-15) { //Check Stalling Direction: Check if hitting top hard stop
resetPivotEncoder(Settings.Pivot.DEFAULT_ANGLE.getRotations());
} else if(rollerMotor.get() < 0) { //Check Stalling Direction: Check if hitting bottom hard stop
} else if(getPivotRotation().getDegrees()<-60) { //Check Stalling Direction: Check if hitting bottom hard stop
resetPivotEncoder(Settings.Pivot.MAX_ANGLE.getRotations());
}
}
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