From f51a484f9253a18923cd04ec7aa25b016db7dd94 Mon Sep 17 00:00:00 2001 From: Alan Date: Sat, 29 Mar 2025 16:54:30 -0700 Subject: [PATCH 1/3] renamed some things to stinger --- src/main/java/competition/Robot.java | 6 +-- ...dingAssistedDriveAndScoreCommandGroup.java | 7 ++-- .../PrepCoralSystemCommandGroupFactory.java | 6 +-- .../components/BaseRobotComponent.java | 6 +-- .../OperatorCommandMap.java | 16 ++++---- .../coral_arm/CoralArmSimulator.java | 8 ++-- .../SubsystemDefaultCommandMap.java | 6 +-- .../commands/ScoreWhenReadyCommand.java | 6 +-- .../SuperstructureMechanismSubsystem.java | 6 +-- .../subsystems/lights/LightSubsystem.java | 6 +-- .../StingerArmSubsystem.java} | 12 +++--- .../ForceStingerArmCalibratedCommand.java} | 10 ++--- .../SetStingerArmTargetAngleCommand.java} | 10 ++--- .../StingerArmMaintainerCommand.java} | 18 ++++----- .../ToggleStingerArmCalibratedCommand.java} | 10 ++--- .../arm/ArmPivotAngleWrappingTest.java | 38 +++++++++---------- .../arm/CoralArmAngleSimulatorTest.java | 22 +++++------ 17 files changed, 95 insertions(+), 98 deletions(-) rename src/main/java/competition/subsystems/{coral_arm/CoralArmSubsystem.java => stinger_arm/StingerArmSubsystem.java} (96%) rename src/main/java/competition/subsystems/{coral_arm/commands/ForceCoralArmCalibratedCommand.java => stinger_arm/commands/ForceStingerArmCalibratedCommand.java} (60%) rename src/main/java/competition/subsystems/{coral_arm/commands/SetCoralArmTargetAngleCommand.java => stinger_arm/commands/SetStingerArmTargetAngleCommand.java} (74%) rename src/main/java/competition/subsystems/{coral_arm/commands/CoralArmMaintainerCommand.java => stinger_arm/commands/StingerArmMaintainerCommand.java} (90%) rename src/main/java/competition/subsystems/{coral_arm/commands/ToggleCoralArmCalibratedCommand.java => stinger_arm/commands/ToggleStingerArmCalibratedCommand.java} (63%) diff --git a/src/main/java/competition/Robot.java b/src/main/java/competition/Robot.java index 8a7057fec..463e684b0 100644 --- a/src/main/java/competition/Robot.java +++ b/src/main/java/competition/Robot.java @@ -12,11 +12,9 @@ import competition.operator_interface.OperatorInterface; import competition.simulation.BaseSimulator; import competition.subsystems.algae_arm.AlgaeArmSubsystem; -import competition.subsystems.coral_arm.CoralArmSubsystem; -import competition.subsystems.pose.Landmarks; +import competition.subsystems.stinger_arm.StingerArmSubsystem; import competition.subsystems.pose.PoseSubsystem; import edu.wpi.first.wpilibj.Preferences; -import edu.wpi.first.wpilibj2.command.InstantCommand; import org.apache.logging.log4j.LogManager; import org.apache.logging.log4j.Logger; @@ -40,7 +38,7 @@ public class Robot extends BaseRobot { ElectricalContract simulatorContract = new UnitTestContract2025(); OperatorInterface oi; AlgaeArmSubsystem algaeArmSubsystem; - CoralArmSubsystem coralArmSubsystem; + StingerArmSubsystem coralArmSubsystem; Robot() { // We currently can't keep up with 0.02s loop times, and the error reporting about loop diff --git a/src/main/java/competition/commandgroups/HeadingAssistedDriveAndScoreCommandGroup.java b/src/main/java/competition/commandgroups/HeadingAssistedDriveAndScoreCommandGroup.java index 8c5e06873..7dbae6704 100644 --- a/src/main/java/competition/commandgroups/HeadingAssistedDriveAndScoreCommandGroup.java +++ b/src/main/java/competition/commandgroups/HeadingAssistedDriveAndScoreCommandGroup.java @@ -1,13 +1,12 @@ package competition.commandgroups; -import competition.subsystems.coral_arm.CoralArmSubsystem; +import competition.subsystems.stinger_arm.StingerArmSubsystem; import competition.subsystems.coral_scorer.commands.ScoreWhenReadyCommand; import competition.subsystems.drive.commands.AlignToReefWithAprilTagCommand; import competition.subsystems.drive.commands.DriveToReefFaceFromAngleUntilDetectionCommand; import competition.subsystems.drive.commands.MeasureDistanceBeforeScoringCommand; import competition.subsystems.pose.Cameras; import competition.subsystems.pose.Landmarks; -import competition.subsystems.pose.PoseSubsystem; import dagger.assisted.Assisted; import dagger.assisted.AssistedFactory; import dagger.assisted.AssistedInject; @@ -19,7 +18,7 @@ import static edu.wpi.first.units.Units.Meters; public class HeadingAssistedDriveAndScoreCommandGroup extends SequentialCommandGroup { - CoralArmSubsystem coralArmSubsystem; + StingerArmSubsystem coralArmSubsystem; @AssistedFactory @@ -34,7 +33,7 @@ public HeadingAssistedDriveAndScoreCommandGroup(@Assisted Landmarks.Branch branc ScoreWhenReadyCommand scoreWhenReadyCommand, Provider alignToReefWithAprilTagCommandProvider, MeasureDistanceBeforeScoringCommand measureDistanceBeforeScoringCommand, - CoralArmSubsystem coralArmSubsystem) { + StingerArmSubsystem coralArmSubsystem) { this.coralArmSubsystem = coralArmSubsystem; var prepCoralSystemCommandGroup = prepCoralSystemCommandGroupFactory.create(coralArmSubsystem::getTargetCoralLevel); var alignToReefWithAprilTagWithCameraCommand = alignToReefWithAprilTagCommandProvider.get(); diff --git a/src/main/java/competition/commandgroups/PrepCoralSystemCommandGroupFactory.java b/src/main/java/competition/commandgroups/PrepCoralSystemCommandGroupFactory.java index d14a85216..564f702bc 100644 --- a/src/main/java/competition/commandgroups/PrepCoralSystemCommandGroupFactory.java +++ b/src/main/java/competition/commandgroups/PrepCoralSystemCommandGroupFactory.java @@ -1,6 +1,6 @@ package competition.commandgroups; -import competition.subsystems.coral_arm.commands.SetCoralArmTargetAngleCommand; +import competition.subsystems.stinger_arm.commands.SetStingerArmTargetAngleCommand; import competition.subsystems.elevator.commands.SetElevatorTargetHeightCommand; import competition.subsystems.pose.Landmarks; import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; @@ -12,12 +12,12 @@ public class PrepCoralSystemCommandGroupFactory { Provider setElevatorTargetHeightCommandProvider; - Provider setCoralArmTargetAngleCommandProvider; + Provider setCoralArmTargetAngleCommandProvider; @Inject public PrepCoralSystemCommandGroupFactory(Provider setElevatorTargetHeightCommandProvider, - Provider setCoralArmTargetAngleCommandProvider) { + Provider setCoralArmTargetAngleCommandProvider) { this.setElevatorTargetHeightCommandProvider = setElevatorTargetHeightCommandProvider; this.setCoralArmTargetAngleCommandProvider = setCoralArmTargetAngleCommandProvider; } diff --git a/src/main/java/competition/injection/components/BaseRobotComponent.java b/src/main/java/competition/injection/components/BaseRobotComponent.java index d583953ff..0682cf25f 100644 --- a/src/main/java/competition/injection/components/BaseRobotComponent.java +++ b/src/main/java/competition/injection/components/BaseRobotComponent.java @@ -9,7 +9,7 @@ import competition.subsystems.SubsystemDefaultCommandMap; import competition.subsystems.algae_arm.AlgaeArmSubsystem; import competition.subsystems.algae_collection.AlgaeCollectionSubsystem; -import competition.subsystems.coral_arm.CoralArmSubsystem; +import competition.subsystems.stinger_arm.StingerArmSubsystem; import competition.subsystems.coral_scorer.CoralScorerSubsystem; import competition.subsystems.drive.commands.AlignToNearestCoralStationCommand; import competition.subsystems.drive.commands.EmergencyAutonomousCommand; @@ -45,7 +45,7 @@ public abstract class BaseRobotComponent extends BaseComponent { public abstract BaseSimulator simulator(); - public abstract CoralArmSubsystem armPivotSubsystem(); + public abstract StingerArmSubsystem armPivotSubsystem(); public abstract ElevatorSubsystem elevatorSubsystem(); @@ -71,7 +71,7 @@ public abstract class BaseRobotComponent extends BaseComponent { public abstract AlgaeArmSubsystem algaeArmSubsystem(); - public abstract CoralArmSubsystem coralArmSubsystem(); + public abstract StingerArmSubsystem coralArmSubsystem(); public abstract AlgaeCollectionSubsystem algaeCollectionSubsystem(); diff --git a/src/main/java/competition/operator_interface/OperatorCommandMap.java b/src/main/java/competition/operator_interface/OperatorCommandMap.java index ab3c61549..7b290b099 100644 --- a/src/main/java/competition/operator_interface/OperatorCommandMap.java +++ b/src/main/java/competition/operator_interface/OperatorCommandMap.java @@ -16,9 +16,9 @@ import competition.subsystems.algae_arm.commands.SetAlgaeArmSetpointToTargetPosition; import competition.subsystems.algae_collection.commands.AlgaeCollectionIntakeCommand; import competition.subsystems.algae_collection.commands.AlgaeCollectionOutputCommand; -import competition.subsystems.coral_arm.CoralArmSubsystem; -import competition.subsystems.coral_arm.commands.ForceCoralArmCalibratedCommand; -import competition.subsystems.coral_arm.commands.SetCoralArmTargetAngleCommand; +import competition.subsystems.stinger_arm.StingerArmSubsystem; +import competition.subsystems.stinger_arm.commands.ForceStingerArmCalibratedCommand; +import competition.subsystems.stinger_arm.commands.SetStingerArmTargetAngleCommand; import competition.subsystems.coral_scorer.commands.IntakeAlgaeCommand; import competition.subsystems.coral_scorer.commands.IntakeCoralCommand; import competition.subsystems.coral_scorer.commands.ScoreAlgaeCommand; @@ -132,13 +132,13 @@ public void setUpOperatorCommands(OperatorInterface oi, ScoreCoralCommand scoreCoralCommand, ScoreWhenReadyCommand scoreWhenReadyCommand, ForceElevatorCalibratedCommand forceElevatorCalibratedCommand, - ForceCoralArmCalibratedCommand forceCoralPivotCalibratedCommand, + ForceStingerArmCalibratedCommand forceCoralPivotCalibratedCommand, ForceAlgaeArmCalibrated forceAlgaeArmCalibrated, Provider setAlgaeArmProvider, AlgaeCollectionIntakeCommand intakeAlgae, AlgaeCollectionOutputCommand ejectAlgae, Provider setElevatorTargetHeightCommandProvider, - CoralArmSubsystem coralArmSubsystem, + StingerArmSubsystem coralArmSubsystem, IntakeCoralCommand intakeCoralCommand, PrepAlgaeSystemCommandGroupFactory prepAlgaeSystemCommandGroupFactory, IntakeAlgaeCommand intakeAlgaeCommand, @@ -202,10 +202,10 @@ public void setupSuperstructureGamepadCommands( OperatorInterface oi, IntakeCoralCommand intakeCoralCommand, ScoreCoralCommand scoreCoralCommand, - Provider setArmTargetAngleCommandProvider, + Provider setArmTargetAngleCommandProvider, Provider setElevatorTargetHeightCommandProvider, ForceElevatorCalibratedCommand forceElevatorCalibratedCommand, - ForceCoralArmCalibratedCommand forceCoralArmCalibratedCommand, + ForceStingerArmCalibratedCommand forceCoralArmCalibratedCommand, RepositionAlgaeArmDown repositionAlgaeArmDown, RepositionAlgaeArmUp repositionAlgaeArmUp, ToggleElevatorMotionMagicCommand toggleElevatorMotionMagicCommand) { @@ -244,7 +244,7 @@ public void setupSuperstructureGamepadCommands( } @Inject - public void setupNeoTrellis(OperatorInterface oi, CoralArmSubsystem coralArmSubsystem, TrimElevatorUp trimElevatorUp, + public void setupNeoTrellis(OperatorInterface oi, StingerArmSubsystem coralArmSubsystem, TrimElevatorUp trimElevatorUp, TrimElevatorDown trimElevatorDown) { oi.neoTrellis.getifAvailable(9) .onTrue(coralArmSubsystem.createSetTargetCoralLevelCommand(Landmarks.CoralLevel.TWO)); diff --git a/src/main/java/competition/simulation/coral_arm/CoralArmSimulator.java b/src/main/java/competition/simulation/coral_arm/CoralArmSimulator.java index 4d3f9e79d..d3e3ca554 100644 --- a/src/main/java/competition/simulation/coral_arm/CoralArmSimulator.java +++ b/src/main/java/competition/simulation/coral_arm/CoralArmSimulator.java @@ -5,7 +5,7 @@ import competition.Robot; import competition.electrical_contract.ElectricalContract; import competition.simulation.MotorInternalPIDHelper; -import competition.subsystems.coral_arm.CoralArmSubsystem; +import competition.subsystems.stinger_arm.StingerArmSubsystem; import static edu.wpi.first.units.Units.Meters; import static edu.wpi.first.units.Units.Radians; @@ -31,15 +31,15 @@ public class CoralArmSimulator { final PIDManager pidManager; final AKitLogger aKitLog; - final CoralArmSubsystem armPivotSubsystem; + final StingerArmSubsystem armPivotSubsystem; final MockCANMotorController armMotor; final MockDutyCycleEncoder absoluteEncoder; final MockDigitalInput lowSensor; final ElectricalContract contract; @Inject - public CoralArmSimulator(CoralArmSubsystem armPivotSubsystem, PIDManager.PIDManagerFactory pidManagerFactory, - PropertyFactory pf, ElectricalContract contract) { + public CoralArmSimulator(StingerArmSubsystem armPivotSubsystem, PIDManager.PIDManagerFactory pidManagerFactory, + PropertyFactory pf, ElectricalContract contract) { pf.setPrefix("CoralArmSimulator"); this.aKitLog = new AKitLogger("FieldSimulation/CoralArm"); this.contract = contract; diff --git a/src/main/java/competition/subsystems/SubsystemDefaultCommandMap.java b/src/main/java/competition/subsystems/SubsystemDefaultCommandMap.java index f5429c0c7..52eb37880 100644 --- a/src/main/java/competition/subsystems/SubsystemDefaultCommandMap.java +++ b/src/main/java/competition/subsystems/SubsystemDefaultCommandMap.java @@ -4,8 +4,8 @@ import competition.subsystems.algae_arm.commands.AlgaeArmMaintainerCommand; import competition.subsystems.algae_collection.AlgaeCollectionSubsystem; import competition.subsystems.algae_collection.commands.AlgaeCollectionStopCommand; -import competition.subsystems.coral_arm.CoralArmSubsystem; -import competition.subsystems.coral_arm.commands.CoralArmMaintainerCommand; +import competition.subsystems.stinger_arm.StingerArmSubsystem; +import competition.subsystems.stinger_arm.commands.StingerArmMaintainerCommand; import competition.subsystems.drive.DriveSubsystem; import competition.subsystems.drive.commands.SwerveDriveWithJoysticksCommand; import competition.subsystems.elevator.ElevatorSubsystem; @@ -39,7 +39,7 @@ public void setupElevatorSubsystem(ElevatorSubsystem elevatorSubsystem, Elevator } @Inject - public void setupCoralArmPivotSubsystem(CoralArmSubsystem coralArmPivotSubsystem, CoralArmMaintainerCommand command){ + public void setupCoralArmPivotSubsystem(StingerArmSubsystem coralArmPivotSubsystem, StingerArmMaintainerCommand command){ coralArmPivotSubsystem.setDefaultCommand(command); } diff --git a/src/main/java/competition/subsystems/coral_scorer/commands/ScoreWhenReadyCommand.java b/src/main/java/competition/subsystems/coral_scorer/commands/ScoreWhenReadyCommand.java index 4383f93a6..1ed8eba1c 100644 --- a/src/main/java/competition/subsystems/coral_scorer/commands/ScoreWhenReadyCommand.java +++ b/src/main/java/competition/subsystems/coral_scorer/commands/ScoreWhenReadyCommand.java @@ -1,6 +1,6 @@ package competition.subsystems.coral_scorer.commands; -import competition.subsystems.coral_arm.CoralArmSubsystem; +import competition.subsystems.stinger_arm.StingerArmSubsystem; import competition.subsystems.coral_scorer.CoralScorerSubsystem; import competition.subsystems.elevator.ElevatorSubsystem; import xbot.common.command.BaseCommand; @@ -9,11 +9,11 @@ public class ScoreWhenReadyCommand extends BaseCommand { CoralScorerSubsystem coralScorerSubsystem; - CoralArmSubsystem coralArmSubsystem; + StingerArmSubsystem coralArmSubsystem; ElevatorSubsystem elevatorSubsystem; @Inject - public ScoreWhenReadyCommand(CoralScorerSubsystem coralScorerSubsystem, CoralArmSubsystem coralArmSubsystem, + public ScoreWhenReadyCommand(CoralScorerSubsystem coralScorerSubsystem, StingerArmSubsystem coralArmSubsystem, ElevatorSubsystem elevatorSubsystem) { this.coralScorerSubsystem = coralScorerSubsystem; this.coralArmSubsystem = coralArmSubsystem; diff --git a/src/main/java/competition/subsystems/elevator_mechanism/SuperstructureMechanismSubsystem.java b/src/main/java/competition/subsystems/elevator_mechanism/SuperstructureMechanismSubsystem.java index e0881c42f..bac611a38 100644 --- a/src/main/java/competition/subsystems/elevator_mechanism/SuperstructureMechanismSubsystem.java +++ b/src/main/java/competition/subsystems/elevator_mechanism/SuperstructureMechanismSubsystem.java @@ -2,7 +2,7 @@ import javax.inject.Inject; -import competition.subsystems.coral_arm.CoralArmSubsystem; +import competition.subsystems.stinger_arm.StingerArmSubsystem; import competition.subsystems.coral_scorer.CoralScorerSubsystem; import competition.subsystems.elevator.SuperstructureMechanism; import competition.subsystems.elevator.ElevatorSubsystem; @@ -13,14 +13,14 @@ */ public class SuperstructureMechanismSubsystem extends BaseSubsystem { final ElevatorSubsystem elevatorSubsystem; - final CoralArmSubsystem armPivotSubsystem; + final StingerArmSubsystem armPivotSubsystem; final CoralScorerSubsystem coralScorerSubsystem; final SuperstructureMechanism superstructureMechanism; @Inject public SuperstructureMechanismSubsystem(ElevatorSubsystem elevatorSubsystem, - CoralArmSubsystem armPivotSubsystem, CoralScorerSubsystem coralScorerSubsystem) { + StingerArmSubsystem armPivotSubsystem, CoralScorerSubsystem coralScorerSubsystem) { this.elevatorSubsystem = elevatorSubsystem; this.armPivotSubsystem = armPivotSubsystem; this.coralScorerSubsystem = coralScorerSubsystem; diff --git a/src/main/java/competition/subsystems/lights/LightSubsystem.java b/src/main/java/competition/subsystems/lights/LightSubsystem.java index 2a5e18df0..53aaa8c8c 100644 --- a/src/main/java/competition/subsystems/lights/LightSubsystem.java +++ b/src/main/java/competition/subsystems/lights/LightSubsystem.java @@ -6,7 +6,7 @@ import javax.inject.Singleton; import competition.electrical_contract.ElectricalContract; -import competition.subsystems.coral_arm.CoralArmSubsystem; +import competition.subsystems.stinger_arm.StingerArmSubsystem; import competition.subsystems.coral_scorer.CoralScorerSubsystem; import competition.subsystems.drive.logic.AlignCameraToAprilTagCalculator; import competition.subsystems.elevator.ElevatorSubsystem; @@ -31,7 +31,7 @@ public class LightSubsystem extends BaseSubsystem { final AutonomousCommandSelector autonomousCommandSelector; final CoralScorerSubsystem coralScorerSubsystem; - final CoralArmSubsystem coralArmSubsystem; + final StingerArmSubsystem coralArmSubsystem; final ElevatorSubsystem elevatorSubsystem; final AprilTagVisionSubsystemExtended visionSubsystem; private AlignCameraToAprilTagCalculator.Activity activity; @@ -111,7 +111,7 @@ public LightSubsystem(XDigitalOutputFactory digitalOutputFactory, ElectricalContract contract, AutonomousCommandSelector autonomousCommandSelector, CoralScorerSubsystem coralScorerSubsystem, - CoralArmSubsystem coralArmSubsystem, + StingerArmSubsystem coralArmSubsystem, ElevatorSubsystem elevatorSubsystem, AprilTagVisionSubsystemExtended visionSubsystem, PropertyFactory pf) { diff --git a/src/main/java/competition/subsystems/coral_arm/CoralArmSubsystem.java b/src/main/java/competition/subsystems/stinger_arm/StingerArmSubsystem.java similarity index 96% rename from src/main/java/competition/subsystems/coral_arm/CoralArmSubsystem.java rename to src/main/java/competition/subsystems/stinger_arm/StingerArmSubsystem.java index 95e535c35..2f87e9b64 100644 --- a/src/main/java/competition/subsystems/coral_arm/CoralArmSubsystem.java +++ b/src/main/java/competition/subsystems/stinger_arm/StingerArmSubsystem.java @@ -1,4 +1,4 @@ -package competition.subsystems.coral_arm; +package competition.subsystems.stinger_arm; import competition.electrical_contract.ElectricalContract; import competition.subsystems.pose.Landmarks; @@ -28,7 +28,7 @@ import static edu.wpi.first.units.Units.RotationsPerSecond; @Singleton -public class CoralArmSubsystem extends BaseSetpointSubsystem { +public class StingerArmSubsystem extends BaseSetpointSubsystem { public final XCANMotorController armMotor; public final XDutyCycleEncoder armAbsoluteEncoder; @@ -55,10 +55,10 @@ public class CoralArmSubsystem extends BaseSetpointSubsystem { public Landmarks.CoralLevel targetCoralLevel; @Inject - public CoralArmSubsystem(XCANMotorController.XCANMotorControllerFactory xcanMotorControllerFactory, - ElectricalContract electricalContract, PropertyFactory propertyFactory, - XDutyCycleEncoder.XDutyCycleEncoderFactory xDutyCycleEncoderFactory, - XDigitalInput.XDigitalInputFactory xDigitalInputFactory) { + public StingerArmSubsystem(XCANMotorController.XCANMotorControllerFactory xcanMotorControllerFactory, + ElectricalContract electricalContract, PropertyFactory propertyFactory, + XDutyCycleEncoder.XDutyCycleEncoderFactory xDutyCycleEncoderFactory, + XDigitalInput.XDigitalInputFactory xDigitalInputFactory) { propertyFactory.setPrefix(this); this.electricalContract = electricalContract; diff --git a/src/main/java/competition/subsystems/coral_arm/commands/ForceCoralArmCalibratedCommand.java b/src/main/java/competition/subsystems/stinger_arm/commands/ForceStingerArmCalibratedCommand.java similarity index 60% rename from src/main/java/competition/subsystems/coral_arm/commands/ForceCoralArmCalibratedCommand.java rename to src/main/java/competition/subsystems/stinger_arm/commands/ForceStingerArmCalibratedCommand.java index c48d93e6c..6241a9a75 100644 --- a/src/main/java/competition/subsystems/coral_arm/commands/ForceCoralArmCalibratedCommand.java +++ b/src/main/java/competition/subsystems/stinger_arm/commands/ForceStingerArmCalibratedCommand.java @@ -1,16 +1,16 @@ -package competition.subsystems.coral_arm.commands; +package competition.subsystems.stinger_arm.commands; -import competition.subsystems.coral_arm.CoralArmSubsystem; +import competition.subsystems.stinger_arm.StingerArmSubsystem; import xbot.common.command.BaseCommand; import javax.inject.Inject; -public class ForceCoralArmCalibratedCommand extends BaseCommand { +public class ForceStingerArmCalibratedCommand extends BaseCommand { - CoralArmSubsystem coralArmPivotSubsystem; + StingerArmSubsystem coralArmPivotSubsystem; @Inject - public ForceCoralArmCalibratedCommand(CoralArmSubsystem coralArmPivotSubsystem) { + public ForceStingerArmCalibratedCommand(StingerArmSubsystem coralArmPivotSubsystem) { this.coralArmPivotSubsystem = coralArmPivotSubsystem; } diff --git a/src/main/java/competition/subsystems/coral_arm/commands/SetCoralArmTargetAngleCommand.java b/src/main/java/competition/subsystems/stinger_arm/commands/SetStingerArmTargetAngleCommand.java similarity index 74% rename from src/main/java/competition/subsystems/coral_arm/commands/SetCoralArmTargetAngleCommand.java rename to src/main/java/competition/subsystems/stinger_arm/commands/SetStingerArmTargetAngleCommand.java index 41c78f826..05fca41f1 100644 --- a/src/main/java/competition/subsystems/coral_arm/commands/SetCoralArmTargetAngleCommand.java +++ b/src/main/java/competition/subsystems/stinger_arm/commands/SetStingerArmTargetAngleCommand.java @@ -1,19 +1,19 @@ -package competition.subsystems.coral_arm.commands; +package competition.subsystems.stinger_arm.commands; -import competition.subsystems.coral_arm.CoralArmSubsystem; +import competition.subsystems.stinger_arm.StingerArmSubsystem; import competition.subsystems.pose.Landmarks; import xbot.common.command.BaseSetpointCommand; import javax.inject.Inject; import java.util.function.Supplier; -public class SetCoralArmTargetAngleCommand extends BaseSetpointCommand { +public class SetStingerArmTargetAngleCommand extends BaseSetpointCommand { - CoralArmSubsystem coralArm; + StingerArmSubsystem coralArm; private Supplier angleSupplier; @Inject - public SetCoralArmTargetAngleCommand(CoralArmSubsystem coralArm) { + public SetStingerArmTargetAngleCommand(StingerArmSubsystem coralArm) { super(coralArm); this.coralArm = coralArm; } diff --git a/src/main/java/competition/subsystems/coral_arm/commands/CoralArmMaintainerCommand.java b/src/main/java/competition/subsystems/stinger_arm/commands/StingerArmMaintainerCommand.java similarity index 90% rename from src/main/java/competition/subsystems/coral_arm/commands/CoralArmMaintainerCommand.java rename to src/main/java/competition/subsystems/stinger_arm/commands/StingerArmMaintainerCommand.java index 275b7184d..6e44fd021 100644 --- a/src/main/java/competition/subsystems/coral_arm/commands/CoralArmMaintainerCommand.java +++ b/src/main/java/competition/subsystems/stinger_arm/commands/StingerArmMaintainerCommand.java @@ -1,9 +1,9 @@ -package competition.subsystems.coral_arm.commands; +package competition.subsystems.stinger_arm.commands; import competition.motion.TrapezoidProfileManager; import competition.operator_interface.OperatorInterface; import competition.subsystems.algae_arm.AlgaeArmSubsystem; -import competition.subsystems.coral_arm.CoralArmSubsystem; +import competition.subsystems.stinger_arm.StingerArmSubsystem; import competition.subsystems.elevator.ElevatorSubsystem; import edu.wpi.first.units.measure.Angle; import edu.wpi.first.wpilibj.Alert; @@ -23,9 +23,9 @@ import static edu.wpi.first.units.Units.DegreesPerSecond; import static edu.wpi.first.units.Units.Inches; -public class CoralArmMaintainerCommand extends BaseMaintainerCommand { +public class StingerArmMaintainerCommand extends BaseMaintainerCommand { - final CoralArmSubsystem coralArm; + final StingerArmSubsystem coralArm; final AlgaeArmSubsystem algaeArm; final ElevatorSubsystem elevator; @@ -43,11 +43,11 @@ public class CoralArmMaintainerCommand extends BaseMaintainerCommand { final Alert collisionSafetiesEngaged = new Alert("Coral Arm: collision safeties engaged", Alert.AlertType.kWarning); @Inject - public CoralArmMaintainerCommand(CoralArmSubsystem armPivotSubsystem, ElevatorSubsystem elevator, - AlgaeArmSubsystem algaeArm, PropertyFactory pf, - HumanVsMachineDecider.HumanVsMachineDeciderFactory hvmFactory, - TrapezoidProfileManager.Factory trapzoidProfileManagerFactory, - OperatorInterface oi) { + public StingerArmMaintainerCommand(StingerArmSubsystem armPivotSubsystem, ElevatorSubsystem elevator, + AlgaeArmSubsystem algaeArm, PropertyFactory pf, + HumanVsMachineDecider.HumanVsMachineDeciderFactory hvmFactory, + TrapezoidProfileManager.Factory trapzoidProfileManagerFactory, + OperatorInterface oi) { super(armPivotSubsystem, pf, hvmFactory, 2, 0.10); this.coralArm = armPivotSubsystem; this.algaeArm = algaeArm; diff --git a/src/main/java/competition/subsystems/coral_arm/commands/ToggleCoralArmCalibratedCommand.java b/src/main/java/competition/subsystems/stinger_arm/commands/ToggleStingerArmCalibratedCommand.java similarity index 63% rename from src/main/java/competition/subsystems/coral_arm/commands/ToggleCoralArmCalibratedCommand.java rename to src/main/java/competition/subsystems/stinger_arm/commands/ToggleStingerArmCalibratedCommand.java index 09ab4dc06..5b6fbb4ad 100644 --- a/src/main/java/competition/subsystems/coral_arm/commands/ToggleCoralArmCalibratedCommand.java +++ b/src/main/java/competition/subsystems/stinger_arm/commands/ToggleStingerArmCalibratedCommand.java @@ -1,17 +1,17 @@ -package competition.subsystems.coral_arm.commands; +package competition.subsystems.stinger_arm.commands; -import competition.subsystems.coral_arm.CoralArmSubsystem; +import competition.subsystems.stinger_arm.StingerArmSubsystem; import xbot.common.command.BaseCommand; import javax.inject.Inject; //toggles isCalibrated on and off in coralArmSubsystem for testing -public class ToggleCoralArmCalibratedCommand extends BaseCommand { - CoralArmSubsystem coralArm; +public class ToggleStingerArmCalibratedCommand extends BaseCommand { + StingerArmSubsystem coralArm; boolean calibrationSwitch; @Inject - public ToggleCoralArmCalibratedCommand(CoralArmSubsystem coralArm){ + public ToggleStingerArmCalibratedCommand(StingerArmSubsystem coralArm){ this.coralArm = coralArm; addRequirements(coralArm); } diff --git a/src/test/java/competition/subsystems/arm/ArmPivotAngleWrappingTest.java b/src/test/java/competition/subsystems/arm/ArmPivotAngleWrappingTest.java index a99bfc839..624dc7e4a 100644 --- a/src/test/java/competition/subsystems/arm/ArmPivotAngleWrappingTest.java +++ b/src/test/java/competition/subsystems/arm/ArmPivotAngleWrappingTest.java @@ -1,7 +1,7 @@ package competition.subsystems.arm; import competition.BaseCompetitionTest; -import competition.subsystems.coral_arm.CoralArmSubsystem; +import competition.subsystems.stinger_arm.StingerArmSubsystem; import org.junit.Test; @@ -15,34 +15,34 @@ public class ArmPivotAngleWrappingTest extends BaseCompetitionTest { public void testAbsoluteEncoderSafeRange() { // Test #1: Absolute encoder position is in safe range, > maxPosition , < minPosition assertEquals(Degrees.of(62.5), - CoralArmSubsystem.getArmAngle(0.25, 0.28, + StingerArmSubsystem.getArmAngle(0.25, 0.28, Degrees.of(270), false, 125)); assertEquals(Degrees.of( 25), - CoralArmSubsystem.getArmAngle(0.25, 0.28, + StingerArmSubsystem.getArmAngle(0.25, 0.28, Degrees.of(162), false, 125)); assertEquals(Degrees.of( 96.25), - CoralArmSubsystem.getArmAngle(0.25, 0.28, + StingerArmSubsystem.getArmAngle(0.25, 0.28, Degrees.of(18), false, 125)); assertEquals(Degrees.of(31.25), - CoralArmSubsystem.getArmAngle(0.75, 0.8, + StingerArmSubsystem.getArmAngle(0.75, 0.8, Degrees.of(360), false, 125)); assertEquals(Degrees.of( 100), - CoralArmSubsystem.getArmAngle(0.75, 0.8, + StingerArmSubsystem.getArmAngle(0.75, 0.8, Degrees.of(216), false, 125)); assertEquals(Degrees.of( 62.5), - CoralArmSubsystem.getArmAngle(0.75, 0.8, + StingerArmSubsystem.getArmAngle(0.75, 0.8, Degrees.of(108), false, 125)); // Special Case: maxPosition < minPosition assertEquals(Degrees.of(32.5), - CoralArmSubsystem.getArmAngle(0.99, 0.04, + StingerArmSubsystem.getArmAngle(0.99, 0.04, Degrees.of(90), false, 125)); assertEquals(Degrees.of(95), - CoralArmSubsystem.getArmAngle(0.99, 0.04, + StingerArmSubsystem.getArmAngle(0.99, 0.04, Degrees.of(270), false, 125)); assertEquals(Degrees.of(63.75), - CoralArmSubsystem.getArmAngle(0.99, 0.04, + StingerArmSubsystem.getArmAngle(0.99, 0.04, Degrees.of(180), false, 125)); } @@ -50,38 +50,38 @@ public void testAbsoluteEncoderSafeRange() { public void testAbsoluteEncoderUnsafeRange() { // Test #2: Absolute encoder position not in safe range and sensorHit (Arm is very low) assertEquals(Degrees.of(1.875), - CoralArmSubsystem.getArmAngle(0.25, 0.28, + StingerArmSubsystem.getArmAngle(0.25, 0.28, Degrees.of(95.4), true, 125)); assertEquals(Degrees.of(1.875), - CoralArmSubsystem.getArmAngle(0.75, 0.8, + StingerArmSubsystem.getArmAngle(0.75, 0.8, Degrees.of(275.4), true, 125)); // Special Case: maxPosition < minPosition // testing when absEncoderPosition is greater than minPosition but also when it is less than maxPosition assertEquals(Degrees.of(0.625), - CoralArmSubsystem.getArmAngle(0.99, 0.04, + StingerArmSubsystem.getArmAngle(0.99, 0.04, Degrees.of(358.2), true, 125)); assertEquals(Degrees.of(1.25), - CoralArmSubsystem.getArmAngle(0.99, 0.04, + StingerArmSubsystem.getArmAngle(0.99, 0.04, Degrees.of(360), true, 125)); assertEquals(Degrees.of(3.75), - CoralArmSubsystem.getArmAngle(0.99, 0.04, + StingerArmSubsystem.getArmAngle(0.99, 0.04, Degrees.of(7.2), true, 125)); // Test #3: Absolute encoder position not in safe range and sensor not hit (Arm is very high) assertEquals(Degrees.of(123.125), - CoralArmSubsystem.getArmAngle(0.25, 0.28, + StingerArmSubsystem.getArmAngle(0.25, 0.28, Degrees.of(95.4), false, 125)); assertEquals(Degrees.of(120.625), - CoralArmSubsystem.getArmAngle(0.75, 0.8, + StingerArmSubsystem.getArmAngle(0.75, 0.8, Degrees.of(275.4), false, 125)); // Special Case: maxPosition < minPosition // testing when absEncoderPosition is greater than minPosition but also when it is less than maxPosition assertEquals(Degrees.of(120), - CoralArmSubsystem.getArmAngle(0.99, 0.04, + StingerArmSubsystem.getArmAngle(0.99, 0.04, Degrees.of(360), false, 125)); assertEquals(Degrees.of(122.5), - CoralArmSubsystem.getArmAngle(0.99, 0.04, + StingerArmSubsystem.getArmAngle(0.99, 0.04, Degrees.of(7.2), false, 125)); } diff --git a/src/test/java/competition/subsystems/arm/CoralArmAngleSimulatorTest.java b/src/test/java/competition/subsystems/arm/CoralArmAngleSimulatorTest.java index 53509741d..a03a6ebd5 100644 --- a/src/test/java/competition/subsystems/arm/CoralArmAngleSimulatorTest.java +++ b/src/test/java/competition/subsystems/arm/CoralArmAngleSimulatorTest.java @@ -3,7 +3,7 @@ import competition.BaseCompetitionTest; import competition.simulation.coral_arm.CoralArmSimulator; -import competition.subsystems.coral_arm.CoralArmSubsystem; +import competition.subsystems.stinger_arm.StingerArmSubsystem; import org.junit.Test; import static edu.wpi.first.units.Units.Degrees; @@ -15,26 +15,26 @@ public class CoralArmAngleSimulatorTest extends BaseCompetitionTest { @Test public void testAbsoluteEncoderSafeRange() { assertEquals(Degrees.of(50), - CoralArmSubsystem.getArmAngle(0.25, 0.3, + StingerArmSubsystem.getArmAngle(0.25, 0.3, CoralArmSimulator.getAbsoluteEncoderPosition(Degrees.of(50), 0.25, 0.3), false, 125) ); assertEquals(Degrees.of(90), - CoralArmSubsystem.getArmAngle(0.25, 0.3, + StingerArmSubsystem.getArmAngle(0.25, 0.3, CoralArmSimulator.getAbsoluteEncoderPosition(Degrees.of(90), 0.25, 0.3), false, 125) ); assertEquals(Degrees.of(50), - CoralArmSubsystem.getArmAngle(0.99, 0.04, + StingerArmSubsystem.getArmAngle(0.99, 0.04, CoralArmSimulator.getAbsoluteEncoderPosition(Degrees.of(50), 0.99, 0.04), false, 125) ); assertEquals(Degrees.of(90), - CoralArmSubsystem.getArmAngle(0.99, 0.04, + StingerArmSubsystem.getArmAngle(0.99, 0.04, CoralArmSimulator.getAbsoluteEncoderPosition(Degrees.of(90), 0.99, 0.04), false, 125) @@ -44,40 +44,40 @@ public void testAbsoluteEncoderSafeRange() { @Test public void testAbsoluteEncoderUnSafeRange() { assertEquals(Degrees.of(5), - CoralArmSubsystem.getArmAngle(0.25, 0.3, + StingerArmSubsystem.getArmAngle(0.25, 0.3, CoralArmSimulator.getAbsoluteEncoderPosition(Degrees.of(5), 0.25, 0.3), true, 125) ); assertEquals(Degrees.of(2.5), - CoralArmSubsystem.getArmAngle(0.25, 0.3, + StingerArmSubsystem.getArmAngle(0.25, 0.3, CoralArmSimulator.getAbsoluteEncoderPosition(Degrees.of(2.5), 0.25, 0.3), true, 125) ); assertEquals(Degrees.of(5), - CoralArmSubsystem.getArmAngle(0.99, 0.04, + StingerArmSubsystem.getArmAngle(0.99, 0.04, CoralArmSimulator.getAbsoluteEncoderPosition(Degrees.of(5), 0.99, 0.04), true, 125) ); assertEquals(Degrees.of(120), - CoralArmSubsystem.getArmAngle(0.25, 0.3, + StingerArmSubsystem.getArmAngle(0.25, 0.3, CoralArmSimulator.getAbsoluteEncoderPosition(Degrees.of(120), 0.25, 0.3), false, 125) ); assertEquals(Degrees.of(122.5), - CoralArmSubsystem.getArmAngle(0.25, 0.3, + StingerArmSubsystem.getArmAngle(0.25, 0.3, CoralArmSimulator.getAbsoluteEncoderPosition(Degrees.of(122.5), 0.25, 0.3), false, 125) ); assertEquals(Degrees.of(120), - CoralArmSubsystem.getArmAngle(0.99, 0.04, + StingerArmSubsystem.getArmAngle(0.99, 0.04, CoralArmSimulator.getAbsoluteEncoderPosition(Degrees.of(120), 0.99, 0.04), false, 125) From 4859cf995e781eabdbebc2ca97baa511eb07959f Mon Sep 17 00:00:00 2001 From: Alan Date: Tue, 1 Apr 2025 20:17:46 -0700 Subject: [PATCH 2/3] renamed coral scorer subsystem and more variables --- ...veToClosestStationCommandGroupFactory.java | 2 +- ...riveToFaceAndScoreCommandGroupFactory.java | 3 +- ...takeUntilCollectedCommandGroupFactory.java | 2 +- ...dingAssistedDriveAndScoreCommandGroup.java | 2 +- ...nLoadUntillCoralCollectedCommandGroup.java | 2 +- ...ToCoralStationAndIntakeUntilCollected.java | 2 +- ...DriveToLocationForCoralStationFactory.java | 2 +- ...elThenAlignAndPrepCommandGroupFactory.java | 3 +- ...PathToFaceAndScoreCommandGroupFactory.java | 2 +- .../components/BaseRobotComponent.java | 4 +- .../injection/modules/CommonModule.java | 4 +- .../OperatorCommandMap.java | 11 ++-- .../coral_scorer/CoralScorerSimulator.java | 6 +- .../commands/IntakeAlgaeCommand.java | 26 -------- .../commands/ScoreAlgaeCommand.java | 26 -------- .../commands/ScoreCoralCommand.java | 26 -------- .../commands/StopCoralCommand.java | 21 ------- .../commands/ShoveCoralStationCommand.java | 6 +- .../SuperstructureMechanismSubsystem.java | 6 +- .../subsystems/lights/LightSubsystem.java | 8 +-- .../StingerCollectionSubsystem.java} | 60 +++++++++---------- .../commands/IntakeAlgaeCommand.java | 26 ++++++++ .../commands/IntakeCoralCommand.java | 10 ++-- .../IntakeUntilCoralCollectedCommand.java | 10 ++-- .../commands/ScoreAlgaeCommand.java | 26 ++++++++ .../commands/ScoreCoralCommand.java | 26 ++++++++ .../commands/ScoreWhenReadyCommand.java | 10 ++-- .../commands/StopCoralCommand.java | 21 +++++++ 28 files changed, 175 insertions(+), 178 deletions(-) delete mode 100644 src/main/java/competition/subsystems/coral_scorer/commands/IntakeAlgaeCommand.java delete mode 100644 src/main/java/competition/subsystems/coral_scorer/commands/ScoreAlgaeCommand.java delete mode 100644 src/main/java/competition/subsystems/coral_scorer/commands/ScoreCoralCommand.java delete mode 100644 src/main/java/competition/subsystems/coral_scorer/commands/StopCoralCommand.java rename src/main/java/competition/subsystems/{coral_scorer/CoralScorerSubsystem.java => stinger_collection/StingerCollectionSubsystem.java} (75%) create mode 100644 src/main/java/competition/subsystems/stinger_collection/commands/IntakeAlgaeCommand.java rename src/main/java/competition/subsystems/{coral_scorer => stinger_collection}/commands/IntakeCoralCommand.java (64%) rename src/main/java/competition/subsystems/{coral_scorer => stinger_collection}/commands/IntakeUntilCoralCollectedCommand.java (50%) create mode 100644 src/main/java/competition/subsystems/stinger_collection/commands/ScoreAlgaeCommand.java create mode 100644 src/main/java/competition/subsystems/stinger_collection/commands/ScoreCoralCommand.java rename src/main/java/competition/subsystems/{coral_scorer => stinger_collection}/commands/ScoreWhenReadyCommand.java (77%) create mode 100644 src/main/java/competition/subsystems/stinger_collection/commands/StopCoralCommand.java diff --git a/src/main/java/competition/commandgroups/DriveToClosestStationCommandGroupFactory.java b/src/main/java/competition/commandgroups/DriveToClosestStationCommandGroupFactory.java index 628ce6e5c..d17e83046 100644 --- a/src/main/java/competition/commandgroups/DriveToClosestStationCommandGroupFactory.java +++ b/src/main/java/competition/commandgroups/DriveToClosestStationCommandGroupFactory.java @@ -1,6 +1,6 @@ package competition.commandgroups; -import competition.subsystems.coral_scorer.commands.IntakeUntilCoralCollectedCommand; +import competition.subsystems.stinger_collection.commands.IntakeUntilCoralCollectedCommand; import competition.subsystems.drive.commands.AlignToSpecificHumanLoadingStationCommand; import competition.subsystems.drive.commands.DriveToCoralStationCommand; import competition.subsystems.drive.commands.DriveToCoralStationInterstitialCommand; diff --git a/src/main/java/competition/commandgroups/DriveToFaceAndScoreCommandGroupFactory.java b/src/main/java/competition/commandgroups/DriveToFaceAndScoreCommandGroupFactory.java index 96a785118..c10ca7774 100644 --- a/src/main/java/competition/commandgroups/DriveToFaceAndScoreCommandGroupFactory.java +++ b/src/main/java/competition/commandgroups/DriveToFaceAndScoreCommandGroupFactory.java @@ -1,12 +1,11 @@ package competition.commandgroups; -import competition.subsystems.coral_scorer.commands.ScoreWhenReadyCommand; +import competition.subsystems.stinger_collection.commands.ScoreWhenReadyCommand; import competition.subsystems.drive.commands.MeasureDistanceBeforeScoringCommand; import competition.subsystems.pose.Landmarks; import edu.wpi.first.units.measure.Distance; import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; -import edu.wpi.first.wpilibj2.command.WaitCommand; import xbot.common.command.DelayViaSupplierCommand; import xbot.common.properties.DistanceProperty; import xbot.common.properties.DoubleProperty; diff --git a/src/main/java/competition/commandgroups/DriveToStationAndIntakeUntilCollectedCommandGroupFactory.java b/src/main/java/competition/commandgroups/DriveToStationAndIntakeUntilCollectedCommandGroupFactory.java index 8e2a95dde..7875b5e80 100644 --- a/src/main/java/competition/commandgroups/DriveToStationAndIntakeUntilCollectedCommandGroupFactory.java +++ b/src/main/java/competition/commandgroups/DriveToStationAndIntakeUntilCollectedCommandGroupFactory.java @@ -1,6 +1,6 @@ package competition.commandgroups; -import competition.subsystems.coral_scorer.commands.IntakeUntilCoralCollectedCommand; +import competition.subsystems.stinger_collection.commands.IntakeUntilCoralCollectedCommand; import competition.subsystems.drive.commands.AlignToSpecificHumanLoadingStationCommand; import competition.subsystems.drive.commands.DriveToCoralStationInterstitialCommand; import competition.subsystems.drive.commands.ShoveCoralStationCommand; diff --git a/src/main/java/competition/commandgroups/HeadingAssistedDriveAndScoreCommandGroup.java b/src/main/java/competition/commandgroups/HeadingAssistedDriveAndScoreCommandGroup.java index 7dbae6704..7bcacb1af 100644 --- a/src/main/java/competition/commandgroups/HeadingAssistedDriveAndScoreCommandGroup.java +++ b/src/main/java/competition/commandgroups/HeadingAssistedDriveAndScoreCommandGroup.java @@ -1,7 +1,7 @@ package competition.commandgroups; import competition.subsystems.stinger_arm.StingerArmSubsystem; -import competition.subsystems.coral_scorer.commands.ScoreWhenReadyCommand; +import competition.subsystems.stinger_collection.commands.ScoreWhenReadyCommand; import competition.subsystems.drive.commands.AlignToReefWithAprilTagCommand; import competition.subsystems.drive.commands.DriveToReefFaceFromAngleUntilDetectionCommand; import competition.subsystems.drive.commands.MeasureDistanceBeforeScoringCommand; diff --git a/src/main/java/competition/commandgroups/HumanLoadUntillCoralCollectedCommandGroup.java b/src/main/java/competition/commandgroups/HumanLoadUntillCoralCollectedCommandGroup.java index aa16535f0..de87ae956 100644 --- a/src/main/java/competition/commandgroups/HumanLoadUntillCoralCollectedCommandGroup.java +++ b/src/main/java/competition/commandgroups/HumanLoadUntillCoralCollectedCommandGroup.java @@ -1,6 +1,6 @@ package competition.commandgroups; -import competition.subsystems.coral_scorer.commands.IntakeUntilCoralCollectedCommand; +import competition.subsystems.stinger_collection.commands.IntakeUntilCoralCollectedCommand; import competition.subsystems.pose.Landmarks; import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; diff --git a/src/main/java/competition/commandgroups/vision_path/PathDriveToCoralStationAndIntakeUntilCollected.java b/src/main/java/competition/commandgroups/vision_path/PathDriveToCoralStationAndIntakeUntilCollected.java index e587308ec..63f7de2ad 100644 --- a/src/main/java/competition/commandgroups/vision_path/PathDriveToCoralStationAndIntakeUntilCollected.java +++ b/src/main/java/competition/commandgroups/vision_path/PathDriveToCoralStationAndIntakeUntilCollected.java @@ -1,7 +1,7 @@ package competition.commandgroups.vision_path; import competition.commandgroups.PrepCoralSystemCommandGroupFactory; -import competition.subsystems.coral_scorer.commands.IntakeUntilCoralCollectedCommand; +import competition.subsystems.stinger_collection.commands.IntakeUntilCoralCollectedCommand; import competition.subsystems.drive.commands.vision_path.DriveVectorSmallCommand; import competition.subsystems.drive.commands.vision_path.PathDriveToNearestCoralStationSectionCommand; import competition.subsystems.pose.Landmarks; diff --git a/src/main/java/competition/commandgroups/vision_path/PathDriveToLocationForCoralStationFactory.java b/src/main/java/competition/commandgroups/vision_path/PathDriveToLocationForCoralStationFactory.java index 3e5c9ed81..eee718313 100644 --- a/src/main/java/competition/commandgroups/vision_path/PathDriveToLocationForCoralStationFactory.java +++ b/src/main/java/competition/commandgroups/vision_path/PathDriveToLocationForCoralStationFactory.java @@ -4,7 +4,7 @@ import static edu.wpi.first.units.Units.Seconds; import competition.commandgroups.PrepCoralSystemCommandGroupFactory; -import competition.subsystems.coral_scorer.commands.IntakeUntilCoralCollectedCommand; +import competition.subsystems.stinger_collection.commands.IntakeUntilCoralCollectedCommand; import competition.subsystems.drive.commands.vision_path.DriveVectorSmallCommand; import competition.subsystems.drive.commands.vision_path.PathDriveToLocationCommand; import competition.subsystems.pose.Landmarks; diff --git a/src/main/java/competition/commandgroups/vision_path/PathToBestReefBranchLevelThenAlignAndPrepCommandGroupFactory.java b/src/main/java/competition/commandgroups/vision_path/PathToBestReefBranchLevelThenAlignAndPrepCommandGroupFactory.java index 364ffd3f2..9d34f5af0 100644 --- a/src/main/java/competition/commandgroups/vision_path/PathToBestReefBranchLevelThenAlignAndPrepCommandGroupFactory.java +++ b/src/main/java/competition/commandgroups/vision_path/PathToBestReefBranchLevelThenAlignAndPrepCommandGroupFactory.java @@ -4,7 +4,7 @@ import static edu.wpi.first.units.Units.Meters; import competition.commandgroups.PrepCoralSystemCommandGroupFactory; -import competition.subsystems.coral_scorer.commands.ScoreWhenReadyCommand; +import competition.subsystems.stinger_collection.commands.ScoreWhenReadyCommand; import competition.subsystems.drive.commands.AlignToTagGlobalMovementWithCalculator; import competition.subsystems.drive.commands.MeasureDistanceBeforeScoringCommand; import competition.subsystems.drive.commands.vision_path.PathDriveToLocationCommandUntilAprilTagDetectionDynamic; @@ -13,7 +13,6 @@ import competition.subsystems.vision.AprilTagVisionSubsystemExtended; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.wpilibj.DriverStation; -import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import javax.inject.Inject; diff --git a/src/main/java/competition/commandgroups/vision_path/PathToFaceAndScoreCommandGroupFactory.java b/src/main/java/competition/commandgroups/vision_path/PathToFaceAndScoreCommandGroupFactory.java index 6cde5788d..9528f103e 100644 --- a/src/main/java/competition/commandgroups/vision_path/PathToFaceAndScoreCommandGroupFactory.java +++ b/src/main/java/competition/commandgroups/vision_path/PathToFaceAndScoreCommandGroupFactory.java @@ -1,7 +1,7 @@ package competition.commandgroups.vision_path; import competition.commandgroups.PrepCoralSystemCommandGroupFactory; -import competition.subsystems.coral_scorer.commands.ScoreWhenReadyCommand; +import competition.subsystems.stinger_collection.commands.ScoreWhenReadyCommand; import competition.subsystems.drive.commands.MeasureDistanceBeforeScoringCommand; import competition.subsystems.pose.Landmarks; import edu.wpi.first.units.measure.Distance; diff --git a/src/main/java/competition/injection/components/BaseRobotComponent.java b/src/main/java/competition/injection/components/BaseRobotComponent.java index 0682cf25f..7363278c0 100644 --- a/src/main/java/competition/injection/components/BaseRobotComponent.java +++ b/src/main/java/competition/injection/components/BaseRobotComponent.java @@ -10,7 +10,7 @@ import competition.subsystems.algae_arm.AlgaeArmSubsystem; import competition.subsystems.algae_collection.AlgaeCollectionSubsystem; import competition.subsystems.stinger_arm.StingerArmSubsystem; -import competition.subsystems.coral_scorer.CoralScorerSubsystem; +import competition.subsystems.stinger_collection.StingerCollectionSubsystem; import competition.subsystems.drive.commands.AlignToNearestCoralStationCommand; import competition.subsystems.drive.commands.EmergencyAutonomousCommand; import competition.subsystems.deadwheel.DeadWheelSubsystem; @@ -49,7 +49,7 @@ public abstract class BaseRobotComponent extends BaseComponent { public abstract ElevatorSubsystem elevatorSubsystem(); - public abstract CoralScorerSubsystem coralScorerSubsystem(); + public abstract StingerCollectionSubsystem coralScorerSubsystem(); public abstract SuperstructureMechanismSubsystem superstructureMechanismSubsystem(); diff --git a/src/main/java/competition/injection/modules/CommonModule.java b/src/main/java/competition/injection/modules/CommonModule.java index c2e1e9c6b..1ec9c3562 100644 --- a/src/main/java/competition/injection/modules/CommonModule.java +++ b/src/main/java/competition/injection/modules/CommonModule.java @@ -1,7 +1,7 @@ package competition.injection.modules; import competition.electrical_contract.ElectricalContract; -import competition.subsystems.coral_scorer.CoralScorerSubsystem; +import competition.subsystems.stinger_collection.StingerCollectionSubsystem; import competition.subsystems.drive.DriveSubsystem; import competition.subsystems.oracle.contracts.CoralCollectionInfoSource; import competition.subsystems.pose.PoseSubsystem; @@ -107,5 +107,5 @@ public static GameField.Symmetry gameFieldSymmetry() { @Binds @Singleton - public abstract CoralCollectionInfoSource getCoralCollectionInfoSource(CoralScorerSubsystem impl); + public abstract CoralCollectionInfoSource getCoralCollectionInfoSource(StingerCollectionSubsystem impl); } \ No newline at end of file diff --git a/src/main/java/competition/operator_interface/OperatorCommandMap.java b/src/main/java/competition/operator_interface/OperatorCommandMap.java index 8c2f15164..690e970ae 100644 --- a/src/main/java/competition/operator_interface/OperatorCommandMap.java +++ b/src/main/java/competition/operator_interface/OperatorCommandMap.java @@ -19,11 +19,11 @@ import competition.subsystems.stinger_arm.StingerArmSubsystem; import competition.subsystems.stinger_arm.commands.ForceStingerArmCalibratedCommand; import competition.subsystems.stinger_arm.commands.SetStingerArmTargetAngleCommand; -import competition.subsystems.coral_scorer.commands.IntakeAlgaeCommand; -import competition.subsystems.coral_scorer.commands.IntakeCoralCommand; -import competition.subsystems.coral_scorer.commands.ScoreAlgaeCommand; -import competition.subsystems.coral_scorer.commands.ScoreCoralCommand; -import competition.subsystems.coral_scorer.commands.ScoreWhenReadyCommand; +import competition.subsystems.stinger_collection.commands.IntakeAlgaeCommand; +import competition.subsystems.stinger_collection.commands.IntakeCoralCommand; +import competition.subsystems.stinger_collection.commands.ScoreAlgaeCommand; +import competition.subsystems.stinger_collection.commands.ScoreCoralCommand; +import competition.subsystems.stinger_collection.commands.ScoreWhenReadyCommand; import competition.subsystems.drive.DriveSubsystem; import competition.subsystems.drive.commands.AlignToReefWithAprilTagCommand; import competition.subsystems.drive.commands.CalibrateDriveCommand; @@ -46,7 +46,6 @@ import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.ConditionalCommand; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; -import org.kobe.xbot.Utilities.Entities.XTableValues; import xbot.common.controls.sensors.XXboxController; import xbot.common.subsystems.autonomous.SetAutonomousCommand; import xbot.common.subsystems.drive.swerve.commands.ChangeActiveSwerveModuleCommand; diff --git a/src/main/java/competition/simulation/coral_scorer/CoralScorerSimulator.java b/src/main/java/competition/simulation/coral_scorer/CoralScorerSimulator.java index 0812ccbc4..1a0646c83 100644 --- a/src/main/java/competition/simulation/coral_scorer/CoralScorerSimulator.java +++ b/src/main/java/competition/simulation/coral_scorer/CoralScorerSimulator.java @@ -3,18 +3,18 @@ import javax.inject.Inject; import javax.inject.Singleton; -import competition.subsystems.coral_scorer.CoralScorerSubsystem; +import competition.subsystems.stinger_collection.StingerCollectionSubsystem; import edu.wpi.first.wpilibj.MockDigitalInput; import xbot.common.controls.actuators.mock_adapters.MockCANMotorController; @Singleton public class CoralScorerSimulator { - final CoralScorerSubsystem coralScorerSubsystem; + final StingerCollectionSubsystem coralScorerSubsystem; final MockCANMotorController coralScorerMotor; final MockDigitalInput coralSensor; @Inject - public CoralScorerSimulator(CoralScorerSubsystem coralScorerSubsystem) { + public CoralScorerSimulator(StingerCollectionSubsystem coralScorerSubsystem) { this.coralScorerSubsystem = coralScorerSubsystem; this.coralScorerMotor = (MockCANMotorController) coralScorerSubsystem.motor; this.coralSensor = (MockDigitalInput) coralScorerSubsystem.coralSensor; diff --git a/src/main/java/competition/subsystems/coral_scorer/commands/IntakeAlgaeCommand.java b/src/main/java/competition/subsystems/coral_scorer/commands/IntakeAlgaeCommand.java deleted file mode 100644 index 46c803fc7..000000000 --- a/src/main/java/competition/subsystems/coral_scorer/commands/IntakeAlgaeCommand.java +++ /dev/null @@ -1,26 +0,0 @@ -package competition.subsystems.coral_scorer.commands; - -import competition.subsystems.coral_scorer.CoralScorerSubsystem; -import xbot.common.command.BaseCommand; - -import javax.inject.Inject; - -public class IntakeAlgaeCommand extends BaseCommand { - CoralScorerSubsystem coral; - - @Inject - public IntakeAlgaeCommand (CoralScorerSubsystem coralScorerSubsystem){ - coral = coralScorerSubsystem; - this.addRequirements(coral); - } - - @Override - public void initialize() { - coral.setCoralScorerState(CoralScorerSubsystem.CoralScorerState.INTAKING_ALGAE); - } - - @Override - public void end(boolean interrupted) { - coral.setCoralScorerState(CoralScorerSubsystem.CoralScorerState.STOPPED); - } -} diff --git a/src/main/java/competition/subsystems/coral_scorer/commands/ScoreAlgaeCommand.java b/src/main/java/competition/subsystems/coral_scorer/commands/ScoreAlgaeCommand.java deleted file mode 100644 index 22bfe5b59..000000000 --- a/src/main/java/competition/subsystems/coral_scorer/commands/ScoreAlgaeCommand.java +++ /dev/null @@ -1,26 +0,0 @@ -package competition.subsystems.coral_scorer.commands; - -import competition.subsystems.coral_scorer.CoralScorerSubsystem; -import xbot.common.command.BaseCommand; - -import javax.inject.Inject; - -public class ScoreAlgaeCommand extends BaseCommand { - CoralScorerSubsystem coral; - - @Inject - public ScoreAlgaeCommand (CoralScorerSubsystem coralScorerSubsystem){ - coral = coralScorerSubsystem; - this.addRequirements(coral); - } - - @Override - public void initialize() { - coral.setCoralScorerState(CoralScorerSubsystem.CoralScorerState.SCORING_ALGAE); - } - - @Override - public void end(boolean interrupted) { - coral.setCoralScorerState(CoralScorerSubsystem.CoralScorerState.STOPPED); - } -} diff --git a/src/main/java/competition/subsystems/coral_scorer/commands/ScoreCoralCommand.java b/src/main/java/competition/subsystems/coral_scorer/commands/ScoreCoralCommand.java deleted file mode 100644 index a342c6224..000000000 --- a/src/main/java/competition/subsystems/coral_scorer/commands/ScoreCoralCommand.java +++ /dev/null @@ -1,26 +0,0 @@ -package competition.subsystems.coral_scorer.commands; - -import competition.subsystems.coral_scorer.CoralScorerSubsystem; -import xbot.common.command.BaseCommand; - -import javax.inject.Inject; - -public class ScoreCoralCommand extends BaseCommand { - CoralScorerSubsystem coral; - - @Inject - public ScoreCoralCommand (CoralScorerSubsystem coralScorerSubsystem){ - coral = coralScorerSubsystem; - this.addRequirements(coral); - } - - @Override - public void initialize() { - coral.setCoralScorerState(CoralScorerSubsystem.CoralScorerState.SCORING_CORAL); - } - - @Override - public void end(boolean interrupted) { - coral.setCoralScorerState(CoralScorerSubsystem.CoralScorerState.STOPPED); - } -} diff --git a/src/main/java/competition/subsystems/coral_scorer/commands/StopCoralCommand.java b/src/main/java/competition/subsystems/coral_scorer/commands/StopCoralCommand.java deleted file mode 100644 index 64add2d2c..000000000 --- a/src/main/java/competition/subsystems/coral_scorer/commands/StopCoralCommand.java +++ /dev/null @@ -1,21 +0,0 @@ -package competition.subsystems.coral_scorer.commands; - -import competition.subsystems.coral_scorer.CoralScorerSubsystem; -import xbot.common.command.BaseCommand; - -import javax.inject.Inject; - -public class StopCoralCommand extends BaseCommand { - CoralScorerSubsystem coral; - - @Inject - public StopCoralCommand(CoralScorerSubsystem coralScorerSubsystem){ - coral = coralScorerSubsystem; - this.addRequirements(coral); - } - - @Override - public void initialize() { - coral.setCoralScorerState(CoralScorerSubsystem.CoralScorerState.STOPPED); - } -} diff --git a/src/main/java/competition/subsystems/drive/commands/ShoveCoralStationCommand.java b/src/main/java/competition/subsystems/drive/commands/ShoveCoralStationCommand.java index 8e621f23d..c662495f3 100644 --- a/src/main/java/competition/subsystems/drive/commands/ShoveCoralStationCommand.java +++ b/src/main/java/competition/subsystems/drive/commands/ShoveCoralStationCommand.java @@ -1,6 +1,6 @@ package competition.subsystems.drive.commands; -import competition.subsystems.coral_scorer.CoralScorerSubsystem; +import competition.subsystems.stinger_collection.StingerCollectionSubsystem; import competition.subsystems.drive.DriveSubsystem; import competition.subsystems.pose.Landmarks; import competition.subsystems.pose.PoseSubsystem; @@ -19,7 +19,7 @@ public class ShoveCoralStationCommand extends BaseCommand { final DriveSubsystem drive; final PoseSubsystem pose; - final CoralScorerSubsystem coralScorer; + final StingerCollectionSubsystem coralScorer; final DoubleProperty shovePower; @@ -27,7 +27,7 @@ public class ShoveCoralStationCommand extends BaseCommand { Angle shoveAngleActual; @Inject - public ShoveCoralStationCommand(DriveSubsystem drive, PoseSubsystem pose, PropertyFactory pf, CoralScorerSubsystem coralScorer) { + public ShoveCoralStationCommand(DriveSubsystem drive, PoseSubsystem pose, PropertyFactory pf, StingerCollectionSubsystem coralScorer) { this.drive = drive; this.pose = pose; this.coralScorer = coralScorer; diff --git a/src/main/java/competition/subsystems/elevator_mechanism/SuperstructureMechanismSubsystem.java b/src/main/java/competition/subsystems/elevator_mechanism/SuperstructureMechanismSubsystem.java index bac611a38..1bae7cc06 100644 --- a/src/main/java/competition/subsystems/elevator_mechanism/SuperstructureMechanismSubsystem.java +++ b/src/main/java/competition/subsystems/elevator_mechanism/SuperstructureMechanismSubsystem.java @@ -3,7 +3,7 @@ import javax.inject.Inject; import competition.subsystems.stinger_arm.StingerArmSubsystem; -import competition.subsystems.coral_scorer.CoralScorerSubsystem; +import competition.subsystems.stinger_collection.StingerCollectionSubsystem; import competition.subsystems.elevator.SuperstructureMechanism; import competition.subsystems.elevator.ElevatorSubsystem; import xbot.common.command.BaseSubsystem; @@ -14,13 +14,13 @@ public class SuperstructureMechanismSubsystem extends BaseSubsystem { final ElevatorSubsystem elevatorSubsystem; final StingerArmSubsystem armPivotSubsystem; - final CoralScorerSubsystem coralScorerSubsystem; + final StingerCollectionSubsystem coralScorerSubsystem; final SuperstructureMechanism superstructureMechanism; @Inject public SuperstructureMechanismSubsystem(ElevatorSubsystem elevatorSubsystem, - StingerArmSubsystem armPivotSubsystem, CoralScorerSubsystem coralScorerSubsystem) { + StingerArmSubsystem armPivotSubsystem, StingerCollectionSubsystem coralScorerSubsystem) { this.elevatorSubsystem = elevatorSubsystem; this.armPivotSubsystem = armPivotSubsystem; this.coralScorerSubsystem = coralScorerSubsystem; diff --git a/src/main/java/competition/subsystems/lights/LightSubsystem.java b/src/main/java/competition/subsystems/lights/LightSubsystem.java index 53aaa8c8c..7def39b93 100644 --- a/src/main/java/competition/subsystems/lights/LightSubsystem.java +++ b/src/main/java/competition/subsystems/lights/LightSubsystem.java @@ -7,7 +7,7 @@ import competition.electrical_contract.ElectricalContract; import competition.subsystems.stinger_arm.StingerArmSubsystem; -import competition.subsystems.coral_scorer.CoralScorerSubsystem; +import competition.subsystems.stinger_collection.StingerCollectionSubsystem; import competition.subsystems.drive.logic.AlignCameraToAprilTagCalculator; import competition.subsystems.elevator.ElevatorSubsystem; import competition.subsystems.vision.AprilTagVisionSubsystemExtended; @@ -30,7 +30,7 @@ public class LightSubsystem extends BaseSubsystem { static final int maxValue = (int)(Math.pow(2, numBits) - 1); final AutonomousCommandSelector autonomousCommandSelector; - final CoralScorerSubsystem coralScorerSubsystem; + final StingerCollectionSubsystem coralScorerSubsystem; final StingerArmSubsystem coralArmSubsystem; final ElevatorSubsystem elevatorSubsystem; final AprilTagVisionSubsystemExtended visionSubsystem; @@ -110,7 +110,7 @@ public static LightsStateMessage getStringValueFromInt(int i) { public LightSubsystem(XDigitalOutputFactory digitalOutputFactory, ElectricalContract contract, AutonomousCommandSelector autonomousCommandSelector, - CoralScorerSubsystem coralScorerSubsystem, + StingerCollectionSubsystem coralScorerSubsystem, StingerArmSubsystem coralArmSubsystem, ElevatorSubsystem elevatorSubsystem, AprilTagVisionSubsystemExtended visionSubsystem, @@ -164,7 +164,7 @@ public LightsStateMessage getCurrentState() { recentlyAligned = false; isLastStateTimeSet = false; } - } else if (coralScorerSubsystem.getCoralScorerState() == CoralScorerSubsystem.CoralScorerState.INTAKING_CORAL) { + } else if (coralScorerSubsystem.getStingerCollectionState() == StingerCollectionSubsystem.StingerCollectionState.INTAKING_CORAL) { currentState = LightsStateMessage.RequestCoralFromHuman; } else if (!coralScorerSubsystem.confidentlyHasCoral()) { currentState = LightsStateMessage.NoCoralPresent; diff --git a/src/main/java/competition/subsystems/coral_scorer/CoralScorerSubsystem.java b/src/main/java/competition/subsystems/stinger_collection/StingerCollectionSubsystem.java similarity index 75% rename from src/main/java/competition/subsystems/coral_scorer/CoralScorerSubsystem.java rename to src/main/java/competition/subsystems/stinger_collection/StingerCollectionSubsystem.java index f86884959..04d58ec73 100644 --- a/src/main/java/competition/subsystems/coral_scorer/CoralScorerSubsystem.java +++ b/src/main/java/competition/subsystems/stinger_collection/StingerCollectionSubsystem.java @@ -1,4 +1,4 @@ -package competition.subsystems.coral_scorer; +package competition.subsystems.stinger_collection; import competition.electrical_contract.ElectricalContract; import competition.subsystems.oracle.contracts.CoralCollectionInfoSource; @@ -15,14 +15,14 @@ import javax.inject.Inject; import javax.inject.Singleton; -import static competition.subsystems.coral_scorer.CoralScorerSubsystem.CoralScorerState.SCORING_CORAL; -import static competition.subsystems.coral_scorer.CoralScorerSubsystem.CoralScorerState.STOPPED; +import static competition.subsystems.stinger_collection.StingerCollectionSubsystem.StingerCollectionState.SCORING_CORAL; +import static competition.subsystems.stinger_collection.StingerCollectionSubsystem.StingerCollectionState.STOPPED; import static edu.wpi.first.units.Units.RotationsPerSecond; @Singleton -public class CoralScorerSubsystem extends BaseSubsystem implements CoralCollectionInfoSource { +public class StingerCollectionSubsystem extends BaseSubsystem implements CoralCollectionInfoSource { - public enum CoralScorerState { + public enum StingerCollectionState { INTAKING_CORAL, SCORING_CORAL, INTAKING_ALGAE, @@ -39,7 +39,7 @@ public enum CoralScorerState { public final XDigitalInput coralSensor; final Alert hasCoralAlert = new Alert("Confidently has coral", Alert.AlertType.kInfo); public final ElectricalContract electricalContract; - private CoralScorerState coralScorerState; + private StingerCollectionState stingerCollectionState; private double lastScoredTime = -Double.MAX_VALUE; public final DoubleProperty waitTimeAfterScoring; public final DoubleProperty waitTimeAfterCollection; @@ -49,9 +49,9 @@ public enum CoralScorerState { private final DoubleProperty intakeFreeSpeedRPSProperty; @Inject - public CoralScorerSubsystem(XCANMotorController.XCANMotorControllerFactory xcanMotorControllerFactory, - ElectricalContract electricalContract, PropertyFactory propertyFactory, - XDigitalInput.XDigitalInputFactory xDigitalInputFactory) { + public StingerCollectionSubsystem(XCANMotorController.XCANMotorControllerFactory xcanMotorControllerFactory, + ElectricalContract electricalContract, PropertyFactory propertyFactory, + XDigitalInput.XDigitalInputFactory xDigitalInputFactory) { propertyFactory.setPrefix(this); if (electricalContract.isCoralCollectionMotorReady()) { this.motor = xcanMotorControllerFactory.create(electricalContract.getCoralCollectionMotor(), @@ -69,7 +69,7 @@ public CoralScorerSubsystem(XCANMotorController.XCANMotorControllerFactory xcanM this.coralSensor = null; } - this.coralScorerState = STOPPED; + this.stingerCollectionState = STOPPED; this.intakeCoralPower = propertyFactory.createPersistentProperty("intakeCoralPower", 0.3); this.hasCoralIntakePower = propertyFactory.createPersistentProperty("hasCoralIntakePower", 0.05); @@ -86,20 +86,20 @@ public CoralScorerSubsystem(XCANMotorController.XCANMotorControllerFactory xcanM this.electricalContract = electricalContract; } - public void setCoralScorerState(CoralScorerState state) { - if (coralScorerState != SCORING_CORAL && state == SCORING_CORAL) { + public void setStingerCollectionState(StingerCollectionState state) { + if (stingerCollectionState != SCORING_CORAL && state == SCORING_CORAL) { lastScoredTime = XTimer.getFPGATimestamp();; } - coralScorerState = state; + stingerCollectionState = state; } - private void setCoralScorerMotorPower(double power) { + private void setStingerCollectionMotorPower(double power) { if (electricalContract.isCoralCollectionMotorReady()) { this.motor.setPower(power); } } - private void setPowerForState(CoralScorerState state) { + private void setPowerForState(StingerCollectionState state) { switch (state) { case INTAKING_CORAL: intakeCoral(); @@ -116,32 +116,32 @@ private void setPowerForState(CoralScorerState state) { private void intakeCoral() { if (confidentlyHasCoral()) { - setCoralScorerMotorPower(hasCoralIntakePower.get()); + setStingerCollectionMotorPower(hasCoralIntakePower.get()); } else { - setCoralScorerMotorPower(intakeCoralPower.get()); + setStingerCollectionMotorPower(intakeCoralPower.get()); } } private void scoreCoral() { - setCoralScorerMotorPower(scoreCoralPower.get()); - if (coralScorerState != SCORING_CORAL) { + setStingerCollectionMotorPower(scoreCoralPower.get()); + if (stingerCollectionState != SCORING_CORAL) { lastScoredTime = XTimer.getFPGATimestamp(); } } private void intakeAlgae() { - setCoralScorerMotorPower(intakeAlgaePower.get()); - if (coralScorerState != SCORING_CORAL) { + setStingerCollectionMotorPower(intakeAlgaePower.get()); + if (stingerCollectionState != SCORING_CORAL) { lastScoredTime = XTimer.getFPGATimestamp(); } } private void scoreAlgae() { - setCoralScorerMotorPower(scoreCoralPower.get()); + setStingerCollectionMotorPower(scoreCoralPower.get()); } private void stop() { - setCoralScorerMotorPower(0); + setStingerCollectionMotorPower(0); } public boolean hasCoral() { @@ -151,13 +151,13 @@ public boolean hasCoral() { return false; } public double getSecondsSinceScoringStarted() { - if (coralScorerState != SCORING_CORAL) { + if (stingerCollectionState != SCORING_CORAL) { return 0; } return XTimer.getFPGATimestamp() - lastScoredTime; } public boolean confidentlyHasScoredCoral() { - return (getSecondsSinceScoringStarted() > waitTimeAfterScoring.get() && coralScorerState == SCORING_CORAL); + return (getSecondsSinceScoringStarted() > waitTimeAfterScoring.get() && stingerCollectionState == SCORING_CORAL); } @Override @@ -165,13 +165,13 @@ public boolean confidentlyHasCoral() { return hasCoralValidator.peekStable(); } - public CoralScorerState getCoralScorerState() { - return coralScorerState; + public StingerCollectionState getStingerCollectionState() { + return stingerCollectionState; } private boolean coralLikelyJammed() { - return coralScorerState == CoralScorerState.INTAKING_CORAL + return stingerCollectionState == StingerCollectionState.INTAKING_CORAL && Math.abs(motor.getVelocity().in(RotationsPerSecond)) < intakeFreeSpeedRPSProperty.get(); } @@ -189,7 +189,7 @@ public void periodic() { motor.periodic(); } - switch (coralScorerState) { + switch (stingerCollectionState) { case INTAKING_CORAL: intakeCoral(); break; @@ -217,7 +217,7 @@ public void periodic() { aKitLog.record("coralPresentStable", hasCoralValidator.peekStable()); aKitLog.record("CoralConfidentlyScored", confidentlyHasScoredCoral()); aKitLog.record("IntakeRPS", getMotorVelocity().in(RotationsPerSecond)); - aKitLog.record("coralScorerState", coralScorerState); + aKitLog.record("coralScorerState", stingerCollectionState); } } diff --git a/src/main/java/competition/subsystems/stinger_collection/commands/IntakeAlgaeCommand.java b/src/main/java/competition/subsystems/stinger_collection/commands/IntakeAlgaeCommand.java new file mode 100644 index 000000000..129b97daf --- /dev/null +++ b/src/main/java/competition/subsystems/stinger_collection/commands/IntakeAlgaeCommand.java @@ -0,0 +1,26 @@ +package competition.subsystems.stinger_collection.commands; + +import competition.subsystems.stinger_collection.StingerCollectionSubsystem; +import xbot.common.command.BaseCommand; + +import javax.inject.Inject; + +public class IntakeAlgaeCommand extends BaseCommand { + StingerCollectionSubsystem coral; + + @Inject + public IntakeAlgaeCommand (StingerCollectionSubsystem coralScorerSubsystem){ + coral = coralScorerSubsystem; + this.addRequirements(coral); + } + + @Override + public void initialize() { + coral.setStingerCollectionState(StingerCollectionSubsystem.StingerCollectionState.INTAKING_ALGAE); + } + + @Override + public void end(boolean interrupted) { + coral.setStingerCollectionState(StingerCollectionSubsystem.StingerCollectionState.STOPPED); + } +} diff --git a/src/main/java/competition/subsystems/coral_scorer/commands/IntakeCoralCommand.java b/src/main/java/competition/subsystems/stinger_collection/commands/IntakeCoralCommand.java similarity index 64% rename from src/main/java/competition/subsystems/coral_scorer/commands/IntakeCoralCommand.java rename to src/main/java/competition/subsystems/stinger_collection/commands/IntakeCoralCommand.java index 8f8e1d765..4778fde92 100644 --- a/src/main/java/competition/subsystems/coral_scorer/commands/IntakeCoralCommand.java +++ b/src/main/java/competition/subsystems/stinger_collection/commands/IntakeCoralCommand.java @@ -1,17 +1,17 @@ -package competition.subsystems.coral_scorer.commands; +package competition.subsystems.stinger_collection.commands; import competition.operator_interface.OperatorInterface; -import competition.subsystems.coral_scorer.CoralScorerSubsystem; +import competition.subsystems.stinger_collection.StingerCollectionSubsystem; import xbot.common.command.BaseCommand; import javax.inject.Inject; public class IntakeCoralCommand extends BaseCommand { - final CoralScorerSubsystem coral; + final StingerCollectionSubsystem coral; final OperatorInterface oi; @Inject - public IntakeCoralCommand(CoralScorerSubsystem coralScorerSubsystem, OperatorInterface oi) { + public IntakeCoralCommand(StingerCollectionSubsystem coralScorerSubsystem, OperatorInterface oi) { coral = coralScorerSubsystem; this.oi = oi; this.addRequirements(coral); @@ -19,7 +19,7 @@ public IntakeCoralCommand(CoralScorerSubsystem coralScorerSubsystem, OperatorInt @Override public void initialize() { - coral.setCoralScorerState(CoralScorerSubsystem.CoralScorerState.INTAKING_CORAL); + coral.setStingerCollectionState(StingerCollectionSubsystem.StingerCollectionState.INTAKING_CORAL); } diff --git a/src/main/java/competition/subsystems/coral_scorer/commands/IntakeUntilCoralCollectedCommand.java b/src/main/java/competition/subsystems/stinger_collection/commands/IntakeUntilCoralCollectedCommand.java similarity index 50% rename from src/main/java/competition/subsystems/coral_scorer/commands/IntakeUntilCoralCollectedCommand.java rename to src/main/java/competition/subsystems/stinger_collection/commands/IntakeUntilCoralCollectedCommand.java index dc14987e9..dc57f3605 100644 --- a/src/main/java/competition/subsystems/coral_scorer/commands/IntakeUntilCoralCollectedCommand.java +++ b/src/main/java/competition/subsystems/stinger_collection/commands/IntakeUntilCoralCollectedCommand.java @@ -1,22 +1,22 @@ -package competition.subsystems.coral_scorer.commands; +package competition.subsystems.stinger_collection.commands; -import competition.subsystems.coral_scorer.CoralScorerSubsystem; +import competition.subsystems.stinger_collection.StingerCollectionSubsystem; import xbot.common.command.BaseCommand; import javax.inject.Inject; public class IntakeUntilCoralCollectedCommand extends BaseCommand { - CoralScorerSubsystem coral; + StingerCollectionSubsystem coral; @Inject - public IntakeUntilCoralCollectedCommand(CoralScorerSubsystem coralScorerSubsystem){ + public IntakeUntilCoralCollectedCommand(StingerCollectionSubsystem coralScorerSubsystem){ coral= coralScorerSubsystem; this.addRequirements(coral); } @Override public void initialize() { - coral.setCoralScorerState(CoralScorerSubsystem.CoralScorerState.INTAKING_CORAL); + coral.setStingerCollectionState(StingerCollectionSubsystem.StingerCollectionState.INTAKING_CORAL); } @Override diff --git a/src/main/java/competition/subsystems/stinger_collection/commands/ScoreAlgaeCommand.java b/src/main/java/competition/subsystems/stinger_collection/commands/ScoreAlgaeCommand.java new file mode 100644 index 000000000..380112f59 --- /dev/null +++ b/src/main/java/competition/subsystems/stinger_collection/commands/ScoreAlgaeCommand.java @@ -0,0 +1,26 @@ +package competition.subsystems.stinger_collection.commands; + +import competition.subsystems.stinger_collection.StingerCollectionSubsystem; +import xbot.common.command.BaseCommand; + +import javax.inject.Inject; + +public class ScoreAlgaeCommand extends BaseCommand { + StingerCollectionSubsystem coral; + + @Inject + public ScoreAlgaeCommand (StingerCollectionSubsystem coralScorerSubsystem){ + coral = coralScorerSubsystem; + this.addRequirements(coral); + } + + @Override + public void initialize() { + coral.setStingerCollectionState(StingerCollectionSubsystem.StingerCollectionState.SCORING_ALGAE); + } + + @Override + public void end(boolean interrupted) { + coral.setStingerCollectionState(StingerCollectionSubsystem.StingerCollectionState.STOPPED); + } +} diff --git a/src/main/java/competition/subsystems/stinger_collection/commands/ScoreCoralCommand.java b/src/main/java/competition/subsystems/stinger_collection/commands/ScoreCoralCommand.java new file mode 100644 index 000000000..afca13a19 --- /dev/null +++ b/src/main/java/competition/subsystems/stinger_collection/commands/ScoreCoralCommand.java @@ -0,0 +1,26 @@ +package competition.subsystems.stinger_collection.commands; + +import competition.subsystems.stinger_collection.StingerCollectionSubsystem; +import xbot.common.command.BaseCommand; + +import javax.inject.Inject; + +public class ScoreCoralCommand extends BaseCommand { + StingerCollectionSubsystem coral; + + @Inject + public ScoreCoralCommand (StingerCollectionSubsystem coralScorerSubsystem){ + coral = coralScorerSubsystem; + this.addRequirements(coral); + } + + @Override + public void initialize() { + coral.setStingerCollectionState(StingerCollectionSubsystem.StingerCollectionState.SCORING_CORAL); + } + + @Override + public void end(boolean interrupted) { + coral.setStingerCollectionState(StingerCollectionSubsystem.StingerCollectionState.STOPPED); + } +} diff --git a/src/main/java/competition/subsystems/coral_scorer/commands/ScoreWhenReadyCommand.java b/src/main/java/competition/subsystems/stinger_collection/commands/ScoreWhenReadyCommand.java similarity index 77% rename from src/main/java/competition/subsystems/coral_scorer/commands/ScoreWhenReadyCommand.java rename to src/main/java/competition/subsystems/stinger_collection/commands/ScoreWhenReadyCommand.java index 1ed8eba1c..e1a3a4eff 100644 --- a/src/main/java/competition/subsystems/coral_scorer/commands/ScoreWhenReadyCommand.java +++ b/src/main/java/competition/subsystems/stinger_collection/commands/ScoreWhenReadyCommand.java @@ -1,19 +1,19 @@ -package competition.subsystems.coral_scorer.commands; +package competition.subsystems.stinger_collection.commands; import competition.subsystems.stinger_arm.StingerArmSubsystem; -import competition.subsystems.coral_scorer.CoralScorerSubsystem; +import competition.subsystems.stinger_collection.StingerCollectionSubsystem; import competition.subsystems.elevator.ElevatorSubsystem; import xbot.common.command.BaseCommand; import javax.inject.Inject; public class ScoreWhenReadyCommand extends BaseCommand { - CoralScorerSubsystem coralScorerSubsystem; + StingerCollectionSubsystem coralScorerSubsystem; StingerArmSubsystem coralArmSubsystem; ElevatorSubsystem elevatorSubsystem; @Inject - public ScoreWhenReadyCommand(CoralScorerSubsystem coralScorerSubsystem, StingerArmSubsystem coralArmSubsystem, + public ScoreWhenReadyCommand(StingerCollectionSubsystem coralScorerSubsystem, StingerArmSubsystem coralArmSubsystem, ElevatorSubsystem elevatorSubsystem) { this.coralScorerSubsystem = coralScorerSubsystem; this.coralArmSubsystem = coralArmSubsystem; @@ -33,7 +33,7 @@ public void execute() { var armMaintainerAtGoal = coralArmSubsystem.isMaintainerAtGoal(); var elevatorMaintainerAtGoal = elevatorSubsystem.isMaintainerAtGoal(); if (hasCoral && getIsTargetAngleScoring && armMaintainerAtGoal && elevatorMaintainerAtGoal) { - coralScorerSubsystem.setCoralScorerState(CoralScorerSubsystem.CoralScorerState.SCORING_CORAL); + coralScorerSubsystem.setStingerCollectionState(StingerCollectionSubsystem.StingerCollectionState.SCORING_CORAL); } aKitLog.record("isTargetAngleScoring", getIsTargetAngleScoring); aKitLog.record("armPrepped", armMaintainerAtGoal); diff --git a/src/main/java/competition/subsystems/stinger_collection/commands/StopCoralCommand.java b/src/main/java/competition/subsystems/stinger_collection/commands/StopCoralCommand.java new file mode 100644 index 000000000..daa942c9c --- /dev/null +++ b/src/main/java/competition/subsystems/stinger_collection/commands/StopCoralCommand.java @@ -0,0 +1,21 @@ +package competition.subsystems.stinger_collection.commands; + +import competition.subsystems.stinger_collection.StingerCollectionSubsystem; +import xbot.common.command.BaseCommand; + +import javax.inject.Inject; + +public class StopCoralCommand extends BaseCommand { + StingerCollectionSubsystem coral; + + @Inject + public StopCoralCommand(StingerCollectionSubsystem coralScorerSubsystem){ + coral = coralScorerSubsystem; + this.addRequirements(coral); + } + + @Override + public void initialize() { + coral.setStingerCollectionState(StingerCollectionSubsystem.StingerCollectionState.STOPPED); + } +} From 7b12dc4b77798d6a63cd71322952ac359b6032ae Mon Sep 17 00:00:00 2001 From: Alan Date: Tue, 1 Apr 2025 20:25:43 -0700 Subject: [PATCH 3/3] renamed stinger arm variables --- .../electrical_contract/Contract2025.java | 12 +++--- .../ElectricalContract.java | 12 +++--- .../electrical_contract/RoboxContract.java | 2 +- .../UnitTestContract2025.java | 6 +-- .../coral_arm/CoralArmSimulator.java | 2 +- .../stinger_arm/StingerArmSubsystem.java | 38 +++++++++---------- 6 files changed, 36 insertions(+), 36 deletions(-) diff --git a/src/main/java/competition/electrical_contract/Contract2025.java b/src/main/java/competition/electrical_contract/Contract2025.java index 5e7566739..9e6a78bc8 100644 --- a/src/main/java/competition/electrical_contract/Contract2025.java +++ b/src/main/java/competition/electrical_contract/Contract2025.java @@ -60,9 +60,9 @@ public CANMotorControllerInfo getCoralCollectionMotor() { ); } - public boolean isCoralArmMotorReady() { return true; } + public boolean isStingerArmMotorReady() { return true; } - public CANMotorControllerInfo getCoralArmPivotMotor() { + public CANMotorControllerInfo getStingerArmPivotMotor() { return new CANMotorControllerInfo("ArmPivotMotor", MotorControllerType.TalonFx, CANBusId.RIO, @@ -112,16 +112,16 @@ public boolean areCanCodersReady() { return true; } - public DeviceInfo getCoralArmPivotAbsoluteEncoder() { + public DeviceInfo getStingerArmPivotAbsoluteEncoder() { return new DeviceInfo("ArmPivotAbsoluteEncoder", 29); } - public boolean isCoralArmPivotAbsoluteEncoderReady() { return false; } + public boolean isStingerArmPivotAbsoluteEncoderReady() { return false; } - public DeviceInfo getCoralArmLowSensor() { + public DeviceInfo getStingerArmLowSensor() { return new DeviceInfo("ArmPivotLowSensor", 1, true); } - public boolean isCoralArmLowSensorReady() { return true; } + public boolean isStingerArmLowSensorReady() { return true; } @Override public boolean isElevatorReady() { diff --git a/src/main/java/competition/electrical_contract/ElectricalContract.java b/src/main/java/competition/electrical_contract/ElectricalContract.java index 8a2cfcf22..4a4316b73 100644 --- a/src/main/java/competition/electrical_contract/ElectricalContract.java +++ b/src/main/java/competition/electrical_contract/ElectricalContract.java @@ -46,17 +46,17 @@ public abstract class ElectricalContract implements XSwerveDriveElectricalContra public abstract CANMotorControllerInfo getCoralCollectionMotor(); - public abstract boolean isCoralArmMotorReady(); + public abstract boolean isStingerArmMotorReady(); - public abstract CANMotorControllerInfo getCoralArmPivotMotor(); + public abstract CANMotorControllerInfo getStingerArmPivotMotor(); - public abstract boolean isCoralArmPivotAbsoluteEncoderReady(); + public abstract boolean isStingerArmPivotAbsoluteEncoderReady(); - public abstract DeviceInfo getCoralArmPivotAbsoluteEncoder(); + public abstract DeviceInfo getStingerArmPivotAbsoluteEncoder(); - public abstract boolean isCoralArmLowSensorReady(); + public abstract boolean isStingerArmLowSensorReady(); - public abstract DeviceInfo getCoralArmLowSensor(); + public abstract DeviceInfo getStingerArmLowSensor(); public abstract boolean isCoralScorerSensorReady(); diff --git a/src/main/java/competition/electrical_contract/RoboxContract.java b/src/main/java/competition/electrical_contract/RoboxContract.java index 0b4380262..691f1c909 100644 --- a/src/main/java/competition/electrical_contract/RoboxContract.java +++ b/src/main/java/competition/electrical_contract/RoboxContract.java @@ -38,7 +38,7 @@ public boolean isElevatorBottomSensorReady() { } @Override - public boolean isCoralArmMotorReady() { + public boolean isStingerArmMotorReady() { return false; } diff --git a/src/main/java/competition/electrical_contract/UnitTestContract2025.java b/src/main/java/competition/electrical_contract/UnitTestContract2025.java index 401887b2b..7d5c8a353 100644 --- a/src/main/java/competition/electrical_contract/UnitTestContract2025.java +++ b/src/main/java/competition/electrical_contract/UnitTestContract2025.java @@ -15,12 +15,12 @@ public UnitTestContract2025() {} public boolean isCoralScorerSensorReady() { return true;} - public boolean isCoralArmMotorReady() { return true; } + public boolean isStingerArmMotorReady() { return true; } // we don't have plans to have this sensor on the robot - public boolean isCoralArmPivotAbsoluteEncoderReady() { return false; } + public boolean isStingerArmPivotAbsoluteEncoderReady() { return false; } - public boolean isCoralArmLowSensorReady() { return true; } + public boolean isStingerArmLowSensorReady() { return true; } public boolean isElevatorReady() { return true;} diff --git a/src/main/java/competition/simulation/coral_arm/CoralArmSimulator.java b/src/main/java/competition/simulation/coral_arm/CoralArmSimulator.java index d3e3ca554..e5d4c3237 100644 --- a/src/main/java/competition/simulation/coral_arm/CoralArmSimulator.java +++ b/src/main/java/competition/simulation/coral_arm/CoralArmSimulator.java @@ -80,7 +80,7 @@ public void update() { var armMotorRotations = armRelativeAngle.in(Radians) / CoralArmSimConstants.armEncoderAnglePerRotation.in(Radians); armMotor.setPosition(Rotations.of(armMotorRotations)); - if(contract.isCoralArmPivotAbsoluteEncoderReady()) { + if(contract.isStingerArmPivotAbsoluteEncoderReady()) { absoluteEncoder.setRawPosition(getAbsoluteEncoderPosition(getArmAngle(), 0.0, armPivotSubsystem.rangeOfMotionDegrees.get() / 360).in(Rotations) + 0.5); } diff --git a/src/main/java/competition/subsystems/stinger_arm/StingerArmSubsystem.java b/src/main/java/competition/subsystems/stinger_arm/StingerArmSubsystem.java index 2f87e9b64..843b61566 100644 --- a/src/main/java/competition/subsystems/stinger_arm/StingerArmSubsystem.java +++ b/src/main/java/competition/subsystems/stinger_arm/StingerArmSubsystem.java @@ -39,7 +39,7 @@ public class StingerArmSubsystem extends BaseSetpointSubsystem { double periodicTickCounter; double rotationsAtZero = 0; boolean isCalibrated = false; - final Alert isNotCalibratedAlert = new Alert("CoralArm: not calibrated", Alert.AlertType.kWarning); + final Alert isNotCalibratedAlert = new Alert("StingerArm: not calibrated", Alert.AlertType.kWarning); private final DoubleProperty degreesPerRotations; public final DoubleProperty level123ScoringAngle; @@ -63,8 +63,8 @@ public StingerArmSubsystem(XCANMotorController.XCANMotorControllerFactory xcanMo this.electricalContract = electricalContract; - if (electricalContract.isCoralArmMotorReady()) { - this.armMotor = xcanMotorControllerFactory.create(electricalContract.getCoralArmPivotMotor(), + if (electricalContract.isStingerArmMotorReady()) { + this.armMotor = xcanMotorControllerFactory.create(electricalContract.getStingerArmPivotMotor(), getPrefix(), "ArmPivotMotor", new XCANMotorControllerPIDProperties( 2, 0, @@ -79,15 +79,15 @@ public StingerArmSubsystem(XCANMotorController.XCANMotorControllerFactory xcanMo this.armMotor = null; } - if (electricalContract.isCoralArmPivotAbsoluteEncoderReady()) { - this.armAbsoluteEncoder = xDutyCycleEncoderFactory.create(electricalContract.getCoralArmPivotAbsoluteEncoder()); + if (electricalContract.isStingerArmPivotAbsoluteEncoderReady()) { + this.armAbsoluteEncoder = xDutyCycleEncoderFactory.create(electricalContract.getStingerArmPivotAbsoluteEncoder()); this.registerDataFrameRefreshable(this.armAbsoluteEncoder); } else { this.armAbsoluteEncoder = null; } - if (electricalContract.isCoralArmLowSensorReady()) { - this.lowSensor = xDigitalInputFactory.create(electricalContract.getCoralArmLowSensor(), + if (electricalContract.isStingerArmLowSensorReady()) { + this.lowSensor = xDigitalInputFactory.create(electricalContract.getStingerArmLowSensor(), this.getPrefix()); this.registerDataFrameRefreshable(this.lowSensor); } else { @@ -114,7 +114,7 @@ public StingerArmSubsystem(XCANMotorController.XCANMotorControllerFactory xcanMo @Override public Angle getCurrentValue() { double currentAngle = 0; - if (electricalContract.isCoralArmMotorReady()) { + if (electricalContract.isStingerArmMotorReady()) { currentAngle = getCalibratedPosition().in(Rotations) * degreesPerRotations.get(); } return Degrees.of(currentAngle); @@ -122,7 +122,7 @@ public Angle getCurrentValue() { private Angle getAbsoluteAngle() { Angle currentAngle = Degrees.of(0); - if (electricalContract.isCoralArmMotorReady()) { + if (electricalContract.isStingerArmMotorReady()) { currentAngle = Degrees.of( (getCalibratedPosition().in(Rotations)) * degreesPerRotations.get()); } @@ -130,7 +130,7 @@ private Angle getAbsoluteAngle() { } private Angle getMotorRotations() { - if (electricalContract.isCoralArmMotorReady()) { + if (electricalContract.isStingerArmMotorReady()) { return getMotorPosition(); } return Rotations.of(0); @@ -141,7 +141,7 @@ private Angle getCalibratedPosition() { } private Angle getMotorPosition() { - if (electricalContract.isCoralArmMotorReady()) { + if (electricalContract.isStingerArmMotorReady()) { return this.armMotor.getPosition(); } return Rotations.of(0); @@ -161,7 +161,7 @@ private AngularVelocity getAbsoluteVelocity() { } private AngularVelocity getMotorVelocity() { - if (electricalContract.isCoralArmMotorReady()) { + if (electricalContract.isStingerArmMotorReady()) { return this.armMotor.getVelocity(); } return RadiansPerSecond.zero(); @@ -200,7 +200,7 @@ public void setTargetAngle(Landmarks.CoralLevel value) { } public boolean isTouchingBottom() { - if (electricalContract.isCoralArmLowSensorReady()) { + if (electricalContract.isStingerArmLowSensorReady()) { return this.lowSensor.get(); } return false; @@ -208,7 +208,7 @@ public boolean isTouchingBottom() { @Override public void setPower(double power) { - if (electricalContract.isCoralArmMotorReady()) { + if (electricalContract.isStingerArmMotorReady()) { if (isCalibrated) { double currentLocationInDegrees = getCurrentValue().in(Degrees); @@ -242,7 +242,7 @@ protected boolean areTwoTargetsEquivalent(Angle target1, Angle target2) { } public Angle getArmAngle() { - if (electricalContract.isCoralArmPivotAbsoluteEncoderReady() && electricalContract.isCoralArmLowSensorReady()) { + if (electricalContract.isStingerArmPivotAbsoluteEncoderReady() && electricalContract.isStingerArmLowSensorReady()) { return getArmAngle(0, rangeOfMotionDegrees.get() / 360, Degrees.of(armAbsoluteEncoder.getAbsoluteDegrees()), lowSensor.get(), rangeOfMotionDegrees.get()); } @@ -299,7 +299,7 @@ else if (absEncoderPosition < maxPosition) { } public void forceCalibrationAtAutonomous() { - if (electricalContract.isCoralArmMotorReady()) { + if (electricalContract.isStingerArmMotorReady()) { rotationsAtZero = getMotorPosition().in(Rotations) - (autoCalibrationDegrees.get() / (degreesPerRotations.get())); } @@ -307,7 +307,7 @@ public void forceCalibrationAtAutonomous() { } public void forceCalibratedHere() { - if (electricalContract.isCoralArmMotorReady()) { + if (electricalContract.isStingerArmMotorReady()) { rotationsAtZero = getMotorPosition().in(Rotations); } isCalibrated = true; @@ -321,7 +321,7 @@ public void setPositionalGoalIncludingOffset(Angle setpoint) { @Override public void periodic() { - if (electricalContract.isCoralArmMotorReady()) { + if (electricalContract.isStingerArmMotorReady()) { armMotor.periodic(); } @@ -339,7 +339,7 @@ public void periodic() { aKitLog.record("IsAtTargetAngle", this.getIsTargetAngleScoring()); aKitLog.record("IsAtMaintainerGoal", this.isMaintainerAtGoal()); isNotCalibratedAlert.set(!isCalibrated()); - if (electricalContract.isCoralArmPivotAbsoluteEncoderReady()) { + if (electricalContract.isStingerArmPivotAbsoluteEncoderReady()) { aKitLog.record("Current Angle using AbsEncoder", this.getArmAngle().in(Degrees)); } if(electricalContract.isAlgaeArmBottomSensorReady()) {