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BlockOfWoodBlockOfWood
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Merge branch 'shooter' into Hopper
2 parents 9fa9f59 + 7de998e commit ccf1ab9

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‎src/main/java/frc/robot/Constants.java‎

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@@ -18,6 +18,12 @@ public final class Constants {
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public static final Mode simMode = Mode.SIM;
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public static final Mode currentMode = RobotBase.isReal() ? Mode.REAL : simMode;
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public static class ShooterConstants {
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public static final int SHOOTERID = 8;
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public static final int HOODID = 9;
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}
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public static enum Mode {
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/** Running on a real robot. */
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REAL,

‎src/main/java/frc/robot/RobotContainer.java‎

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import frc.robot.subsystems.drive.ModuleIO;
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import frc.robot.subsystems.drive.ModuleIOSim;
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import frc.robot.subsystems.drive.ModuleIOTalonFX;
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import frc.robot.subsystems.shooter.Shooter;
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import org.littletonrobotics.junction.networktables.LoggedDashboardChooser;
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/**
@@ -42,8 +43,14 @@ public class RobotContainer {
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// Dashboard inputs
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private final LoggedDashboardChooser<Command> autoChooser;
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private final Shooter m_Shooter;
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/** The container for the robot. Contains subsystems, OI devices, and commands. */
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public RobotContainer() {
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// Define Shooter
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m_Shooter = new Shooter();
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switch (Constants.currentMode) {
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case REAL:
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// Real robot, instantiate hardware IO implementations
@@ -160,6 +167,9 @@ private void configureButtonBindings() {
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new Pose2d(drive.getPose().getTranslation(), Rotation2d.kZero)),
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drive)
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.ignoringDisable(true));
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controller.rightBumper().onFalse(m_Shooter.PIDCMD(500));
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controller.rightBumper().onTrue(m_Shooter.PIDCMD(0));
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}
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/**

‎src/main/java/frc/robot/subsystems/shooter/Hood.java‎

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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc.robot.subsystems.shooter;
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import com.revrobotics.PersistMode;
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import com.revrobotics.RelativeEncoder;
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import com.revrobotics.ResetMode;
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import com.revrobotics.spark.SparkBase.ControlType;
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import com.revrobotics.spark.SparkClosedLoopController;
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import com.revrobotics.spark.SparkLowLevel.MotorType;
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import com.revrobotics.spark.SparkMax;
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import com.revrobotics.spark.config.SparkMaxConfig;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import frc.robot.Constants;
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public class Hood extends SubsystemBase {
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/** Creates a new Hood. */
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SparkMax hoodMax = new SparkMax(Constants.ShooterConstants.HOODID, MotorType.kBrushless);
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// To use a SparkMax, we create a SparkMax object. To use PID, we have to use the PID Object.
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// REVLib have their own PID Object called SparkClosedLoopController.
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SparkClosedLoopController hoodController = hoodMax.getClosedLoopController();
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// Encoder: A sensor that measures the amount of rotations
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RelativeEncoder hoodEncoder;
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// PID
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double kP = 0.1;
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double kI = 0.0;
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double kD = 3.0;
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double targetRPM = 0.0;
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// pid config
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SparkMaxConfig hoodConfig = new SparkMaxConfig();
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public Hood() {
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// initialize encoder
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hoodEncoder = hoodMax.getEncoder();
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// Set PID gains
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hoodConfig.closedLoop.p(kP).i(kI).d(kD);
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// dropper config
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hoodMax.configure(
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hoodConfig, ResetMode.kNoResetSafeParameters, PersistMode.kNoPersistParameters);
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// For Elastic and Advantage
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SmartDashboard.putNumber("PID/Hood/kP", kP);
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SmartDashboard.putNumber("PID/Hood/kI", kI);
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SmartDashboard.putNumber("PID/Hood/kD", kD);
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SmartDashboard.putNumber("PID/Hood/Target RPM", targetRPM);
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}
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/*
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* Hint: New Commands and Methods go here
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*/
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public Command PIDCMD(double newTargetRPM) {
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// advantage scope (?)
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targetRPM = newTargetRPM;
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return runOnce(
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() -> {
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hoodController.setSetpoint(newTargetRPM, ControlType.kVelocity);
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});
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}
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@SuppressWarnings("unused")
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@Override
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public void periodic() {
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// This method will be called once per scheduler run
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// For Elastic and Advtange Scope
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double newP = SmartDashboard.getNumber("PID/Hood/kP", kP);
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double newI = SmartDashboard.getNumber("PID/Hood/kI", kI);
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double newD = SmartDashboard.getNumber("PID/Hood/kD", kD);
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double newTargetRPM = SmartDashboard.getNumber("Target RPM", targetRPM);
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SmartDashboard.putNumber("PID/Hood/Dropper Setpoint", targetRPM); // Setpoint
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SmartDashboard.putNumber(
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"PID/Hood/Dropper Velocity", hoodEncoder.getVelocity()); // Actual velocity
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}
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}

‎src/main/java/frc/robot/subsystems/shooter/Shooter.java‎

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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc.robot.subsystems.shooter;
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import com.revrobotics.PersistMode;
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import com.revrobotics.RelativeEncoder;
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import com.revrobotics.ResetMode;
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import com.revrobotics.sim.SparkMaxSim;
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import com.revrobotics.spark.SparkBase.ControlType;
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import com.revrobotics.spark.SparkClosedLoopController;
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import com.revrobotics.spark.SparkLowLevel.MotorType;
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import com.revrobotics.spark.SparkMax;
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import com.revrobotics.spark.config.SparkMaxConfig;
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import edu.wpi.first.math.system.plant.DCMotor;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import frc.robot.Constants;
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public class Shooter extends SubsystemBase {
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/** Creates a new Shooter. */
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SparkMax Flywheel = new SparkMax(Constants.ShooterConstants.SHOOTERID, MotorType.kBrushless);
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SparkMaxSim FlywheelSim = new SparkMaxSim(Flywheel, DCMotor.getNEO(1));
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// pid
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SparkClosedLoopController shootController = Flywheel.getClosedLoopController();
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// Encoder: A sensor that measures the amount of rotations
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RelativeEncoder flywheelEncoder;
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// PID
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double kP = 0.1;
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double kI = 0.0;
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double kD = 3.0;
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double targetRPM = 0.0;
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// pid config
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SparkMaxConfig ShooterConfig = new SparkMaxConfig();
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public Shooter() {
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// initialize encoder
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flywheelEncoder = Flywheel.getEncoder();
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// Set PID gains
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ShooterConfig.closedLoop.p(kP).i(kI).d(kD);
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// dropper config
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Flywheel.configure(
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ShooterConfig, ResetMode.kNoResetSafeParameters, PersistMode.kNoPersistParameters);
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// For Elastic and Advantage
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SmartDashboard.putNumber("PID/Shooter/kP", kP);
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SmartDashboard.putNumber("PID/Shooter/kI", kI);
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SmartDashboard.putNumber("PID/Shooter/kD", kD);
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SmartDashboard.putNumber("PID/Shooter/Target RPM", 0.0);
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}
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public Command PIDCMD(double newTargetRPM) {
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targetRPM = newTargetRPM;
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//SmartDashboard.putNumber("PID/Shooter/Target RPM", newTargetRPM);
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return runOnce(
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() -> {
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shootController.setSetpoint(newTargetRPM, ControlType.kVelocity);
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});
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}
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@SuppressWarnings("unused")
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@Override
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public void periodic() {
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// For Elastic and Advtange Scope
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double newP = SmartDashboard.getNumber("PID/Shooter/kP", kP);
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double newI = SmartDashboard.getNumber("PID/Shooter/kI", kI);
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double newD = SmartDashboard.getNumber("PID/Shooter/kD", kD);
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// double newTTargetRPM = SmartDashboard.getNumber("PID/Shooter/Target RPM", targetRPM);
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SmartDashboard.putNumber(
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"PID/Shooter/Dropper Output", flywheelEncoder.getPosition()); // Setpoint
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SmartDashboard.putNumber("PID/Shooter/Target RPM", shootController.getSetpoint()); //
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// Setpoint
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SmartDashboard.putNumber(
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"PID/Shooter/Dropper Velocity", flywheelEncoder.getVelocity()); // Actual velocity
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// SmartDashboard.updateValues();
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}
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@Override
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public void simulationPeriodic() {
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// In this method, we update our simulation of what our arm is doing
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// First, we set our "inputs" (voltages)
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// Next, we update it. The standard loop time is 20ms.
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// Now, we update the Spark MAX
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FlywheelSim.iterate(
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FlywheelSim.getSetpoint(),
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12, // Simulated battery voltage, in Volts
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0.02); // Time interval, in Seconds
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// SimBattery estimates loaded battery voltages
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// This should include all motors being simulated
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}
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}

‎vendordeps/REVLib.json‎

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{
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"fileName": "REVLib.json",
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"name": "REVLib",
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"version": "2026.0.1",
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"frcYear": "2026",
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"uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
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"mavenUrls": [
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"https://maven.revrobotics.com/"
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],
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"jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2026.json",
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"javaDependencies": [
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{
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"groupId": "com.revrobotics.frc",
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"artifactId": "REVLib-java",
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"version": "2026.0.1"
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}
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],
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"jniDependencies": [
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{
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"groupId": "com.revrobotics.frc",
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"artifactId": "REVLib-driver",
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"version": "2026.0.1",
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"skipInvalidPlatforms": true,
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"isJar": false,
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"validPlatforms": [
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"windowsx86-64",
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"linuxarm64",
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"linuxx86-64",
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"linuxathena",
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"linuxarm32",
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"osxuniversal"
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]
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},
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{
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"groupId": "com.revrobotics.frc",
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"artifactId": "RevLibBackendDriver",
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"version": "2026.0.1",
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"skipInvalidPlatforms": true,
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"isJar": false,
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"validPlatforms": [
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"windowsx86-64",
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"linuxarm64",
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"linuxx86-64",
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"linuxathena",
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"linuxarm32",
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"osxuniversal"
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]
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},
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{
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"groupId": "com.revrobotics.frc",
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"artifactId": "RevLibWpiBackendDriver",
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"version": "2026.0.1",
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"skipInvalidPlatforms": true,
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"isJar": false,
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"validPlatforms": [
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"windowsx86-64",
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"linuxarm64",
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"linuxx86-64",
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"linuxathena",
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"linuxarm32",
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"osxuniversal"
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]
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}
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],
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"cppDependencies": [
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{
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"groupId": "com.revrobotics.frc",
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"artifactId": "REVLib-cpp",
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"version": "2026.0.1",
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"libName": "REVLib",
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"headerClassifier": "headers",
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"sharedLibrary": false,
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"skipInvalidPlatforms": true,
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"binaryPlatforms": [
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"windowsx86-64",
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"linuxarm64",
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"linuxx86-64",
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"linuxathena",
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"linuxarm32",
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"osxuniversal"
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]
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},
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{
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"groupId": "com.revrobotics.frc",
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"artifactId": "REVLib-driver",
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"version": "2026.0.1",
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"libName": "REVLibDriver",
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"headerClassifier": "headers",
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"sharedLibrary": false,
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"skipInvalidPlatforms": true,
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"binaryPlatforms": [
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"windowsx86-64",
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"linuxarm64",
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"linuxx86-64",
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"linuxathena",
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"linuxarm32",
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"osxuniversal"
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]
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},
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{
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"groupId": "com.revrobotics.frc",
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"artifactId": "RevLibBackendDriver",
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"version": "2026.0.1",
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"libName": "BackendDriver",
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"sharedLibrary": true,
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"skipInvalidPlatforms": true,
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"binaryPlatforms": [
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"windowsx86-64",
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"linuxarm64",
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"linuxx86-64",
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"linuxathena",
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"linuxarm32",
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"osxuniversal"
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]
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},
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{
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"groupId": "com.revrobotics.frc",
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"artifactId": "RevLibWpiBackendDriver",
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"version": "2026.0.1",
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"libName": "REVLibWpi",
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"sharedLibrary": true,
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"skipInvalidPlatforms": true,
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"binaryPlatforms": [
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"windowsx86-64",
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"linuxarm64",
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"linuxx86-64",
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"linuxathena",
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"linuxarm32",
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"osxuniversal"
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]
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}
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]
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}

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