diff --git a/docs/index-all.html b/docs/index-all.html index 435958b..8c3198f 100644 --- a/docs/index-all.html +++ b/docs/index-all.html @@ -429,8 +429,7 @@

M

ManipElevator(ManipMotor, ManipElevatorConstants) - Constructor for class maniplib.ManipElevator
-
Subsystem constructor, advanced ManipElevator when config.kEnableAdvanced is set to - true.
+
Subsystem constructor, advanced ManipElevator when config.kEnableAdvanced is set to true.
ManipElevator(ManipMotor, PIDFConfig) - Constructor for class maniplib.ManipElevator
@@ -490,8 +489,7 @@

M

maximumRetries - Variable in class maniplib.motors.ManipMotor
-
The maximum amount of times the swerve motor will attempt to configure a motor if failures - occur.
+
The maximum amount of times the swerve motor will attempt to configure a motor if failures occur.
min - Variable in class maniplib.utils.deserializer.PIDFRange
@@ -629,6 +627,30 @@

R

Runs runElevatorVoltage as a Command.
+
runkG() - Method in class maniplib.ManipArm
+
+
Powers the motor with the kG feedforward value.
+
+
runkG() - Method in class maniplib.ManipElevator
+
+
Powers the motor with the kG feedforward value.
+
+
runkGCommand() - Method in class maniplib.ManipArm
+
+
Powers the motor with the kG feedforward value as a command.
+
+
runkGCommand() - Method in class maniplib.ManipElevator
+
+
Powers the motor with the kG feedforward value as a command.
+
+
runSpeed(double) - Method in class maniplib.ManipShooterIntake
+
+
Set the percentage output as a command.
+
+
runSpeedCommand(double) - Method in class maniplib.ManipShooterIntake
+
+
Set the percentage output.
+
runSysIdRoutine() - Method in class maniplib.ManipArm
Runs the SysId routine to tune the Arm
@@ -637,6 +659,14 @@

R

Runs the SysId routine to tune the elevator
+
runVoltage(double) - Method in class maniplib.ManipShooterIntake
+
+
Set the motor voltage.
+
+
runVoltageCommand(double) - Method in class maniplib.ManipShooterIntake
+
+
Set the motor voltage as a command.
+

S

@@ -670,13 +700,13 @@

S

setCurrentLimit(int) - Method in class maniplib.motors.ManipMotor
-
Set the current limit for the swerve drive motor, remember this may cause jumping if used in - conjunction with voltage compensation.
+
Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with + voltage compensation.
setCurrentLimit(int) - Method in class maniplib.motors.ManipSparkMax
-
Set the current limit for the motor, remember this may cause jumping if used in conjunction - with voltage compensation.
+
Set the current limit for the motor, remember this may cause jumping if used in conjunction with + voltage compensation.
setGearbox(DCMotor) - Method in class maniplib.motors.ManipMotor
@@ -750,17 +780,15 @@

S

Set the closed loop PID controller reference point.
-
setSpeed(double) - Method in class maniplib.ManipShooterIntake
-
-
Set the percentage output.
-
setSyncAbsEncoderInit(boolean) - Method in class maniplib.ManipArm
-
Determines whether to sync the absolute encoder in the ManipArm class or not.
+
Determines whether to sync the absolute encoder in the + ManipArm class or not.
setSyncAbsEncoderInit(boolean) - Method in class maniplib.ManipElevator
-
Determines whether to sync the absolute encoder in the ManipElevator class or not.
+
Determines whether to sync the absolute encoder in the + ManipElevator class or not.
setTopLimitSwitch(boolean) - Method in class maniplib.ManipArm
diff --git a/docs/maniplib/ManipArm.html b/docs/maniplib/ManipArm.html index f552f79..544ae3a 100644 --- a/docs/maniplib/ManipArm.html +++ b/docs/maniplib/ManipArm.html @@ -189,6 +189,16 @@

Method Summary

Runs runArmVoltage as a Command.
+
void
+
runkG()
+
+
Powers the motor with the kG feedforward value.
+
+
Command
+
runkGCommand()
+
+
Powers the motor with the kG feedforward value as a command.
+
Command
runSysIdRoutine()
@@ -210,7 +220,8 @@

Method Summary

void
setSyncAbsEncoderInit(boolean syncAbsEncoderInit)
-
Determines whether to sync the absolute encoder in the ManipArm class or not.
+
Determines whether to sync the absolute encoder in the + ManipArm class or not.
void
setTopLimitSwitch(boolean topLimit)
@@ -301,7 +312,8 @@

periodic

simulationPeriodic

public void simulationPeriodic()
-
Ran periodically in simulation. Controls the arm simulation.
+
Ran periodically in simulation. + Controls the arm simulation.
  • @@ -331,23 +343,25 @@

    addFollower

    addAbsoluteEncoderValue

    public void addAbsoluteEncoderValue(double absEncoderDegrees)
    -
    Adds an absolute encoder to sync to on init. This is not used for actual control but - recommended to keep arm position on boot. Can be called in init.
    +
    Adds an absolute encoder to sync to on init. This is not used for actual control + but recommended to keep arm position on boot. Can be called in init. + Value must be in 0-360.

  • setSyncAbsEncoderInit

    public void setSyncAbsEncoderInit(boolean syncAbsEncoderInit)
    -
    Determines whether to sync the absolute encoder in the ManipArm class or not. This is - enabled by default.
    +
    Determines whether to sync the absolute encoder in the + ManipArm class or not. This is enabled by default.

  • synchronizeAbsoluteEncoder

    public void synchronizeAbsoluteEncoder()
    -
    Seeds inbuilt encoder with absolute encoder value. Syncs on init by default.
    +
    Seeds inbuilt encoder with absolute encoder value. + Syncs on init by default.
  • @@ -398,14 +412,32 @@

    reachSetpoint

    runArmSpeed

    public void runArmSpeed(double speed)
    -
    Basic method to run the arm at commanded speed. This does not stop!!
    +
    Basic method to run the arm at commanded speed. + This does not stop!!

  • runArmVoltage

    public void runArmVoltage(Voltage volts)
    -
    Basic method to run the arm at commanded voltage. This does not stop!!
    +
    Basic method to run the arm at commanded voltage. + This does not stop!!
    +
    +
    • +
  • +
    +

    runkG

    +
    public void runkG()
    +
    Powers the motor with the kG feedforward value. + "Voltage required to counteract gravity".
    +
    +
    • +
  • +
    +

    runkGCommand

    +
    public Command runkGCommand()
    +
    Powers the motor with the kG feedforward value as a command. + "Voltage required to counteract gravity".
  • @@ -441,14 +473,16 @@

    setGoal

    runArmSpeedCommand

    public Command runArmSpeedCommand(double speed)
    -
    Runs runArmSpeed as a Command. This stops after command is finished.
    +
    Runs runArmSpeed as a Command. + This stops after command is finished.

  • runArmVoltageCommand

    public Command runArmVoltageCommand(Voltage volts)
    -
    Runs runArmVoltage as a Command. This stops after command is finished.
    +
    Runs runArmVoltage as a Command. + This stops after command is finished.
  • @@ -469,9 +503,9 @@

    setBottomLimitSwitch

    autoStowWithOverride

    public Command autoStowWithOverride(double stowAngle)
    -
    A command to be used as a default command to stow the arm. Use toggleAutoStow() to toggle it on - and off. It's good for if you want it to stow but want safety or to be able to control - manually.
    +
    A command to be used as a default command to stow the arm. + Use toggleAutoStow() to toggle it on and off. + It's good for if you want it to stow but want safety or to be able to control manually.
  • diff --git a/docs/maniplib/ManipElevator.html b/docs/maniplib/ManipElevator.html index f642c64..0a15e34 100644 --- a/docs/maniplib/ManipElevator.html +++ b/docs/maniplib/ManipElevator.html @@ -101,8 +101,7 @@

    Constructor Summary

    ManipElevator(ManipMotor motor, ManipElevatorConstants config)
    -
    Subsystem constructor, advanced ManipElevator when config.kEnableAdvanced is set to - true.
    +
    Subsystem constructor, advanced ManipElevator when config.kEnableAdvanced is set to true.
    ManipElevator(ManipMotor motor, PIDFConfig pidfConfig)
    @@ -206,6 +205,16 @@

    Method Summary

    Runs runElevatorVoltage as a Command.
    +
    void
    +
    runkG()
    +
    +
    Powers the motor with the kG feedforward value.
    +
    +
    Command
    +
    runkGCommand()
    +
    +
    Powers the motor with the kG feedforward value as a command.
    +
    Command
    runSysIdRoutine()
    @@ -227,7 +236,8 @@

    Method Summary

    void
    setSyncAbsEncoderInit(boolean syncAbsEncoderInit)
    -
    Determines whether to sync the absolute encoder in the ManipElevator class or not.
    +
    Determines whether to sync the absolute encoder in the + ManipElevator class or not.
    void
    setTopLimitSwitch(boolean topLimit)
    @@ -282,8 +292,7 @@

    Constructor Details

    ManipElevator

    public ManipElevator(ManipMotor motor, ManipElevatorConstants config)
    -
    Subsystem constructor, advanced ManipElevator when config.kEnableAdvanced is set to - true.
    +
    Subsystem constructor, advanced ManipElevator when config.kEnableAdvanced is set to true.
  • @@ -319,7 +328,8 @@

    periodic

    simulationPeriodic

    public void simulationPeriodic()
    -
    Ran periodically in simulation. Controls the elevator simulation.
    +
    Ran periodically in simulation. + Controls the elevator simulation.
  • @@ -349,23 +359,24 @@

    addFollower

    addAbsoluteEncoderValue

    public void addAbsoluteEncoderValue(double absEncoderDegrees)
    -
    Adds an absolute encoder to sync to on init. This is not used for actual control but - recommended to keep elevator position on boot. Can be called in init.
    +
    Adds an absolute encoder to sync to on init. This is not used for actual control + but recommended to keep elevator position on boot. Can be called in init.

  • setSyncAbsEncoderInit

    public void setSyncAbsEncoderInit(boolean syncAbsEncoderInit)
    -
    Determines whether to sync the absolute encoder in the ManipElevator class or not. This - is enabled by default.
    +
    Determines whether to sync the absolute encoder in the + ManipElevator class or not. This is enabled by default.

  • synchronizeAbsoluteEncoder

    public void synchronizeAbsoluteEncoder()
    -
    Seeds inbuilt encoder with absolute encoder value. Syncs on init by default.
    +
    Seeds inbuilt encoder with absolute encoder value. + Syncs on init by default.
  • @@ -468,22 +479,24 @@

    nearMin

    reachSetpoint

    public void reachSetpoint(double setpointInches)
    -
    Run the control loop to reach and maintain the setpoint from the preferences. If using basic - control setpoint is in sensor units.
    +
    Run the control loop to reach and maintain the setpoint from the preferences. + If using basic control setpoint is in sensor units.

  • runElevatorSpeed

    public void runElevatorSpeed(double speed)
    -
    Basic method to run the elevator at commanded speed. This does not stop!!
    +
    Basic method to run the elevator at commanded speed. + This does not stop!!

  • runElevatorVoltage

    public void runElevatorVoltage(Voltage volts)
    -
    Basic method to run the elevator at commanded voltage. This does not stop!!
    +
    Basic method to run the elevator at commanded voltage. + This does not stop!!
  • @@ -497,14 +510,32 @@

    setGoal

    runElevatorSpeedCommand

    public Command runElevatorSpeedCommand(double speed)
    -
    Runs runElevatorSpeed as a Command. This stops after command is finished.
    +
    Runs runElevatorSpeed as a Command. + This stops after command is finished.

  • runElevatorVoltageCommand

    public Command runElevatorVoltageCommand(Voltage volts)
    -
    Runs runElevatorVoltage as a Command. This stops after command is finished.
    +
    Runs runElevatorVoltage as a Command. + This stops after command is finished.
    +
    +
    • +
  • +
    +

    runkG

    +
    public void runkG()
    +
    Powers the motor with the kG feedforward value. + "Voltage required to counteract gravity".
    +
    +
    • +
  • +
    +

    runkGCommand

    +
    public Command runkGCommand()
    +
    Powers the motor with the kG feedforward value as a command. + "Voltage required to counteract gravity".
  • @@ -525,9 +556,9 @@

    setBottomLimitSwitch

    autoStowWithOverride

    public Command autoStowWithOverride(double stowHeight)
    -
    A command to be used as a default command to stow the elevator. Use toggleAutoStow() to toggle - it on and off. It's good for if you want it to stow but want safety or to be able to control - manually.
    +
    A command to be used as a default command to stow the elevator. + Use toggleAutoStow() to toggle it on and off. + It's good for if you want it to stow but want safety or to be able to control manually.
  • diff --git a/docs/maniplib/ManipShooterIntake.html b/docs/maniplib/ManipShooterIntake.html index 5a31aad..54a167c 100644 --- a/docs/maniplib/ManipShooterIntake.html +++ b/docs/maniplib/ManipShooterIntake.html @@ -118,24 +118,39 @@

    Method Summary

    Sets the ManipMotor to follow another ManipMotor.
    -
    Command
    -
    setReference(double setpoint)
    +
    void
    +
    runSpeed(double speed)
    -
    Set the closed loop PID controller reference point.
    +
    Set the percentage output as a command.
    Command
    -
    setSpeed(double speed)
    +
    runSpeedCommand(double speed)
    Set the percentage output.
    void
    -
    stopShooter()
    +
    runVoltage(double voltage)
    -
    Stop the ManipShooterIntake
    +
    Set the motor voltage.
    Command
    -
    stopShooterCommand()
    +
    runVoltageCommand(double voltage)
    +
    Set the motor voltage as a command.
    +
    +
    Command
    +
    setReference(double setpoint)
    +
    +
    Set the closed loop PID controller reference point.
    +
    +
    void
    +
    stopShooter()
    +
    +
    Stop the ManipShooterIntake
    +
    +
    Command
    +
    stopShooterCommand()
    +
    A command that stops the ManipShooterIntake
    • @@ -194,10 +209,32 @@

    addFollower

  • -
    -

    setSpeed

    -
    public Command setSpeed(double speed)
    -
    Set the percentage output.
    +
    +

    runVoltage

    +
    public void runVoltage(double voltage)
    +
    Set the motor voltage.
    +
    +
    Parameters:
    +
    voltage - to run the motor at.
    +
    +
    +
    • +
  • +
    +

    runVoltageCommand

    +
    public Command runVoltageCommand(double voltage)
    +
    Set the motor voltage as a command.
    +
    +
    Parameters:
    +
    voltage - to run the motor at.
    +
    +
    +
    • +
  • +
    +

    runSpeed

    +
    public void runSpeed(double speed)
    +
    Set the percentage output as a command.
    Parameters:
    speed - percent out for the motor controller.
    @@ -205,6 +242,17 @@

    setSpeed

  • +
    +

    runSpeedCommand

    +
    public Command runSpeedCommand(double speed)
    +
    Set the percentage output.
    +
    +
    Parameters:
    +
    speed - percent out for the motor controller as a command.
    +
    +
    +
    • +

  • setReference

    public Command setReference(double setpoint)
    diff --git a/docs/maniplib/motors/ManipMotor.html b/docs/maniplib/motors/ManipMotor.html index a3e10d7..df8744c 100644 --- a/docs/maniplib/motors/ManipMotor.html +++ b/docs/maniplib/motors/ManipMotor.html @@ -97,8 +97,7 @@

    Field Summary

    final int
    maximumRetries
    -
    The maximum amount of times the swerve motor will attempt to configure a motor if failures - occur.
    +
    The maximum amount of times the swerve motor will attempt to configure a motor if failures occur.
    @@ -220,8 +219,8 @@

    Method Summary

    abstract void
    setCurrentLimit(int currentLimit)
    -
    Set the current limit for the swerve drive motor, remember this may cause jumping if used in - conjunction with voltage compensation.
    +
    Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with + voltage compensation.
    abstract void
    setGearbox(DCMotor gearbox)
    @@ -329,8 +328,7 @@

    Field Details

    maximumRetries

    public final int maximumRetries
    -
    The maximum amount of times the swerve motor will attempt to configure a motor if failures - occur.
    +
    The maximum amount of times the swerve motor will attempt to configure a motor if failures occur.
    See Also:
    @@ -685,8 +683,8 @@

    setVoltageCompensation

    setCurrentLimit

    public abstract void setCurrentLimit(int currentLimit)
    -
    Set the current limit for the swerve drive motor, remember this may cause jumping if used in - conjunction with voltage compensation. This is useful to protect the motor from current spikes.
    +
    Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with + voltage compensation. This is useful to protect the motor from current spikes.
    Parameters:
    currentLimit - Current limit in AMPS at free speed.
    diff --git a/docs/maniplib/motors/ManipSparkMax.html b/docs/maniplib/motors/ManipSparkMax.html index 3b0b7f7..efd7b9e 100644 --- a/docs/maniplib/motors/ManipSparkMax.html +++ b/docs/maniplib/motors/ManipSparkMax.html @@ -254,8 +254,8 @@

    Method Summary

    void
    setCurrentLimit(int currentLimit)
    -
    Set the current limit for the motor, remember this may cause jumping if used in conjunction - with voltage compensation.
    +
    Set the current limit for the motor, remember this may cause jumping if used in conjunction with + voltage compensation.
    void
    setGearbox(DCMotor gearbox)
    @@ -530,8 +530,8 @@

    setVoltageCompensation

    setCurrentLimit

    public void setCurrentLimit(int currentLimit)
    -
    Set the current limit for the motor, remember this may cause jumping if used in conjunction - with voltage compensation. This is useful to protect the motor from current spikes.
    +
    Set the current limit for the motor, remember this may cause jumping if used in conjunction with + voltage compensation. This is useful to protect the motor from current spikes.
    Specified by:
    setCurrentLimit in class ManipMotor
    diff --git a/docs/maniplib/utils/ManipArmConstants.html b/docs/maniplib/utils/ManipArmConstants.html index a55375e..14eab4d 100644 --- a/docs/maniplib/utils/ManipArmConstants.html +++ b/docs/maniplib/utils/ManipArmConstants.html @@ -392,13 +392,11 @@

    ManipArmConstants

    kMaxAngle - Arms min height in degrees. Used for soft limits as well.
    kArmInverted - Whether to invert the drive direction of the arm. runArm(.1); should go up.
    kArmRampRate - Elevators ramp rate. 0.5 is recommended for most.
    -
    kArmOffsetToHorizantalZero - Absolute encoder offset. Arm should be horizontal to the - floor at 0.
    +
    kArmOffsetToHorizantalZero - Absolute encoder offset. Arm should be horizontal to the floor at 0.
    kArmAllowedClosedLoopError - Allowed error in the pid control in degrees.
    kArmStallCurrentLimitAmps - The arms stall limit. 30 is recommended for most.
    kArmMaxVelocityRPM - Arms max velocity in rotations per second.
    -
    kArmMaxAccelerationRPMperSecond - Arms max Acceleration in rotations per second. Depends - on specific arm config for accurate sim speed.
    +
    kArmMaxAccelerationRPMperSecond - Arms max Acceleration in rotations per second. Depends on specific arm config for accurate sim speed.
    kEnableAdvanced - Determines whether to use advanced control and sim.
    diff --git a/docs/maniplib/utils/ManipElevatorConstants.html b/docs/maniplib/utils/ManipElevatorConstants.html index 29820e5..102b1b3 100644 --- a/docs/maniplib/utils/ManipElevatorConstants.html +++ b/docs/maniplib/utils/ManipElevatorConstants.html @@ -376,8 +376,7 @@

    ManipElevatorConstants

    kElevatorGearing - Gear ratio of the elevator, use gearbox w/o sprockets.
    kElevatorDrumRadiusInches - Radius of the drum, sprocket radius if using chain.
    kElevatorCarriageMassLbs - How much the carriage weighs in pounds.
    -
    kStartingSimHeightInches - Where the elevator sim should set the elevator on start, in - inches.
    +
    kStartingSimHeightInches - Where the elevator sim should set the elevator on start, in inches.
    kMaxHeightInches - Elevators max height in inches. Used for soft limits as well.
    kMinHeightInches - Elevators min height in inches. Used for soft limits as well.
    kIsInverted - Whether to invert the lead motor. Positive speed should go up.
    @@ -385,8 +384,7 @@

    ManipElevatorConstants

    kElevatorCurrentLimit - Elevators current limit. 40 is recommended for most.
    kMaxVelocityMps - Elevators max velocity in meters per second.
    kMaxAccelerationMps - Elevators max acceleration in meters per second.
    -
    kAbsEncoderOffset - Offset for an optional but heavily recommended abs encoder. Set - elevator to kMinHeight then input the raw abs output.
    +
    kAbsEncoderOffset - Offset for an optional but heavily recommended abs encoder. Set elevator to kMinHeight then input the raw abs output.
    kEnableAdvanced - Determines whether to use advanced control and sim.
    diff --git a/docs/member-search-index.js b/docs/member-search-index.js index aaec3f1..1a27af7 100644 --- a/docs/member-search-index.js +++ b/docs/member-search-index.js @@ -1 +1 @@ -memberSearchIndex = [{"p":"maniplib","c":"ManipArm","l":"addAbsoluteEncoderValue(double)"},{"p":"maniplib","c":"ManipElevator","l":"addAbsoluteEncoderValue(double)"},{"p":"maniplib","c":"ManipArm","l":"addFollower(ManipMotor, boolean)","u":"addFollower(maniplib.motors.ManipMotor,boolean)"},{"p":"maniplib","c":"ManipElevator","l":"addFollower(ManipMotor, boolean)","u":"addFollower(maniplib.motors.ManipMotor,boolean)"},{"p":"maniplib","c":"ManipShooterIntake","l":"addFollower(ManipMotor, boolean)","u":"addFollower(maniplib.motors.ManipMotor,boolean)"},{"p":"maniplib.utils","c":"ManipMath.Arm","l":"Arm()","u":"%3Cinit%3E()"},{"p":"maniplib","c":"ManipElevator","l":"atHeight(double, double)","u":"atHeight(double,double)"},{"p":"maniplib","c":"ManipArm","l":"autoStowWithOverride(double)"},{"p":"maniplib","c":"ManipElevator","l":"autoStowWithOverride(double)"},{"p":"maniplib.motors","c":"ManipMotor","l":"burnFlash()"},{"p":"maniplib.motors","c":"ManipSparkMax","l":"burnFlash()"},{"p":"maniplib.motors","c":"ManipMotor","l":"clearStickyFaults()"},{"p":"maniplib.motors","c":"ManipSparkMax","l":"clearStickyFaults()"},{"p":"maniplib.motors","c":"ManipMotor","l":"configureMotor(int, double, boolean, boolean)","u":"configureMotor(int,double,boolean,boolean)"},{"p":"maniplib.motors","c":"ManipSparkMax","l":"configureMotor(int, double, boolean, 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+dbe203c8fbd742daea430570e801cb5d \ No newline at end of file diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.5/ManipLib-java-2025.0.0-beta0.5.5.pom.sha1 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.5/ManipLib-java-2025.0.0-beta0.5.5.pom.sha1 new file mode 100644 index 0000000..1bc2182 --- /dev/null +++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.5/ManipLib-java-2025.0.0-beta0.5.5.pom.sha1 @@ -0,0 +1 @@ +3d4cbcfe7fe128035b01d8ba7bcaf3aa4e71d629 \ No newline at end of file diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.5/ManipLib-java-2025.0.0-beta0.5.5.pom.sha256 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.5/ManipLib-java-2025.0.0-beta0.5.5.pom.sha256 new file mode 100644 index 0000000..d51a5fb --- /dev/null +++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.5/ManipLib-java-2025.0.0-beta0.5.5.pom.sha256 @@ -0,0 +1 @@ +d772dd007e5280b395495358e3a60efde7e761930448ac9757f19df62bdf51e5 \ No newline at end of file diff --git a/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.5/ManipLib-java-2025.0.0-beta0.5.5.pom.sha512 b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.5/ManipLib-java-2025.0.0-beta0.5.5.pom.sha512 new file mode 100644 index 0000000..cbac526 --- /dev/null +++ b/maniplib/repos/maniplib/ManipLib-java/2025.0.0-beta0.5.5/ManipLib-java-2025.0.0-beta0.5.5.pom.sha512 @@ -0,0 +1 @@ +d291ded4f4cb5159a59beab6b57357caaa5b67afd3333eeccc512409e6391ea00a7346527620d33b8223736019b449e9154d5807479d0df7e9f1fc4d8301952d \ No newline at end of file diff --git a/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml b/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml index 5718b8d..8ff007b 100644 --- a/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml +++ b/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml @@ -3,8 +3,8 @@ maniplib ManipLib-java - 2025.0.0-beta0.5.4 - 2025.0.0-beta0.5.4 + 2025.0.0-beta0.5.5 + 2025.0.0-beta0.5.5 2025.0.0-unreleased test @@ -18,7 +18,8 @@ 2025.0.0-beta0.5.2 2025.0.0-beta0.5.3 2025.0.0-beta0.5.4 + 2025.0.0-beta0.5.5 - 20250301012855 + 20250302150604 diff --git a/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.md5 b/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.md5 index 127880d..9a8b74f 100644 --- a/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.md5 +++ b/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.md5 @@ -1 +1 @@ -5fe9207667a44990ba78af0cfb62501d \ No newline at end of file +ee74021674753697e52729e0ff8ab3dc \ No newline at end of file diff --git a/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha1 b/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha1 index d212568..f37657d 100644 --- a/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha1 +++ b/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha1 @@ -1 +1 @@ -2d60a23979cd8d5f227e93289e82e1dda8b46db0 \ No newline at end of file +f1d672b8a10b523664e890f323467013bc99492a \ No newline at end of file diff --git a/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha256 b/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha256 index 1571459..4b7cbcd 100644 --- a/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha256 +++ b/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha256 @@ -1 +1 @@ -04ca7b53a2dd90854d4f84c67211cd5cdd35ad3ccd82e6d27b20dafb2604a5c0 \ No newline at end of file +46ddc9a267c34755e76f679d0080b92eef4c81c6e2c2c7801c1dd2873105bdc0 \ No newline at end of file diff --git a/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha512 b/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha512 index a6a77fc..cb873c3 100644 --- a/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha512 +++ b/maniplib/repos/maniplib/ManipLib-java/maven-metadata.xml.sha512 @@ -1 +1 @@ -0ae243a6c62f6b619c4f499146fc8d6d1c0f3b326d2ee3d542d87afe33ca8d80657bae6853114d718995e37c8e09a69eb73af2639e26cac96a8f695a5260ebb0 \ No newline at end of file +92233c7aeaf62f38eed214bb0e15d4709283b5b97abf9bae80d79c101788f6f91abf08707ebe9909509a75b964aba4a76f41d620f048e603b53a8379f849dbb6 \ No newline at end of file diff --git a/publish.gradle b/publish.gradle index d655a98..3cb183b 100644 --- a/publish.gradle +++ b/publish.gradle @@ -2,7 +2,7 @@ apply plugin: 'maven-publish' ext.licenseFile = files("$rootDir/LICENSE.txt") -def pubVersion = System.getenv("releaseVersion") ?: "2025.0.0-beta0.5.4" +def pubVersion = System.getenv("releaseVersion") ?: "2025.0.0-beta0.5.5" def releasesRepoUrl = "maniplib/repos/" diff --git a/src/main/java/maniplib/ManipArm.java b/src/main/java/maniplib/ManipArm.java index 87c6418..631abff 100644 --- a/src/main/java/maniplib/ManipArm.java +++ b/src/main/java/maniplib/ManipArm.java @@ -1,7 +1,5 @@ package maniplib; -import static edu.wpi.first.units.Units.*; - import edu.wpi.first.math.controller.ArmFeedforward; import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.units.measure.*; @@ -27,418 +25,464 @@ import maniplib.utils.ManipMath; import maniplib.utils.PIDFConfig; +import static edu.wpi.first.units.Units.*; + public class ManipArm extends SubsystemBase { - // Mutable holders for unit-safe values, persisted to avoid reallocation. - private final MutVoltage appliedVoltage = Volts.mutable(0); - private final MutAngle angle = Rotations.mutable(0); - private final MutAngularVelocity velocity = RPM.mutable(0); - private final MutAngle absEncoderAngle = Rotations.mutable(0); - // Mutable holder for a dimensionless value with no scaling. Should be clamped 0-1. - // Triggers for when reaching max movements. - private Trigger atMin; - private Trigger atMax; - private Trigger goingDown; - private Trigger goingUp; - // Booleans for limit switch functions. - private boolean topLimitBoolean = false; - private boolean bottomLimitBoolean = false; - // Triggers for limit switch functions. - private Trigger topLimit; - private Trigger bottomLimit; - // Various booleans to determine what to enable - private boolean absSetup = false; - private boolean isAdvancedEnabled = false; - private boolean syncAbsEncoderInit = true; - private boolean defaultCommandOverride = false; - // Universal motor init - private ManipMotor motor; - private ArmFeedforward feedforward; - private ManipArmConstants armConstants; - // SysId Routine - private SysIdRoutine sysIdRoutine; - // Simulation class to help simulate what is going on, including gravity. - private SingleJointedArmSim armSim; - private Mechanism2d arm2d; - // Mechanism for simulation, needs overridden for anything more than a basic arm. - private MechanismLigament2d armMech; - - /** - * Subsystem constructor, advanced {@link ManipArm} when config.kEnableAdvanced is set to true. - */ - public ManipArm(ManipMotor motor, ManipArmConstants armConstants) { - - if (absSetup && syncAbsEncoderInit) { - synchronizeAbsoluteEncoder(); + // Mutable holders for unit-safe values, persisted to avoid reallocation. + private final MutVoltage appliedVoltage = Volts.mutable(0); + private final MutAngle angle = Rotations.mutable(0); + private final MutAngularVelocity velocity = RPM.mutable(0); + private final MutAngle absEncoderAngle = Rotations.mutable(0); + // Mutable holder for a dimensionless value with no scaling. Should be clamped 0-1. + // Triggers for when reaching max movements. + private Trigger atMin; + private Trigger atMax; + private Trigger goingDown; + private Trigger goingUp; + // Booleans for limit switch functions. + private boolean topLimitBoolean = false; + private boolean bottomLimitBoolean = false; + // Triggers for limit switch functions. + private Trigger topLimit; + private Trigger bottomLimit; + // Various booleans to determine what to enable + private boolean absSetup = false; + private boolean isAdvancedEnabled = false; + private boolean syncAbsEncoderInit = true; + private boolean defaultCommandOverride = false; + // Universal motor init + private ManipMotor motor; + private ArmFeedforward feedforward; + private ManipArmConstants armConstants; + // SysId Routine + private SysIdRoutine sysIdRoutine; + // Simulation class to help simulate what is going on, including gravity. + private SingleJointedArmSim armSim; + private Mechanism2d arm2d; + // Mechanism for simulation, needs overridden for anything more than a basic arm. + private MechanismLigament2d armMech; + + /** + * Subsystem constructor, advanced {@link ManipArm} when config.kEnableAdvanced is set to true. + */ + public ManipArm(ManipMotor motor, ManipArmConstants armConstants) { + + if (absSetup && syncAbsEncoderInit) { + synchronizeAbsoluteEncoder(); + } + + if (!armConstants.kEnableAdvanced) { + new ManipArm(motor); + } else { + this.motor = motor; + this.armConstants = armConstants; + this.isAdvancedEnabled = true; + + this.motor.configureMotor( + armConstants.kArmStallCurrentLimitAmps, + armConstants.kArmRampRate, + true, + armConstants.kArmInverted + ); + + this.topLimit = new Trigger(() -> topLimitBoolean); + this.bottomLimit = new Trigger(() -> bottomLimitBoolean); + + this.atMin = new Trigger(() -> getAngle().isNear(this.armConstants.kMinAngle, Degrees.of(3))); + this.atMax = new Trigger(() -> getAngle().isNear(this.armConstants.kMaxAngle, Degrees.of(3))); + this.goingDown = new Trigger(() -> motor.getAppliedOutput() < 0); + this.goingUp = new Trigger(() -> motor.getAppliedOutput() > 0); + + this.atMin.and(goingDown).or(topLimit).onTrue(run(this::stopArm)); + this.atMax.and(goingUp).or(topLimit).onTrue(run(this::stopArm)); + + this.topLimit.onTrue(run(() -> + motor.setPosition((ManipMath.Arm.convertAngleToSensorUnits( + armConstants.kArmReduction, + armConstants.kMaxAngle)).in(Rotations)))); + this.bottomLimit.onTrue(run(() -> + motor.setPosition((ManipMath.Arm.convertAngleToSensorUnits( + armConstants.kArmReduction, + armConstants.kMinAngle)).in(Rotations)))); + + this.motor.setGearbox(armConstants.gearbox); + + this.motor.setupRioPID( + new PIDFConfig(armConstants.kArmKp, + armConstants.kArmKi, + armConstants.kArmKd), + armConstants.kArmMaxVelocityRPM, + armConstants.kArmMaxAccelerationRPMperSecond, + 0.01, + true + ); + + + this.feedforward = new ArmFeedforward( + armConstants.kArmkS, + armConstants.kArmkG, + armConstants.kArmKv, + armConstants.kArmKa + ); + + this.sysIdRoutine = new SysIdRoutine( + + new SysIdRoutine.Config(Volts.per(Second).of(1), Volts.of(6), Seconds.of(30)), + new SysIdRoutine.Mechanism( + this::runArmVoltage, + log -> { + // Record a frame for the arm motor. + log.motor("manipArm") + .voltage(appliedVoltage.mut_replace(motor.getAppliedOutput() * + RobotController.getBatteryVoltage(), Volts)) + .angularPosition(angle.mut_replace(motor.getPosition(), Rotations)) + .angularVelocity(velocity.mut_replace(motor.getVelocity(), RPM)); + }, + this)); + + this.armSim = new SingleJointedArmSim( + armConstants.gearbox, + armConstants.kArmReduction, + SingleJointedArmSim.estimateMOI( + armConstants.kArmLength, + armConstants.kArmMass), + armConstants.kArmLength, + armConstants.kMinAngle.in(Radians), + armConstants.kMaxAngle.in(Radians), + true, + armConstants.kArmStartingAngle.in(Radians), + 0.02 / 4096.0, + 0.0 + ); + + // Mechanism 2d for simulation, needs overridden for anything more than a basic arm. + arm2d = new Mechanism2d( + armConstants.kArmLength * 2, + armConstants.kArmLength * 2 + ); + + // Mechanism root for simulation, needs overridden for anything more than a basic arm. + MechanismRoot2d armRoot = arm2d.getRoot("ManipArm Root", + armConstants.kArmLength, + armConstants.kArmLength); + + this.armMech = + armRoot.append( + new MechanismLigament2d( + "defaultManipArm", + armConstants.kArmLength, + armConstants.kArmStartingAngle.in(Degrees), + 6, + new Color8Bit(Color.kOrange) + )); + } } - if (!armConstants.kEnableAdvanced) { - new ManipArm(motor); - } else { - this.motor = motor; - this.armConstants = armConstants; - this.isAdvancedEnabled = true; - - this.motor.configureMotor( - armConstants.kArmStallCurrentLimitAmps, - armConstants.kArmRampRate, - true, - armConstants.kArmInverted); - - this.topLimit = new Trigger(() -> topLimitBoolean); - this.bottomLimit = new Trigger(() -> bottomLimitBoolean); - - this.atMin = new Trigger(() -> getAngle().isNear(this.armConstants.kMinAngle, Degrees.of(3))); - this.atMax = new Trigger(() -> getAngle().isNear(this.armConstants.kMaxAngle, Degrees.of(3))); - this.goingDown = new Trigger(() -> motor.getAppliedOutput() < 0); - this.goingUp = new Trigger(() -> motor.getAppliedOutput() > 0); - - this.atMin.and(goingDown).or(topLimit).onTrue(run(this::stopArm)); - this.atMax.and(goingUp).or(topLimit).onTrue(run(this::stopArm)); - - this.topLimit.onTrue( - run( - () -> - motor.setPosition( - (ManipMath.Arm.convertAngleToSensorUnits( - armConstants.kArmReduction, armConstants.kMaxAngle)) - .in(Rotations)))); - this.bottomLimit.onTrue( - run( - () -> - motor.setPosition( - (ManipMath.Arm.convertAngleToSensorUnits( - armConstants.kArmReduction, armConstants.kMinAngle)) - .in(Rotations)))); - - this.motor.setGearbox(armConstants.gearbox); - - this.motor.setupRioPID( - new PIDFConfig(armConstants.kArmKp, armConstants.kArmKi, armConstants.kArmKd), - armConstants.kArmMaxVelocityRPM, - armConstants.kArmMaxAccelerationRPMperSecond, - 0.01, - true); - - this.feedforward = - new ArmFeedforward( - armConstants.kArmkS, armConstants.kArmkG, armConstants.kArmKv, armConstants.kArmKa); - - this.sysIdRoutine = - new SysIdRoutine( - new SysIdRoutine.Config(Volts.per(Second).of(1), Volts.of(6), Seconds.of(30)), - new SysIdRoutine.Mechanism( - this::runArmVoltage, - log -> { - // Record a frame for the arm motor. - log.motor("manipArm") - .voltage( - appliedVoltage.mut_replace( - motor.getAppliedOutput() * RobotController.getBatteryVoltage(), - Volts)) - .angularPosition(angle.mut_replace(motor.getPosition(), Rotations)) - .angularVelocity(velocity.mut_replace(motor.getVelocity(), RPM)); - }, - this)); - - this.armSim = - new SingleJointedArmSim( - armConstants.gearbox, - armConstants.kArmReduction, - SingleJointedArmSim.estimateMOI(armConstants.kArmLength, armConstants.kArmMass), - armConstants.kArmLength, - armConstants.kMinAngle.in(Radians), - armConstants.kMaxAngle.in(Radians), - true, - armConstants.kArmStartingAngle.in(Radians), - 0.02 / 4096.0, - 0.0); - - // Mechanism 2d for simulation, needs overridden for anything more than a basic arm. - arm2d = new Mechanism2d(armConstants.kArmLength * 2, armConstants.kArmLength * 2); - - // Mechanism root for simulation, needs overridden for anything more than a basic arm. - MechanismRoot2d armRoot = - arm2d.getRoot("ManipArm Root", armConstants.kArmLength, armConstants.kArmLength); - - this.armMech = - armRoot.append( - new MechanismLigament2d( - "defaultManipArm", - armConstants.kArmLength, - armConstants.kArmStartingAngle.in(Degrees), - 6, - new Color8Bit(Color.kOrange))); + /** + * Subsystem constructor, basic {@link ManipArm} with a {@link PIDFConfig}. + */ + public ManipArm(ManipMotor motor, PIDFConfig pidfConfig) { + this(motor); + motor.configurePIDF(pidfConfig); } - } - - /** Subsystem constructor, basic {@link ManipArm} with a {@link PIDFConfig}. */ - public ManipArm(ManipMotor motor, PIDFConfig pidfConfig) { - this(motor); - motor.configurePIDF(pidfConfig); - } - - /** Subsystem constructor, basic {@link ManipArm}. */ - public ManipArm(ManipMotor motor) { - this.motor = motor; - } - - @Override - public void periodic() { - if (Telemetry.manipVerbosity.ordinal() <= Telemetry.ManipTelemetry.LOW.ordinal()) { - if (RobotBase.isSimulation()) { - SmartDashboard.putData("Arm Side View", arm2d); - } + + /** + * Subsystem constructor, basic {@link ManipArm}. + */ + public ManipArm(ManipMotor motor) { + this.motor = motor; } - if (Telemetry.manipVerbosity.ordinal() <= Telemetry.ManipTelemetry.HIGH.ordinal()) { - SmartDashboard.putNumber("Arm Angle", getAngle().in(Degrees)); - SmartDashboard.putNumber("Arm Motor Rotations", motor.getPosition()); - SmartDashboard.putNumber("Arm Applied Output", motor.getAppliedOutput()); - SmartDashboard.putBoolean("Top Limit", topLimit.getAsBoolean()); - SmartDashboard.putBoolean("Bottom Limit", topLimit.getAsBoolean()); + @Override + public void periodic() { + if (Telemetry.manipVerbosity.ordinal() <= Telemetry.ManipTelemetry.LOW.ordinal()) { + if (RobotBase.isSimulation()) { + SmartDashboard.putData("Arm Side View", arm2d); + } + } + if (Telemetry.manipVerbosity.ordinal() <= Telemetry.ManipTelemetry.HIGH.ordinal()) { + SmartDashboard.putNumber("Arm Angle", getAngle().in(Degrees)); + SmartDashboard.putNumber("Arm Motor Rotations", motor.getPosition()); + SmartDashboard.putNumber("Arm Applied Output", motor.getAppliedOutput()); + + SmartDashboard.putBoolean("Top Limit", topLimit.getAsBoolean()); + SmartDashboard.putBoolean("Bottom Limit", topLimit.getAsBoolean()); + } } - } - - /** Ran periodically in simulation. Controls the arm simulation. */ - @Override - public void simulationPeriodic() { - // Set the armSim input, we use volts for this. - armSim.setInput(motor.getAppliedOutput() * RoboRioSim.getVInVoltage()); - - // Update the arm sim, Standard loop time is 20ms. - armSim.update(0.02); - - motor.iterateRevSim( - RotationsPerSecond.of( - ManipMath.Arm.convertAngleToSensorUnits( - armConstants.kArmReduction, Radians.of(armSim.getVelocityRadPerSec())) - .in(Rotations)) - .in(RPM), - RoboRioSim.getVInVoltage(), // Simulated battery voltage, in Volts - 0.02); // Time interval, in Seconds - - // Not implemented, will error when implemented. - motor.iterateCTRESim(); - - // Finally, we set our simulated encoder's readings and simulated battery voltage - motor.setPosition( - ManipMath.Arm.convertAngleToSensorUnits( - armConstants.kArmReduction, Radians.of(armSim.getAngleRads())) - .in(Rotations)); - - motor.setVelocity( - ManipMath.Arm.convertAngleToSensorUnits( - armConstants.kArmReduction, Radians.of(armSim.getVelocityRadPerSec())) - .in(Rotations) - * 60); - - // SimBattery estimates loaded battery voltages - RoboRioSim.setVInVoltage( - BatterySim.calculateDefaultBatteryLoadedVoltage(armSim.getCurrentDrawAmps())); - - // Update the Arm Mechanism based on simulated arm angle - armMech.setAngle(Degrees.convertFrom(armSim.getAngleRads(), Radians)); - } - - /** - * @return The angle used to update an arm {@link MechanismLigament2d}. - */ - public double getMechAngle() { - return Degrees.convertFrom(armSim.getAngleRads(), Radians); - } - - /** - * Sets the {@link ManipMotor} to follow another {@link ManipMotor}. - * - * @param followerMotor {@link ManipMotor} to follow the lead motor. - * @param isInverted whether to invert the follower or not. - */ - public void addFollower(ManipMotor followerMotor, boolean isInverted) { - followerMotor.setAsFollower(motor, isInverted); - } - - /** - * Adds an absolute encoder to sync to on init. This is not used for actual control but - * recommended to keep arm position on boot. Can be called in init. - */ - public void addAbsoluteEncoderValue(double absEncoderDegrees) { - absEncoderAngle.mut_replace(absEncoderDegrees, Degrees); - this.absSetup = true; - } - - /** - * Determines whether to sync the absolute encoder in the {@link ManipArm} class or not. This is - * enabled by default. - */ - public void setSyncAbsEncoderInit(boolean syncAbsEncoderInit) { - if (absSetup) { - this.syncAbsEncoderInit = syncAbsEncoderInit; - } else { - DriverStation.reportWarning( - "Absolute encoder for ManipArm is not set, cannot run setSyncAbsEncoderInit", true); + + /** + * Ran periodically in simulation. + * Controls the arm simulation. + */ + @Override + public void simulationPeriodic() { + // Set the armSim input, we use volts for this. + armSim.setInput(motor.getAppliedOutput() * RoboRioSim.getVInVoltage()); + + // Update the arm sim, Standard loop time is 20ms. + armSim.update(0.02); + + motor.iterateRevSim( + RotationsPerSecond.of(ManipMath.Arm.convertAngleToSensorUnits( + armConstants.kArmReduction, + Radians.of(armSim.getVelocityRadPerSec())).in(Rotations)) + .in(RPM), + RoboRioSim.getVInVoltage(), // Simulated battery voltage, in Volts + 0.02); // Time interval, in Seconds + + // Not implemented, will error when implemented. + motor.iterateCTRESim(); + + // Finally, we set our simulated encoder's readings and simulated battery voltage + motor.setPosition(ManipMath.Arm.convertAngleToSensorUnits( + armConstants.kArmReduction, + Radians.of(armSim.getAngleRads())).in(Rotations)); + + motor.setVelocity(ManipMath.Arm.convertAngleToSensorUnits( + armConstants.kArmReduction, + Radians.of(armSim.getVelocityRadPerSec())).in(Rotations) * 60); + + // SimBattery estimates loaded battery voltages + RoboRioSim.setVInVoltage( + BatterySim.calculateDefaultBatteryLoadedVoltage(armSim.getCurrentDrawAmps())); + + // Update the Arm Mechanism based on simulated arm angle + armMech.setAngle(Degrees.convertFrom(armSim.getAngleRads(), Radians)); } - } - - /** Seeds inbuilt encoder with absolute encoder value. Syncs on init by default. */ - public void synchronizeAbsoluteEncoder() { - motor.setPosition( - Rotations.of(absEncoderAngle.in(Degrees)) - .minus(armConstants.kArmOffsetToHorizantalZero) - .in(Rotations)); - } - - /** - * Near the maximum Angle of the arm within X degrees. - * - * @param toleranceDegrees Degrees close to maximum of the Arm. - * @return is near the maximum of the arm. - */ - public boolean nearMax(double toleranceDegrees) { - return getAngle() - .isNear(armConstants.kMaxAngle, Radians.convertFrom(toleranceDegrees, Degrees)); - } - - /** - * Near the minimum angle of the Arm in within X degrees. - * - * @param toleranceDegrees Tolerance of the Arm. - * @return is near the minimum of the arm. - */ - public boolean nearMin(double toleranceDegrees) { - return getAngle() - .isNear(armConstants.kMaxAngle, Radians.convertFrom(toleranceDegrees, Degrees)); - } - - /** - * Runs the SysId routine to tune the Arm - * - * @return SysId Routine command - */ - public Command runSysIdRoutine() { - if (isAdvancedEnabled) { - return (sysIdRoutine.dynamic(SysIdRoutine.Direction.kForward).until(atMax)) - .andThen(sysIdRoutine.dynamic(SysIdRoutine.Direction.kReverse).until(atMin)) - .andThen(sysIdRoutine.quasistatic(SysIdRoutine.Direction.kForward).until(atMax)) - .andThen(sysIdRoutine.quasistatic(SysIdRoutine.Direction.kReverse).until(atMin)) - .andThen(Commands.print("DONE")); - } else { - DriverStation.reportWarning( - "Advanced ManipArm is not setup, for safety SysID is disabled", true); - return Commands.none(); + + /** + * @return The angle used to update an arm {@link MechanismLigament2d}. + */ + public double getMechAngle() { + return Degrees.convertFrom(armSim.getAngleRads(), Radians); } - } - - /** Run the control loop to reach and maintain the setpoint from the preferences. */ - public void reachSetpoint(double setpoint) { - if (isAdvancedEnabled) { - double goalPosition = - ManipMath.Arm.convertAngleToSensorUnits(armConstants.kArmReduction, Degrees.of(setpoint)) - .in(Rotations); - double pidOutput = motor.getRioController().calculate(motor.getPosition(), goalPosition); - TrapezoidProfile.State setpointState = motor.getRioController().getSetpoint(); - - motor.setVoltage( - pidOutput + feedforward.calculate(setpointState.position, setpointState.velocity)); - - } else { - motor.setReference(setpoint); + + /** + * Sets the {@link ManipMotor} to follow another {@link ManipMotor}. + * + * @param followerMotor {@link ManipMotor} to follow the lead motor. + * @param isInverted whether to invert the follower or not. + */ + public void addFollower(ManipMotor followerMotor, boolean isInverted) { + followerMotor.setAsFollower(motor, isInverted); + } + + /** + * Adds an absolute encoder to sync to on init. This is not used for actual control + * but recommended to keep arm position on boot. Can be called in init. + * Value must be in 0-360. + */ + public void addAbsoluteEncoderValue(double absEncoderDegrees) { + absEncoderAngle.mut_replace(absEncoderDegrees, Degrees); + this.absSetup = true; } - } - - /** Basic method to run the arm at commanded speed. This does not stop!! */ - public void runArmSpeed(double speed) { - motor.set(speed); - } - - /** Basic method to run the arm at commanded voltage. This does not stop!! */ - public void runArmVoltage(Voltage volts) { - motor.setVoltage(volts); - } - - /** - * Get the Angle of the Arm. - * - * @return Angle of the Arm. - */ - public Angle getAngle() { - if (isAdvancedEnabled) { - angle.mut_replace( - ManipMath.Arm.convertSensorUnitsToAngle( - armConstants.kArmReduction, angle.mut_replace(motor.getPosition(), Rotations))); - } else { - DriverStation.reportWarning("Advanced ManipArm is required for getAngle()", true); + + /** + * Determines whether to sync the absolute encoder in the + * {@link ManipArm} class or not. This is enabled by default. + */ + public void setSyncAbsEncoderInit(boolean syncAbsEncoderInit) { + if (absSetup) { + this.syncAbsEncoderInit = syncAbsEncoderInit; + } else { + DriverStation.reportWarning("Absolute encoder for ManipArm is not set, cannot run setSyncAbsEncoderInit", true); + } } - return angle; - } - - /** - * Get the velocity of Arm. - * - * @return Velocity of the Arm. - */ - public AngularVelocity getVelocity() { - if (!isAdvancedEnabled) { - DriverStation.reportWarning( - "Advanced ManipArm is required for getVelocity(), returning 0", true); + + /** + * Seeds inbuilt encoder with absolute encoder value. + * Syncs on init by default. + */ + public void synchronizeAbsoluteEncoder() { + motor.setPosition( + Rotations.of(absEncoderAngle.in(Degrees)) + .minus(armConstants.kArmOffsetToHorizantalZero) + .in(Rotations)); } - return velocity.mut_replace( - ManipMath.Arm.convertSensorUnitsToAngle( - armConstants.kArmReduction, Rotations.of(motor.getVelocity())) - .per(Minute)); - } - - /** Runs reachSetpoint as a {@link Command}. */ - public Command setGoal(double degrees) { - return run(() -> reachSetpoint(degrees)); - } - - /** Runs runArmSpeed as a {@link Command}. This stops after command is finished. */ - public Command runArmSpeedCommand(double speed) { - return runEnd(() -> runArmSpeed(speed), this::stopArm); - } - - /** Runs runArmVoltage as a {@link Command}. This stops after command is finished. */ - public Command runArmVoltageCommand(Voltage volts) { - return runEnd(() -> runArmVoltage(volts), this::stopArm); - } - - /** Sets the {@link Boolean} for when the top limit switch is hit for {@link ManipArm}. */ - public void setTopLimitSwitch(boolean topLimit) { - this.topLimitBoolean = topLimit; - } - - /** Sets the {@link Boolean} for when the bottom limit switch is hit for {@link ManipArm}. */ - public void setBottomLimitSwitch(boolean bottomLimit) { - this.bottomLimitBoolean = bottomLimit; - } - - /** - * A command to be used as a default command to stow the arm. Use toggleAutoStow() to toggle it on - * and off. It's good for if you want it to stow but want safety or to be able to control - * manually. - */ - public Command autoStowWithOverride(double stowAngle) { - return run( - () -> { - if (!defaultCommandOverride) { - reachSetpoint(stowAngle); - } else { - Commands.none(); - } + + /** + * Near the maximum Angle of the arm within X degrees. + * + * @param toleranceDegrees Degrees close to maximum of the Arm. + * @return is near the maximum of the arm. + */ + public boolean nearMax(double toleranceDegrees) { + return getAngle().isNear(armConstants.kMaxAngle, Radians.convertFrom(toleranceDegrees, Degrees)); + + } + + /** + * Near the minimum angle of the Arm in within X degrees. + * + * @param toleranceDegrees Tolerance of the Arm. + * @return is near the minimum of the arm. + */ + public boolean nearMin(double toleranceDegrees) { + return getAngle().isNear(armConstants.kMaxAngle, Radians.convertFrom(toleranceDegrees, Degrees)); + + } + + /** + * Runs the SysId routine to tune the Arm + * + * @return SysId Routine command + */ + public Command runSysIdRoutine() { + if (isAdvancedEnabled) { + return (sysIdRoutine.dynamic(SysIdRoutine.Direction.kForward).until(atMax)) + .andThen(sysIdRoutine.dynamic(SysIdRoutine.Direction.kReverse).until(atMin)) + .andThen(sysIdRoutine.quasistatic(SysIdRoutine.Direction.kForward).until(atMax)) + .andThen(sysIdRoutine.quasistatic(SysIdRoutine.Direction.kReverse).until(atMin)) + .andThen(Commands.print("DONE")); + } else { + DriverStation.reportWarning("Advanced ManipArm is not setup, for safety SysID is disabled", true); + return Commands.none(); + } + } + + /** + * Run the control loop to reach and maintain the setpoint from the preferences. + */ + public void reachSetpoint(double setpoint) { + if (isAdvancedEnabled) { + double goalPosition = ManipMath.Arm.convertAngleToSensorUnits(armConstants.kArmReduction, Degrees.of(setpoint)).in(Rotations); + double pidOutput = motor.getRioController().calculate(motor.getPosition(), goalPosition); + TrapezoidProfile.State setpointState = motor.getRioController().getSetpoint(); + + motor.setVoltage(pidOutput + + feedforward.calculate(setpointState.position, + setpointState.velocity)); + + } else { + motor.setReference(setpoint); + } + } + + /** + * Basic method to run the arm at commanded speed. + * This does not stop!! + */ + public void runArmSpeed(double speed) { + motor.set(speed); + } + + /** + * Basic method to run the arm at commanded voltage. + * This does not stop!! + */ + public void runArmVoltage(Voltage volts) { + motor.setVoltage(volts); + } + + /** + * Powers the motor with the kG feedforward value. + * "Voltage required to counteract gravity". + */ + public void runkG() { + motor.setVoltage(armConstants.kArmkG); + } + + /** + * Powers the motor with the kG feedforward value as a command. + * "Voltage required to counteract gravity". + */ + public Command runkGCommand() { + return run(this::runkG); + } + + /** + * Get the Angle of the Arm. + * + * @return Angle of the Arm. + */ + public Angle getAngle() { + if (isAdvancedEnabled) { + angle.mut_replace(ManipMath.Arm.convertSensorUnitsToAngle(armConstants.kArmReduction, angle.mut_replace(motor.getPosition(), Rotations))); + } else { + DriverStation.reportWarning("Advanced ManipArm is required for getAngle()", true); + } + return angle; + } + + /** + * Get the velocity of Arm. + * + * @return Velocity of the Arm. + */ + public AngularVelocity getVelocity() { + if (!isAdvancedEnabled) { + DriverStation.reportWarning("Advanced ManipArm is required for getVelocity(), returning 0", true); + } + return velocity.mut_replace(ManipMath.Arm.convertSensorUnitsToAngle(armConstants.kArmReduction, Rotations.of(motor.getVelocity())).per(Minute)); + } + + /** + * Runs reachSetpoint as a {@link Command}. + */ + public Command setGoal(double degrees) { + return run(() -> reachSetpoint(degrees)); + } + + /** + * Runs runArmSpeed as a {@link Command}. + * This stops after command is finished. + */ + public Command runArmSpeedCommand(double speed) { + return runEnd(() -> runArmSpeed(speed), this::stopArm); + } + + /** + * Runs runArmVoltage as a {@link Command}. + * This stops after command is finished. + */ + public Command runArmVoltageCommand(Voltage volts) { + return runEnd(() -> runArmVoltage(volts), this::stopArm); + } + + /** + * Sets the {@link Boolean} for when the top limit switch is hit for {@link ManipArm}. + */ + public void setTopLimitSwitch(boolean topLimit) { + this.topLimitBoolean = topLimit; + } + + /** + * Sets the {@link Boolean} for when the bottom limit switch is hit for {@link ManipArm}. + */ + public void setBottomLimitSwitch(boolean bottomLimit) { + this.bottomLimitBoolean = bottomLimit; + } + + /** + * A command to be used as a default command to stow the arm. + * Use toggleAutoStow() to toggle it on and off. + * It's good for if you want it to stow but want safety or to be able to control manually. + */ + public Command autoStowWithOverride(double stowAngle) { + return run(() -> { + if (!defaultCommandOverride) { + reachSetpoint(stowAngle); + } else { + Commands.none(); + } }); - } + } - /** Toggles auto-stow of defaultCommandOverride */ - public void toggleAutoStow() { - this.defaultCommandOverride = !defaultCommandOverride; - } + /** + * Toggles auto-stow of defaultCommandOverride + */ + public void toggleAutoStow() { + this.defaultCommandOverride = !defaultCommandOverride; + } - public void setAutoStow(boolean autoStow) { - this.defaultCommandOverride = autoStow; - } + public void setAutoStow(boolean autoStow) { + this.defaultCommandOverride = autoStow; + } - /** Stops the arm. */ - public void stopArm() { - runArmSpeed(0.0); - } + /** + * Stops the arm. + */ + public void stopArm() { + runArmSpeed(0.0); + } } diff --git a/src/main/java/maniplib/ManipElevator.java b/src/main/java/maniplib/ManipElevator.java index 612fa96..1b64221 100644 --- a/src/main/java/maniplib/ManipElevator.java +++ b/src/main/java/maniplib/ManipElevator.java @@ -1,7 +1,5 @@ package maniplib; -import static edu.wpi.first.units.Units.*; - import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.controller.ElevatorFeedforward; import edu.wpi.first.units.measure.*; @@ -26,462 +24,488 @@ import maniplib.utils.ManipMath; import maniplib.utils.PIDFConfig; +import static edu.wpi.first.units.Units.*; + public class ManipElevator extends SubsystemBase { - // Mutable holders for unit-safe values, persisted to avoid reallocation. - private final MutVoltage appliedVoltage = Volts.mutable(0); - private final MutLinearVelocity velocity = MetersPerSecond.mutable(0); - private final MutDistance distance = Meters.mutable(0); - private final MutAngle absEncoderAngle = Rotations.mutable(0); - // Universal motor init - private final ManipMotor motor; - // Triggers for when reaching max movements. - private Trigger atMin; - private Trigger atMax; - private Trigger goingDown; - private Trigger goingUp; - // Booleans for limit switch functions. - private boolean topLimitBoolean = false; - private boolean bottomLimitBoolean = false; - // Triggers for limit switch functions. - private Trigger topLimit; - private Trigger bottomLimit; - // Various booleans to determine what to enable - private boolean absSetup = false; - private boolean isAdvancedEnabled = false; - private boolean syncAbsEncoderInit = true; - private boolean defaultCommandOverride = false; - private ElevatorFeedforward feedforward; - private ManipElevatorConstants elevatorConstants; - // SysId Routine - private SysIdRoutine sysIdRoutine; - // Simulation class to help simulate what is going on, including gravity. - private ElevatorSim elevatorSim; - private Mechanism2d elevator2d; - // Mechanism for simulation, needs overridden for anything more than a basic elevator. - private MechanismLigament2d elevatorMech; - - /** - * Subsystem constructor, advanced {@link ManipElevator} when config.kEnableAdvanced is set to - * true. - */ - public ManipElevator(ManipMotor motor, ManipElevatorConstants config) { - - if (absSetup && syncAbsEncoderInit) { - synchronizeAbsoluteEncoder(); - } - - if (!config.kEnableAdvanced) { - this.motor = motor; - } else { - this.motor = motor; - this.elevatorConstants = config; - this.isAdvancedEnabled = true; - - this.topLimit = new Trigger(() -> topLimitBoolean); - this.bottomLimit = new Trigger(() -> bottomLimitBoolean); - - this.atMin = new Trigger(() -> getLinearPosition().isNear(config.kMinHeight, Inches.of(1))); - this.atMax = new Trigger(() -> getLinearPosition().isNear(config.kMaxHeight, Inches.of(1))); - this.goingDown = new Trigger(() -> motor.getAppliedOutput() < 0); - this.goingUp = new Trigger(() -> motor.getAppliedOutput() > 0); - - this.atMin.and(goingDown).or(topLimit).onTrue(run(this::stopElevator)); - this.atMax.and(goingUp).or(topLimit).onTrue(run(this::stopElevator)); - - this.topLimit.onTrue( - run( - () -> - motor.setPosition( - ManipMath.Elevator.convertDistanceToRotations( - config.kElevatorDrumRadius, - config.kElevatorGearing, - config.kMaxHeight) - .in(Rotations)))); - this.bottomLimit.onTrue( - run( - () -> - motor.setPosition( - ManipMath.Elevator.convertDistanceToRotations( - config.kElevatorDrumRadius, - config.kElevatorGearing, - config.kMaxHeight) - .in(Rotations)))); - - this.motor.setGearbox(elevatorConstants.gearbox); - - this.motor.configureMotor( - elevatorConstants.kElevatorCurrentLimit, - elevatorConstants.kElevatorRampRate, - true, - elevatorConstants.kIsInverted); - - motor.setupRioPID( - new PIDFConfig(config.kElevatorKp, config.kElevatorKi, config.kElevatorKd), - config.kMaxVelocity, - config.kMaxAcceleration, - 0.01, - true); - - this.feedforward = - new ElevatorFeedforward( - config.kElevatorkS, config.kElevatorkG, config.kElevatorkV, config.kElevatorkA); - - this.sysIdRoutine = - new SysIdRoutine( - new SysIdRoutine.Config(Volts.per(Second).of(1), Volts.of(6), Seconds.of(30)), - new SysIdRoutine.Mechanism( - this::runElevatorVoltage, - log -> { - // Record a frame for the elevator motor. - log.motor("manipElevator") - .voltage( - appliedVoltage.mut_replace( - motor.getAppliedOutput() * RobotController.getBatteryVoltage(), - Volts)) - .linearPosition( - distance.mut_replace( - getHeightMeters(), Meters)) // Records Height in Meters via - // SysIdRoutineLog.linearPosition - .linearVelocity( - velocity.mut_replace( - getVelocityMetersPerSecond(), - MetersPerSecond)); // Records velocity in MetersPerSecond via - // SysIdRoutineLog.linearVelocity - }, - this)); - - this.elevatorSim = - new ElevatorSim( - config.gearbox, - config.kElevatorGearing, - config.kElevatorCarriageMass, - config.kElevatorDrumRadius, - config.kMinHeight.in(Meters), - config.kMaxHeight.in(Meters), - true, - config.kStartingHeightSim.in(Meters), - 0.01, - 0.0); - - // Mechanism 2d for simulation, needs overridden for anything more than a basic elevator. - this.elevator2d = - new Mechanism2d( - (config.kMaxHeight.in(Meters) / 5), - config.kMaxHeight.in(Meters) + (config.kMaxHeight.in(Meters) / 10)); - - // Mechanism root for simulation, needs overridden for anything more than a basic elevator. - MechanismRoot2d elevatorRoot = - elevator2d.getRoot( - "ManipElevator Root", - (config.kMaxHeight.in(Meters) / 10), - config.kMinHeight.in(Meters)); - - this.elevatorMech = - elevatorRoot.append( - new MechanismLigament2d( - "defaultManipElevator", - config.kStartingHeightSim.in(Meters), - 90, - 6, - new Color8Bit(Color.kYellow))); - } - } - - /** Subsystem constructor, basic {@link ManipElevator} with a {@link PIDFConfig}. */ - public ManipElevator(ManipMotor motor, PIDFConfig pidfConfig) { - this(motor); - motor.configurePIDF(pidfConfig); - } - - /** Subsystem constructor, basic {@link ManipElevator}. */ - public ManipElevator(ManipMotor motor) { - this.motor = motor; - } - - @Override - public void periodic() { - if (Telemetry.manipVerbosity.ordinal() <= Telemetry.ManipTelemetry.LOW.ordinal()) { - SmartDashboard.putData("Elevator Side", elevator2d); - } - if (Telemetry.manipVerbosity.ordinal() <= Telemetry.ManipTelemetry.HIGH.ordinal()) { - SmartDashboard.putNumber("Elevator Height", getLinearPosition().in(Inches)); - SmartDashboard.putNumber("Elevator Applied Output", motor.getAppliedOutput()); - } - } - - /** Ran periodically in simulation. Controls the elevator simulation. */ - @Override - public void simulationPeriodic() { - // Set the elevatorSim input, we use volts for this. - elevatorSim.setInput(motor.getAppliedOutput() * RoboRioSim.getVInVoltage()); - - // Update the elevator sim, Standard loop time is 20ms. - elevatorSim.update(0.02); - - motor.iterateRevSim( - ManipMath.Elevator.convertDistanceToRotations( + // Mutable holders for unit-safe values, persisted to avoid reallocation. + private final MutVoltage appliedVoltage = Volts.mutable(0); + private final MutLinearVelocity velocity = MetersPerSecond.mutable(0); + private final MutDistance distance = Meters.mutable(0); + private final MutAngle absEncoderAngle = Rotations.mutable(0); + // Universal motor init + private final ManipMotor motor; + // Triggers for when reaching max movements. + private Trigger atMin; + private Trigger atMax; + private Trigger goingDown; + private Trigger goingUp; + // Booleans for limit switch functions. + private boolean topLimitBoolean = false; + private boolean bottomLimitBoolean = false; + // Triggers for limit switch functions. + private Trigger topLimit; + private Trigger bottomLimit; + // Various booleans to determine what to enable + private boolean absSetup = false; + private boolean isAdvancedEnabled = false; + private boolean syncAbsEncoderInit = true; + private boolean defaultCommandOverride = false; + private ElevatorFeedforward feedforward; + private ManipElevatorConstants elevatorConstants; + // SysId Routine + private SysIdRoutine sysIdRoutine; + // Simulation class to help simulate what is going on, including gravity. + private ElevatorSim elevatorSim; + private Mechanism2d elevator2d; + // Mechanism for simulation, needs overridden for anything more than a basic elevator. + private MechanismLigament2d elevatorMech; + + /** + * Subsystem constructor, advanced {@link ManipElevator} when config.kEnableAdvanced is set to true. + */ + public ManipElevator(ManipMotor motor, ManipElevatorConstants config) { + + if (absSetup && syncAbsEncoderInit) { + synchronizeAbsoluteEncoder(); + } + + if (!config.kEnableAdvanced) { + this.motor = motor; + } else { + this.motor = motor; + this.elevatorConstants = config; + this.isAdvancedEnabled = true; + + this.topLimit = new Trigger(() -> topLimitBoolean); + this.bottomLimit = new Trigger(() -> bottomLimitBoolean); + + this.atMin = new Trigger(() -> getLinearPosition().isNear(config.kMinHeight, Inches.of(1))); + this.atMax = new Trigger(() -> getLinearPosition().isNear(config.kMaxHeight, Inches.of(1))); + this.goingDown = new Trigger(() -> motor.getAppliedOutput() < 0); + this.goingUp = new Trigger(() -> motor.getAppliedOutput() > 0); + + this.atMin.and(goingDown).or(topLimit).onTrue(run(this::stopElevator)); + this.atMax.and(goingUp).or(topLimit).onTrue(run(this::stopElevator)); + + this.topLimit.onTrue(run(() -> + motor.setPosition(ManipMath.Elevator.convertDistanceToRotations( + config.kElevatorDrumRadius, + config.kElevatorGearing, + config.kMaxHeight + ).in(Rotations)))); + this.bottomLimit.onTrue(run(() -> + motor.setPosition(ManipMath.Elevator.convertDistanceToRotations( + config.kElevatorDrumRadius, + config.kElevatorGearing, + config.kMaxHeight + ).in(Rotations)))); + + this.motor.setGearbox(elevatorConstants.gearbox); + + this.motor.configureMotor( + elevatorConstants.kElevatorCurrentLimit, + elevatorConstants.kElevatorRampRate, + true, + elevatorConstants.kIsInverted + ); + + motor.setupRioPID( + new PIDFConfig(config.kElevatorKp, + config.kElevatorKi, + config.kElevatorKd), + config.kMaxVelocity, + config.kMaxAcceleration, + 0.01, + true + ); + + this.feedforward = new ElevatorFeedforward( + config.kElevatorkS, + config.kElevatorkG, + config.kElevatorkV, + config.kElevatorkA + ); + + this.sysIdRoutine = new SysIdRoutine( + + new SysIdRoutine.Config(Volts.per(Second).of(1), Volts.of(6), Seconds.of(30)), + new SysIdRoutine.Mechanism( + this::runElevatorVoltage, + log -> { + // Record a frame for the elevator motor. + log.motor("manipElevator") + .voltage(appliedVoltage.mut_replace(motor.getAppliedOutput() * + RobotController.getBatteryVoltage(), Volts)) + .linearPosition(distance.mut_replace(getHeightMeters(), + Meters)) // Records Height in Meters via SysIdRoutineLog.linearPosition + .linearVelocity(velocity.mut_replace(getVelocityMetersPerSecond(), + MetersPerSecond)); // Records velocity in MetersPerSecond via SysIdRoutineLog.linearVelocity + }, + this)); + + this.elevatorSim = new ElevatorSim( + config.gearbox, + config.kElevatorGearing, + config.kElevatorCarriageMass, + config.kElevatorDrumRadius, + config.kMinHeight.in(Meters), + config.kMaxHeight.in(Meters), + true, + config.kStartingHeightSim.in(Meters), + 0.01, + 0.0 + ); + + // Mechanism 2d for simulation, needs overridden for anything more than a basic elevator. + this.elevator2d = new Mechanism2d( + (config.kMaxHeight.in(Meters) / 5), + config.kMaxHeight.in(Meters) + (config.kMaxHeight.in(Meters) / 10) + ); + + // Mechanism root for simulation, needs overridden for anything more than a basic elevator. + MechanismRoot2d elevatorRoot = elevator2d.getRoot("ManipElevator Root", + (config.kMaxHeight.in(Meters) / 10), + config.kMinHeight.in(Meters)); + + this.elevatorMech = + elevatorRoot.append( + new MechanismLigament2d( + "defaultManipElevator", + config.kStartingHeightSim.in(Meters), + 90, + 6, + new Color8Bit(Color.kYellow) + )); + } + + } + + /** + * Subsystem constructor, basic {@link ManipElevator} with a {@link PIDFConfig}. + */ + public ManipElevator(ManipMotor motor, PIDFConfig pidfConfig) { + this(motor); + motor.configurePIDF(pidfConfig); + } + + /** + * Subsystem constructor, basic {@link ManipElevator}. + */ + public ManipElevator(ManipMotor motor) { + this.motor = motor; + } + + @Override + public void periodic() { + if (Telemetry.manipVerbosity.ordinal() <= Telemetry.ManipTelemetry.LOW.ordinal()) { + SmartDashboard.putData("Elevator Side", elevator2d); + } + if (Telemetry.manipVerbosity.ordinal() <= Telemetry.ManipTelemetry.HIGH.ordinal()) { + SmartDashboard.putNumber("Elevator Height", getLinearPosition().in(Inches)); + SmartDashboard.putNumber("Elevator Applied Output", motor.getAppliedOutput()); + } + } + + /** + * Ran periodically in simulation. + * Controls the elevator simulation. + */ + @Override + public void simulationPeriodic() { + // Set the elevatorSim input, we use volts for this. + elevatorSim.setInput(motor.getAppliedOutput() * RoboRioSim.getVInVoltage()); + + // Update the elevator sim, Standard loop time is 20ms. + elevatorSim.update(0.02); + + motor.iterateRevSim( + ManipMath.Elevator.convertDistanceToRotations( + elevatorConstants.kElevatorDrumRadius, + elevatorConstants.kElevatorGearing, + Meters.of(elevatorSim.getVelocityMetersPerSecond())).per(Second).in(RPM), + RoboRioSim.getVInVoltage(), + 0.020); + + // Not implemented will error + motor.iterateCTRESim(); + + // Finally, we set our simulated encoder's readings and simulated battery voltage + motor.setPosition(ManipMath.Elevator.convertDistanceToRotations( elevatorConstants.kElevatorDrumRadius, elevatorConstants.kElevatorGearing, - Meters.of(elevatorSim.getVelocityMetersPerSecond())) - .per(Second) - .in(RPM), - RoboRioSim.getVInVoltage(), - 0.020); - - // Not implemented will error - motor.iterateCTRESim(); - - // Finally, we set our simulated encoder's readings and simulated battery voltage - motor.setPosition( - ManipMath.Elevator.convertDistanceToRotations( + Meters.of(elevatorSim.getPositionMeters())).in(Rotations)); + + motor.setVelocity(ManipMath.Elevator.convertDistanceToRotations( elevatorConstants.kElevatorDrumRadius, elevatorConstants.kElevatorGearing, - Meters.of(elevatorSim.getPositionMeters())) - .in(Rotations)); - - motor.setVelocity( - ManipMath.Elevator.convertDistanceToRotations( - elevatorConstants.kElevatorDrumRadius, - elevatorConstants.kElevatorGearing, - Meters.of(elevatorSim.getVelocityMetersPerSecond())) - .in(Rotations) - * 60); - - // SimBattery estimates loaded battery voltages - RoboRioSim.setVInVoltage( - BatterySim.calculateDefaultBatteryLoadedVoltage(elevatorSim.getCurrentDrawAmps())); - - // Update the Elevator Mechanism based on simulated elevator height - elevatorMech.setLength(getLinearPosition().in(Meters)); - } - - /** - * @return The length used to update a elevator {@link MechanismLigament2d} - */ - public double getMechLength() { - return getLinearPosition().in(Meters); - } - - /** - * Sets the {@link ManipMotor} to follow another {@link ManipMotor}. - * - * @param followerMotor {@link ManipMotor} to follow the lead motor. - * @param isInverted whether to invert the follower or not. - */ - public void addFollower(ManipMotor followerMotor, boolean isInverted) { - followerMotor.setAsFollower(motor, isInverted); - } - - /** - * Adds an absolute encoder to sync to on init. This is not used for actual control but - * recommended to keep elevator position on boot. Can be called in init. - */ - public void addAbsoluteEncoderValue(double absEncoderDegrees) { - absEncoderAngle.mut_replace(absEncoderDegrees - elevatorConstants.kAbsEncoderOffset, Degrees); - this.absSetup = true; - } - - /** - * Determines whether to sync the absolute encoder in the {@link ManipElevator} class or not. This - * is enabled by default. - */ - public void setSyncAbsEncoderInit(boolean syncAbsEncoderInit) { - if (absSetup) { - this.syncAbsEncoderInit = syncAbsEncoderInit; - } else { - DriverStation.reportWarning( - "Absolute encoder for ManipElevator is not set, cannot run setSyncAbsEncoderInit", true); - } - } - - /** Seeds inbuilt encoder with absolute encoder value. Syncs on init by default. */ - public void synchronizeAbsoluteEncoder() { - motor.setPosition(Rotations.of(absEncoderAngle.in(Degrees)).in(Rotations)); - } - - /** - * Runs the SysId routine to tune the elevator - * - * @return SysId Routine command - */ - public Command runSysIdRoutine() { - if (isAdvancedEnabled) { - return (sysIdRoutine.dynamic(SysIdRoutine.Direction.kForward).until(atMax)) - .andThen(sysIdRoutine.dynamic(SysIdRoutine.Direction.kReverse).until(atMin)) - .andThen(sysIdRoutine.quasistatic(SysIdRoutine.Direction.kForward).until(atMax)) - .andThen(sysIdRoutine.quasistatic(SysIdRoutine.Direction.kReverse).until(atMin)) - .andThen(Commands.print("DONE")); - } else { - DriverStation.reportWarning( - "Advanced ManipElevator is not setup, for safety SysID is disabled", true); - return Commands.none(); - } - } - - /** - * Get Elevator Velocity - * - * @return Elevator Velocity - */ - public LinearVelocity getLinearVelocity() { - return ManipMath.Elevator.convertRotationsToDistance( - elevatorConstants.kElevatorDrumRadius, - elevatorConstants.kElevatorGearing, - Rotations.of(motor.getVelocity())) - .per(Minute); - } - - /** - * Get the height of the Elevator - * - * @return Height of the elevator - */ - public Distance getLinearPosition() { - return ManipMath.Elevator.convertRotationsToDistance( - elevatorConstants.kElevatorDrumRadius, - elevatorConstants.kElevatorGearing, - Rotations.of(motor.getPosition())); - } - - /** - * Get the height in meters. - * - * @return Height in meters - */ - public double getHeightMeters() { - return (motor.getPosition() / elevatorConstants.kElevatorGearing) - * (2 * Math.PI * elevatorConstants.kElevatorDrumRadius); - } - - /** - * The velocity of the elevator in meters per second. - * - * @return velocity in meters per second - */ - public double getVelocityMetersPerSecond() { - return ((motor.getVelocity() / 60) / elevatorConstants.kElevatorGearing) - * (2 * Math.PI * elevatorConstants.kElevatorDrumRadius); - } - - /** - * A trigger for when the height is at an acceptable tolerance. - * - * @param height Height in Meters - * @param tolerance Tolerance in meters. - * @return {@link Trigger} - */ - public Trigger atHeight(double height, double tolerance) { - return new Trigger(() -> MathUtil.isNear(height, getHeightMeters(), tolerance)); - } - - /** - * Near the maximum height of the elevator within X millimeters. - * - * @param toleranceMillimeters Tolerance of the Elevator. - * @return is near the maximum of the elevator. - */ - public boolean nearMax(double toleranceMillimeters) { - return getLinearPosition() - .isNear( - elevatorConstants.kMaxHeight, Meters.convertFrom(toleranceMillimeters, Millimeters)); - } - - /** - * Near the minimum height of the elevator in within X millimeters. - * - * @param toleranceMillimeters Tolerance of the Elevator. - * @return is near the minimum of the elevator. - */ - public boolean nearMin(double toleranceMillimeters) { - return getLinearPosition() - .isNear( - elevatorConstants.kMinHeight, Meters.convertFrom(toleranceMillimeters, Millimeters)); - } - - /** - * Run the control loop to reach and maintain the setpoint from the preferences. If using basic - * control setpoint is in sensor units. - */ - public void reachSetpoint(double setpointInches) { - if (isAdvancedEnabled) { - motor.setVoltage( - MathUtil.clamp( - motor - .getRioController() - .calculate(getHeightMeters(), Meters.convertFrom(setpointInches, Inches)) - + feedforward.calculateWithVelocities( - getVelocityMetersPerSecond(), - motor.getRioController().getSetpoint().velocity), - -7, - 7)); - - } else { - motor.setReference(setpointInches); - } - } - - /** Basic method to run the elevator at commanded speed. This does not stop!! */ - public void runElevatorSpeed(double speed) { - motor.set(speed); - } - - /** Basic method to run the elevator at commanded voltage. This does not stop!! */ - public void runElevatorVoltage(Voltage volts) { - motor.setVoltage(volts); - } - - /** Runs reachSetpoint as a {@link Command}. */ - public Command setGoal(double setpointInches) { - return run(() -> reachSetpoint(setpointInches)); - } - - /** Runs runElevatorSpeed as a {@link Command}. This stops after command is finished. */ - public Command runElevatorSpeedCommand(double speed) { - return runEnd(() -> runElevatorSpeed(speed), this::stopElevator); - } - - /** Runs runElevatorVoltage as a {@link Command}. This stops after command is finished. */ - public Command runElevatorVoltageCommand(Voltage volts) { - return runEnd(() -> runElevatorVoltage(volts), this::stopElevator); - } - - /** Sets the {@link Boolean} for when the top limit switch is hit for {@link ManipElevator}. */ - public void setTopLimitSwitch(boolean topLimit) { - this.topLimitBoolean = topLimit; - } - - /** Sets the {@link Boolean} for when the bottom limit switch is hit for {@link ManipElevator}. */ - public void setBottomLimitSwitch(boolean bottomLimit) { - this.bottomLimitBoolean = bottomLimit; - } - - /** - * A command to be used as a default command to stow the elevator. Use toggleAutoStow() to toggle - * it on and off. It's good for if you want it to stow but want safety or to be able to control - * manually. - */ - public Command autoStowWithOverride(double stowHeight) { - return run( - () -> { - if (!this.defaultCommandOverride) { - reachSetpoint(stowHeight); - } else { - Commands.none(); - } + Meters.of(elevatorSim.getVelocityMetersPerSecond())).in(Rotations) * 60); + + // SimBattery estimates loaded battery voltages + RoboRioSim.setVInVoltage( + BatterySim.calculateDefaultBatteryLoadedVoltage(elevatorSim.getCurrentDrawAmps())); + + // Update the Elevator Mechanism based on simulated elevator height + elevatorMech.setLength(getLinearPosition().in(Meters)); + } + + /** + * @return The length used to update a elevator {@link MechanismLigament2d} + */ + public double getMechLength() { + return getLinearPosition().in(Meters); + } + + /** + * Sets the {@link ManipMotor} to follow another {@link ManipMotor}. + * + * @param followerMotor {@link ManipMotor} to follow the lead motor. + * @param isInverted whether to invert the follower or not. + */ + public void addFollower(ManipMotor followerMotor, boolean isInverted) { + followerMotor.setAsFollower(motor, isInverted); + } + + /** + * Adds an absolute encoder to sync to on init. This is not used for actual control + * but recommended to keep elevator position on boot. Can be called in init. + */ + public void addAbsoluteEncoderValue(double absEncoderDegrees) { + absEncoderAngle.mut_replace(absEncoderDegrees - elevatorConstants.kAbsEncoderOffset, Degrees); + this.absSetup = true; + } + + /** + * Determines whether to sync the absolute encoder in the + * {@link ManipElevator} class or not. This is enabled by default. + */ + public void setSyncAbsEncoderInit(boolean syncAbsEncoderInit) { + if (absSetup) { + this.syncAbsEncoderInit = syncAbsEncoderInit; + } else { + DriverStation.reportWarning("Absolute encoder for ManipElevator is not set, cannot run setSyncAbsEncoderInit", true); + } + } + + /** + * Seeds inbuilt encoder with absolute encoder value. + * Syncs on init by default. + */ + public void synchronizeAbsoluteEncoder() { + motor.setPosition(Rotations.of(absEncoderAngle.in(Degrees)).in(Rotations)); + } + + /** + * Runs the SysId routine to tune the elevator + * + * @return SysId Routine command + */ + public Command runSysIdRoutine() { + if (isAdvancedEnabled) { + return (sysIdRoutine.dynamic(SysIdRoutine.Direction.kForward).until(atMax)) + .andThen(sysIdRoutine.dynamic(SysIdRoutine.Direction.kReverse).until(atMin)) + .andThen(sysIdRoutine.quasistatic(SysIdRoutine.Direction.kForward).until(atMax)) + .andThen(sysIdRoutine.quasistatic(SysIdRoutine.Direction.kReverse).until(atMin)) + .andThen(Commands.print("DONE")); + } else { + DriverStation.reportWarning("Advanced ManipElevator is not setup, for safety SysID is disabled", true); + return Commands.none(); + } + } + + /** + * Get Elevator Velocity + * + * @return Elevator Velocity + */ + public LinearVelocity getLinearVelocity() { + return ManipMath.Elevator.convertRotationsToDistance( + elevatorConstants.kElevatorDrumRadius, + elevatorConstants.kElevatorGearing, + Rotations.of(motor.getVelocity())).per(Minute); + } + + /** + * Get the height of the Elevator + * + * @return Height of the elevator + */ + public Distance getLinearPosition() { + return ManipMath.Elevator.convertRotationsToDistance( + elevatorConstants.kElevatorDrumRadius, + elevatorConstants.kElevatorGearing, + Rotations.of(motor.getPosition())); + } + + /** + * Get the height in meters. + * + * @return Height in meters + */ + public double getHeightMeters() { + return (motor.getPosition() / elevatorConstants.kElevatorGearing) * + (2 * Math.PI * elevatorConstants.kElevatorDrumRadius); + } + + /** + * The velocity of the elevator in meters per second. + * + * @return velocity in meters per second + */ + public double getVelocityMetersPerSecond() { + return ((motor.getVelocity() / 60) / elevatorConstants.kElevatorGearing) * + (2 * Math.PI * elevatorConstants.kElevatorDrumRadius); + } + + /** + * A trigger for when the height is at an acceptable tolerance. + * + * @param height Height in Meters + * @param tolerance Tolerance in meters. + * @return {@link Trigger} + */ + public Trigger atHeight(double height, double tolerance) { + return new Trigger(() -> MathUtil.isNear(height, + getHeightMeters(), + tolerance)); + } + + /** + * Near the maximum height of the elevator within X millimeters. + * + * @param toleranceMillimeters Tolerance of the Elevator. + * @return is near the maximum of the elevator. + */ + public boolean nearMax(double toleranceMillimeters) { + return getLinearPosition().isNear(elevatorConstants.kMaxHeight, Meters.convertFrom(toleranceMillimeters, Millimeters)); + + } + + /** + * Near the minimum height of the elevator in within X millimeters. + * + * @param toleranceMillimeters Tolerance of the Elevator. + * @return is near the minimum of the elevator. + */ + public boolean nearMin(double toleranceMillimeters) { + return getLinearPosition().isNear(elevatorConstants.kMinHeight, Meters.convertFrom(toleranceMillimeters, Millimeters)); + + } + + /** + * Run the control loop to reach and maintain the setpoint from the preferences. + * If using basic control setpoint is in sensor units. + */ + public void reachSetpoint(double setpointInches) { + if (isAdvancedEnabled) { + motor.setVoltage(MathUtil.clamp( + motor.getRioController().calculate(getHeightMeters(), Meters.convertFrom(setpointInches, Inches)) + + feedforward.calculateWithVelocities(getVelocityMetersPerSecond(), + motor.getRioController().getSetpoint().velocity), -7, 7)); + + } else { + motor.setReference(setpointInches); + } + } + + /** + * Basic method to run the elevator at commanded speed. + * This does not stop!! + */ + public void runElevatorSpeed(double speed) { + motor.set(speed); + } + + /** + * Basic method to run the elevator at commanded voltage. + * This does not stop!! + */ + public void runElevatorVoltage(Voltage volts) { + motor.setVoltage(volts); + } + + /** + * Runs reachSetpoint as a {@link Command}. + */ + public Command setGoal(double setpointInches) { + return run(() -> reachSetpoint(setpointInches)); + } + + /** + * Runs runElevatorSpeed as a {@link Command}. + * This stops after command is finished. + */ + public Command runElevatorSpeedCommand(double speed) { + return runEnd(() -> runElevatorSpeed(speed), this::stopElevator); + } + + /** + * Runs runElevatorVoltage as a {@link Command}. + * This stops after command is finished. + */ + public Command runElevatorVoltageCommand(Voltage volts) { + return runEnd(() -> runElevatorVoltage(volts), this::stopElevator); + } + + /** + * Powers the motor with the kG feedforward value. + * "Voltage required to counteract gravity". + */ + public void runkG() { + motor.setVoltage(elevatorConstants.kElevatorkG); + } + + /** + * Powers the motor with the kG feedforward value as a command. + * "Voltage required to counteract gravity". + */ + public Command runkGCommand() { + return run(this::runkG); + } + + /** + * Sets the {@link Boolean} for when the top limit switch is hit for {@link ManipElevator}. + */ + public void setTopLimitSwitch(boolean topLimit) { + this.topLimitBoolean = topLimit; + } + + /** + * Sets the {@link Boolean} for when the bottom limit switch is hit for {@link ManipElevator}. + */ + public void setBottomLimitSwitch(boolean bottomLimit) { + this.bottomLimitBoolean = bottomLimit; + } + + /** + * A command to be used as a default command to stow the elevator. + * Use toggleAutoStow() to toggle it on and off. + * It's good for if you want it to stow but want safety or to be able to control manually. + */ + public Command autoStowWithOverride(double stowHeight) { + return run(() -> { + if (!this.defaultCommandOverride) { + reachSetpoint(stowHeight); + } else { + Commands.none(); + } }); - } + } - /** Toggles auto-stow of defaultCommandOverride */ - public void toggleAutoStow() { - this.defaultCommandOverride = !defaultCommandOverride; - } + /** + * Toggles auto-stow of defaultCommandOverride + */ + public void toggleAutoStow() { + this.defaultCommandOverride = !defaultCommandOverride; + } - public void setAutoStow(boolean autoStow) { - this.defaultCommandOverride = autoStow; - } + public void setAutoStow(boolean autoStow) { + this.defaultCommandOverride = autoStow; + } - /** Stops the elevator. */ - public void stopElevator() { - runElevatorSpeed(0.0); - } + /** + * Stops the elevator. + */ + public void stopElevator() { + runElevatorSpeed(0.0); + } } diff --git a/src/main/java/maniplib/ManipShooterIntake.java b/src/main/java/maniplib/ManipShooterIntake.java index e6a4c92..430ff35 100644 --- a/src/main/java/maniplib/ManipShooterIntake.java +++ b/src/main/java/maniplib/ManipShooterIntake.java @@ -7,65 +7,100 @@ public class ManipShooterIntake extends SubsystemBase { - private final ManipMotor motor; + private final ManipMotor motor; - /** - * Initialize the {@link ManipShooterIntake} to be used. - * - * @param motor motor to set as the lead motor for this {@link ManipShooterIntake} - */ - public ManipShooterIntake(ManipMotor motor) { - this.motor = motor; - motor.setPIDControlType(PIDControlType.ControlType.VELOCITY); - } + /** + * Initialize the {@link ManipShooterIntake} to be used. + * + * @param motor motor to set as the lead motor for this {@link ManipShooterIntake} + */ + public ManipShooterIntake(ManipMotor motor) { + this.motor = motor; + motor.setPIDControlType(PIDControlType.ControlType.VELOCITY); + } - /** - * Sets the {@link ManipMotor} to follow another {@link ManipMotor}. - * - * @param followerMotor {@link ManipMotor} to follow the lead motor. - * @param isInverted whether to invert the follower or not. - */ - public void addFollower(ManipMotor followerMotor, boolean isInverted) { - followerMotor.setAsFollower(motor, isInverted); - } + /** + * Sets the {@link ManipMotor} to follow another {@link ManipMotor}. + * + * @param followerMotor {@link ManipMotor} to follow the lead motor. + * @param isInverted whether to invert the follower or not. + */ + public void addFollower(ManipMotor followerMotor, boolean isInverted) { + followerMotor.setAsFollower(motor, isInverted); + } - /** - * Set the percentage output. - * - * @param speed percent out for the motor controller. - */ - public Command setSpeed(double speed) { - return runEnd( - () -> { - motor.set(speed); - }, - motor::stopMotor); - } + /** + * Set the motor voltage. + * + * @param voltage to run the motor at. + */ + public void runVoltage(double voltage) { + motor.setVoltage(voltage); + } - /** - * Set the closed loop PID controller reference point. - * - * @param setpoint Setpoint, value type changes with ControlType. - */ - public Command setReference(double setpoint) { - return runEnd( - () -> { - motor.setReference(setpoint); - }, - motor::stopMotor); - } + /** + * Set the motor voltage as a command. + * + * @param voltage to run the motor at. + */ + public Command runVoltageCommand(double voltage) { + return runEnd( + () -> { + motor.setVoltage(voltage); + }, this::stopShooter + ); + } - /** Stop the {@link ManipShooterIntake} */ - public void stopShooter() { - motor.stopMotor(); - } + /** + * Set the percentage output as a command. + * + * @param speed percent out for the motor controller. + */ + public void runSpeed(double speed) { + motor.set(speed); + } + + /** + * Set the percentage output. + * + * @param speed percent out for the motor controller as a command. + */ + public Command runSpeedCommand(double speed) { + return runEnd( + () -> { + runSpeed(speed); + }, + motor::stopMotor); + } + + /** + * Set the closed loop PID controller reference point. + * + * @param setpoint Setpoint, value type changes with ControlType. + */ + public Command setReference(double setpoint) { + return runEnd( + () -> { + motor.setReference(setpoint); + }, + motor::stopMotor + ); + } + + /** + * Stop the {@link ManipShooterIntake} + */ + public void stopShooter() { + motor.stopMotor(); + } + + /** + * A command that stops the {@link ManipShooterIntake} + * + * @return a command that stops the {@link ManipShooterIntake} + */ + public Command stopShooterCommand() { + return motor.stopMotorCommand(); + } - /** - * A command that stops the {@link ManipShooterIntake} - * - * @return a command that stops the {@link ManipShooterIntake} - */ - public Command stopShooterCommand() { - return motor.stopMotorCommand(); - } } diff --git a/src/main/java/maniplib/Telemetry.java b/src/main/java/maniplib/Telemetry.java index 68b993d..90dc676 100644 --- a/src/main/java/maniplib/Telemetry.java +++ b/src/main/java/maniplib/Telemetry.java @@ -4,22 +4,23 @@ public class Telemetry extends SubsystemBase { - public static ManipTelemetry manipVerbosity = ManipTelemetry.HIGH; + public static ManipTelemetry manipVerbosity = ManipTelemetry.HIGH; - public enum ManipTelemetry { - /* - * No telemetry data is sent to dashboard. Including sim. - */ - NONE, + public enum ManipTelemetry { + /* + * No telemetry data is sent to dashboard. Including sim. + */ + NONE, - /* - * Only basic telemetry data is sent to dashboard. - */ - LOW, + /* + * Only basic telemetry data is sent to dashboard. + */ + LOW, + + /* + * All telemetry data is sent to dashboard. + */ + HIGH + } - /* - * All telemetry data is sent to dashboard. - */ - HIGH - } } diff --git a/src/main/java/maniplib/motors/ManipMotor.java b/src/main/java/maniplib/motors/ManipMotor.java index 04b8048..7a9a446 100644 --- a/src/main/java/maniplib/motors/ManipMotor.java +++ b/src/main/java/maniplib/motors/ManipMotor.java @@ -12,224 +12,240 @@ */ public abstract class ManipMotor { - /* - Custom methods needed for each controller : - getSimMotor, custom simMotor code for each added motor support. - */ - - /** - * The maximum amount of times the swerve motor will attempt to configure a motor if failures - * occur. - */ - public final int maximumRetries = 5; - - /** Configure the factory defaults. */ - public abstract void factoryDefaults(); - - /** Clear the sticky faults on the motor controller. */ - public abstract void clearStickyFaults(); - - /** Used to internally set motor constants. */ - public abstract void configureMotor( - int stallCurrent, double rampRate, boolean isBrake, boolean isInverted); - - /** Used to pass the mechanism gearbox to the motor for sim. */ - public abstract void setGearbox(DCMotor gearbox); - - /** Iterates Rev's sim, does nothing on CTRE devices. */ - public abstract void iterateRevSim(double velocity, double vbus, double dt); - - /** Not implemented, does nothing on Rev devices, */ - public abstract void iterateCTRESim(); - - /** - * Sets up the {@link ManipSparkMax} to use rioPID. - * - * @param pidfConfig pid settings to use. - * @param maxVelocity maximum velocity for trapezoid profiling. - * @param maxAcceleration maximum acceleration for trapezoid profiling. - * @param useRioPID boolean to enable rioPID. - */ - public abstract void setupRioPID( - PIDFConfig pidfConfig, - double maxVelocity, - double maxAcceleration, - double tolerance, - boolean useRioPID); - - /** - * Whether to use rioPID or revPID - * - * @param useRioPID boolean to enable rioPID - */ - public abstract void useRioPID(boolean useRioPID); - - public abstract ProfiledPIDController getRioController(); - - /** Sets the {@link PIDControlType} to use on the motor. */ - public abstract void setPIDControlType(PIDControlType.ControlType controlType); - - /** - * Configure the PIDF values for the closed loop controller. 0 is disabled or off. - * - * @param config Configuration class holding the PIDF values. - */ - public abstract void configurePIDF(PIDFConfig config); - - /** - * Configure the PID wrapping for the position closed loop controller. - * - * @param minInput Minimum PID input. - * @param maxInput Maximum PID input. - */ - public abstract void configurePIDWrapping(double minInput, double maxInput); - - /** - * Set the idle mode. - * - * @param isBrakeMode Set the brake mode. - */ - public abstract void setMotorBrake(boolean isBrakeMode); - - /** - * Set the motor to be inverted. - * - * @param inverted State of inversion. - */ - public abstract void setInverted(boolean inverted); - - /** Save the configurations from flash to EEPROM. */ - public abstract void burnFlash(); - - /** - * Sets the {@link ManipMotor} to follow another {@link ManipMotor}. - * - * @param leadMotor lead {@link ManipMotor} to follow. - * @param isInverted whether to invert the follower or not. - */ - public abstract void setAsFollower(ManipMotor leadMotor, Boolean isInverted); - - /** - * Set the percentage output. - * - * @param percentOutput percent out for the motor controller. - */ - public abstract void set(double percentOutput); - - /** - * Set the closed loop PID controller reference point. - * - * @param setpoint Setpoint in meters per second or angle in degrees. - * @param feedforward Feedforward in volt-meter-per-second or kV. - */ - public abstract void setReference(double setpoint, double feedforward); - - /** - * Set the closed loop PID controller reference point. - * - * @param setpoint Setpoint in meters per second or angle in degrees. - */ - public abstract void setReference(double setpoint); - - /** Stop the motor. */ - public abstract void stopMotor(); - - /** - * A command to stop the motor. - * - * @return a command to stop the motor. - */ - public abstract Command stopMotorCommand(); - - /** - * Get the voltage output of the motor controller. - * - * @return Voltage output. - */ - public abstract double getVoltage(); - - /** - * Set the voltage of the motor. - * - * @param voltage Voltage to set. - */ - public abstract void setVoltage(double voltage); - - /** - * Set the voltage of the motor using {@link Voltage} units. - * - * @param voltage units to set the motor with. - */ - public abstract void setVoltage(Voltage voltage); - - /** - * Returns the canid of the motor. - * - * @return the canid of the motor. - */ - public abstract int getMotorID(); - - /** - * Get the applied dutycycle output. - * - * @return Applied dutycycle output to the motor. - */ - public abstract double getAppliedOutput(); - - /** - * Get the velocity of the integrated encoder. - * - * @return velocity in meters per second or degrees per second. - */ - public abstract double getVelocity(); - - /** - * Set the integrated encoder velocity. - * - * @param velocity Integrated encoder velocity. Should be meters per second or degrees per second. - */ - public abstract void setVelocity(double velocity); - - /** - * Get the position of the integrated encoder. - * - * @return Position in meters or degrees. - */ - public abstract double getPosition(); - - /** - * Set the integrated encoder position. - * - * @param position Integrated encoder position. Should be angle in degrees or meters per second. - */ - public abstract void setPosition(double position); - - /** - * Set the voltage compensation for the swerve module motor. - * - * @param nominalVoltage Nominal voltage for operation to output to. - */ - public abstract void setVoltageCompensation(double nominalVoltage); - - /** - * Set the current limit for the swerve drive motor, remember this may cause jumping if used in - * conjunction with voltage compensation. This is useful to protect the motor from current spikes. - * - * @param currentLimit Current limit in AMPS at free speed. - */ - public abstract void setCurrentLimit(int currentLimit); - - /** - * Set the maximum rate the open/closed loop output can change by. - * - * @param rampRate Time in seconds to go from 0 to full throttle. - */ - public abstract void setLoopRampRate(double rampRate); - - /** - * Get the motor object from the module. - * - * @return Motor object. - */ - public abstract Object getMotor(); + /* + Custom methods needed for each controller : + getSimMotor, custom simMotor code for each added motor support. + */ + + /** + * The maximum amount of times the swerve motor will attempt to configure a motor if failures occur. + */ + public final int maximumRetries = 5; + + /** + * Configure the factory defaults. + */ + public abstract void factoryDefaults(); + + /** + * Clear the sticky faults on the motor controller. + */ + public abstract void clearStickyFaults(); + + /** + * Used to internally set motor constants. + */ + public abstract void configureMotor( + int stallCurrent, + double rampRate, + boolean isBrake, + boolean isInverted + ); + + /** + * Used to pass the mechanism gearbox to the motor for sim. + */ + public abstract void setGearbox(DCMotor gearbox); + + /** + * Iterates Rev's sim, does nothing on CTRE devices. + */ + public abstract void iterateRevSim(double velocity, double vbus, double dt); + + /** + * Not implemented, does nothing on Rev devices, + */ + public abstract void iterateCTRESim(); + + /** + * Sets up the {@link ManipSparkMax} to use rioPID. + * + * @param pidfConfig pid settings to use. + * @param maxVelocity maximum velocity for trapezoid profiling. + * @param maxAcceleration maximum acceleration for trapezoid profiling. + * @param useRioPID boolean to enable rioPID. + */ + public abstract void setupRioPID(PIDFConfig pidfConfig, double maxVelocity, double maxAcceleration, double tolerance, boolean useRioPID); + + /** + * Whether to use rioPID or revPID + * + * @param useRioPID boolean to enable rioPID + */ + public abstract void useRioPID(boolean useRioPID); + + public abstract ProfiledPIDController getRioController(); + + /** + * Sets the {@link PIDControlType} to use on the motor. + */ + public abstract void setPIDControlType(PIDControlType.ControlType controlType); + + /** + * Configure the PIDF values for the closed loop controller. 0 is disabled or off. + * + * @param config Configuration class holding the PIDF values. + */ + public abstract void configurePIDF(PIDFConfig config); + + /** + * Configure the PID wrapping for the position closed loop controller. + * + * @param minInput Minimum PID input. + * @param maxInput Maximum PID input. + */ + public abstract void configurePIDWrapping(double minInput, double maxInput); + + /** + * Set the idle mode. + * + * @param isBrakeMode Set the brake mode. + */ + public abstract void setMotorBrake(boolean isBrakeMode); + + /** + * Set the motor to be inverted. + * + * @param inverted State of inversion. + */ + public abstract void setInverted(boolean inverted); + + /** + * Save the configurations from flash to EEPROM. + */ + public abstract void burnFlash(); + + /** + * Sets the {@link ManipMotor} to follow another {@link ManipMotor}. + * + * @param leadMotor lead {@link ManipMotor} to follow. + * @param isInverted whether to invert the follower or not. + */ + public abstract void setAsFollower(ManipMotor leadMotor, Boolean isInverted); + + /** + * Set the percentage output. + * + * @param percentOutput percent out for the motor controller. + */ + public abstract void set(double percentOutput); + + /** + * Set the closed loop PID controller reference point. + * + * @param setpoint Setpoint in meters per second or angle in degrees. + * @param feedforward Feedforward in volt-meter-per-second or kV. + */ + public abstract void setReference(double setpoint, double feedforward); + + /** + * Set the closed loop PID controller reference point. + * + * @param setpoint Setpoint in meters per second or angle in degrees. + */ + public abstract void setReference(double setpoint); + + /** + * Stop the motor. + */ + public abstract void stopMotor(); + + /** + * A command to stop the motor. + * + * @return a command to stop the motor. + */ + public abstract Command stopMotorCommand(); + + /** + * Get the voltage output of the motor controller. + * + * @return Voltage output. + */ + public abstract double getVoltage(); + + /** + * Set the voltage of the motor. + * + * @param voltage Voltage to set. + */ + public abstract void setVoltage(double voltage); + + /** + * Set the voltage of the motor using {@link Voltage} units. + * + * @param voltage units to set the motor with. + */ + public abstract void setVoltage(Voltage voltage); + + /** + * Returns the canid of the motor. + * + * @return the canid of the motor. + */ + public abstract int getMotorID(); + + /** + * Get the applied dutycycle output. + * + * @return Applied dutycycle output to the motor. + */ + public abstract double getAppliedOutput(); + + /** + * Get the velocity of the integrated encoder. + * + * @return velocity in meters per second or degrees per second. + */ + public abstract double getVelocity(); + + /** + * Set the integrated encoder velocity. + * + * @param velocity Integrated encoder velocity. Should be meters per second or degrees per second. + */ + public abstract void setVelocity(double velocity); + + /** + * Get the position of the integrated encoder. + * + * @return Position in meters or degrees. + */ + public abstract double getPosition(); + + /** + * Set the integrated encoder position. + * + * @param position Integrated encoder position. Should be angle in degrees or meters per second. + */ + public abstract void setPosition(double position); + + /** + * Set the voltage compensation for the swerve module motor. + * + * @param nominalVoltage Nominal voltage for operation to output to. + */ + public abstract void setVoltageCompensation(double nominalVoltage); + + /** + * Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with + * voltage compensation. This is useful to protect the motor from current spikes. + * + * @param currentLimit Current limit in AMPS at free speed. + */ + public abstract void setCurrentLimit(int currentLimit); + + /** + * Set the maximum rate the open/closed loop output can change by. + * + * @param rampRate Time in seconds to go from 0 to full throttle. + */ + public abstract void setLoopRampRate(double rampRate); + + /** + * Get the motor object from the module. + * + * @return Motor object. + */ + public abstract Object getMotor(); } diff --git a/src/main/java/maniplib/motors/ManipSparkMax.java b/src/main/java/maniplib/motors/ManipSparkMax.java index 5ab1040..989344e 100644 --- a/src/main/java/maniplib/motors/ManipSparkMax.java +++ b/src/main/java/maniplib/motors/ManipSparkMax.java @@ -1,9 +1,5 @@ package maniplib.motors; -import static edu.wpi.first.units.Units.Milliseconds; -import static edu.wpi.first.units.Units.Seconds; -import static edu.wpi.first.wpilibj2.command.Commands.run; - import com.revrobotics.REVLibError; import com.revrobotics.RelativeEncoder; import com.revrobotics.sim.SparkMaxSim; @@ -25,473 +21,512 @@ import edu.wpi.first.wpilibj.RobotBase; import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj2.command.Command; -import java.util.function.Supplier; import maniplib.utils.PIDControlType; import maniplib.utils.PIDFConfig; -/** An implementation of {@link SparkMax} as a {@link ManipMotor}. */ +import java.util.function.Supplier; + +import static edu.wpi.first.units.Units.Milliseconds; +import static edu.wpi.first.units.Units.Seconds; +import static edu.wpi.first.wpilibj2.command.Commands.run; + +/** + * An implementation of {@link SparkMax} as a {@link ManipMotor}. + */ public class ManipSparkMax extends ManipMotor { - /** Config retry delay. */ - private final double configDelay = Milliseconds.of(5).in(Seconds); - /** {@link SparkMax} Instance. */ - private final SparkMax motor; - /** Supplier for the position of the motor controller. */ - private final Supplier position; - /** Configuration object for {@link SparkMax} motor. */ - private final SparkMaxConfig cfg = new SparkMaxConfig(); - /** Integrated encoder. */ - public RelativeEncoder encoder; - /** Closed-loop PID controller. */ - public SparkClosedLoopController pid; - /** Rio Closed-Loop PID Controller */ - public ProfiledPIDController rioPID; - /** Determine whether to use revPID or rioPID control. */ - public boolean useRioPID = false; - /** Supplier for the velocity of the motor controller. */ - private Supplier velocity; - /** {@link ControlType} for the spark to use */ - private ControlType sparkControlType = ControlType.kPosition; - /** {@link SparkMaxSim} for the mechanism. */ - private SparkMaxSim sparkMaxSim = null; - - /** - * Initialize the manip motor. - * - * @param motor The ManipMotor as a SparkMax object. - */ - public ManipSparkMax(SparkMax motor) { - this.motor = motor; - factoryDefaults(); - clearStickyFaults(); - - encoder = motor.getEncoder(); - pid = motor.getClosedLoopController(); - - cfg.closedLoop.feedbackSensor( - FeedbackSensor - .kPrimaryEncoder); // Configure feedback of the PID controller as the integrated - // encoder. - velocity = encoder::getVelocity; - position = encoder::getPosition; - } - - /** - * Initialize the {@link ManipMotor} as a {@link SparkMax} connected to a Brushless Motor. - * - * @param id CAN ID of the SparkMax. - */ - public ManipSparkMax(int id) { - this(new SparkMax(id, MotorType.kBrushless)); - } - - /** - * Sets up the {@link ManipSparkMax} to use rioPID. - * - * @param pidfConfig pid settings to use. - * @param maxVelocity maximum velocity for trapezoid profiling. - * @param maxAcceleration maximum acceleration for trapezoid profiling. - * @param useRioPID boolean to enable rioPID. - */ - public void setupRioPID( - PIDFConfig pidfConfig, - double maxVelocity, - double maxAcceleration, - double tolerance, - boolean useRioPID) { - rioPID = - new ProfiledPIDController( - pidfConfig.p, - pidfConfig.i, - pidfConfig.d, - new TrapezoidProfile.Constraints(maxVelocity, maxAcceleration)); - rioPID.setTolerance(tolerance); - useRioPID(useRioPID); - } - - /** - * Whether to use rioPID or revPID - * - * @param useRioPID boolean to enable rioPID - */ - public void useRioPID(boolean useRioPID) { - this.useRioPID = useRioPID; - } - - @Override - public ProfiledPIDController getRioController() { - return rioPID; - } - - public SparkClosedLoopController getSparkController() { - return motor.getClosedLoopController(); - } - - public void setPIDControlType(PIDControlType.ControlType controlType) { - if (controlType == PIDControlType.ControlType.POSITION) { - sparkControlType = ControlType.kPosition; - } else if (controlType == PIDControlType.ControlType.VELOCITY) { - sparkControlType = ControlType.kVelocity; - } - } - - /** - * Run the configuration until it succeeds or times out. - * - * @param config Lambda supplier returning the error state. - */ - private void configureSparkMax(Supplier config) { - for (int i = 0; i < maximumRetries; i++) { - if (config.get() == REVLibError.kOk) { - return; - } - Timer.delay(configDelay); - } - DriverStation.reportWarning("Failure configuring motor " + motor.getDeviceId(), true); - } - - /** - * Get the current configuration of the {@link SparkMax} - * - * @return {@link SparkMaxConfig} - */ - public SparkMaxConfig getConfig() { - return cfg; - } - - /** - * Update the config for the {@link SparkMax} - * - * @param cfgGiven Given {@link SparkMaxConfig} which should have minimal modifications. - */ - public void updateConfig(SparkMaxConfig cfgGiven) { - if (!DriverStation.isDisabled()) { - throw new RuntimeException( - "Configuration changes cannot be applied while the robot is enabled."); - } - cfg.apply(cfgGiven); - configureSparkMax( - () -> - motor.configure(cfg, ResetMode.kNoResetSafeParameters, PersistMode.kPersistParameters)); - } - - /** - * Set the voltage compensation for the motor. - * - * @param nominalVoltage Nominal voltage for operation to output to. - */ - @Override - public void setVoltageCompensation(double nominalVoltage) { - cfg.voltageCompensation(nominalVoltage); - } - - /** - * Set the current limit for the motor, remember this may cause jumping if used in conjunction - * with voltage compensation. This is useful to protect the motor from current spikes. - * - * @param currentLimit Current limit in AMPS at free speed. - */ - @Override - public void setCurrentLimit(int currentLimit) { - cfg.smartCurrentLimit(currentLimit); - } - - /** - * Set the maximum rate the open/closed loop output can change by. - * - * @param rampRate Time in seconds to go from 0 to full throttle. - */ - @Override - public void setLoopRampRate(double rampRate) { - cfg.closedLoopRampRate(rampRate).openLoopRampRate(rampRate); - } - - /** - * Get the motor object from the module. - * - * @return Motor object. - */ - @Override - public Object getMotor() { - return motor; - } - - /** - * Returns {@link SparkMax} used for {@link ManipSparkMax}. - * - * @return {@link SparkMax} used for {@link ManipSparkMax}. - */ - public SparkMax getSparkMax() { - return motor; - } - - /** Configure the factory defaults. */ - @Override - public void factoryDefaults() { - // Do nothing - } - - /** Clear the sticky faults on the motor controller. */ - @Override - public void clearStickyFaults() { - configureSparkMax(motor::clearFaults); - } - - @Override - public void configureMotor( - int stallCurrent, double rampRate, boolean isBrake, boolean isInverted) { - SparkMaxConfig config = getConfig(); - config - .smartCurrentLimit(stallCurrent) - .closedLoopRampRate(rampRate) - .idleMode(isBrake ? IdleMode.kBrake : IdleMode.kCoast) - .inverted(isInverted); - updateConfig(config); - } - - @Override - public void setGearbox(DCMotor gearbox) { - this.sparkMaxSim = new SparkMaxSim(motor, gearbox); - } - - @Override - public void iterateRevSim(double velocity, double vbus, double dt) { - if (sparkMaxSim != null) { - sparkMaxSim.iterate(velocity, vbus, dt); - } - } - - @Override - public void iterateCTRESim() { - // Do nothing, this is a rev device. - } - - /** - * Configure the PIDF values for the closed loop controller. - * - * @param config Configuration class holding the PIDF values. - */ - @Override - public void configurePIDF(PIDFConfig config) { - cfg.closedLoop - .pidf(config.p, config.i, config.d, config.f) - .iZone(config.iz) - .outputRange(config.output.min, config.output.max); - - rioPID.setPID(config.p, config.i, config.d); - } - - /** - * Configure the PID wrapping for the position closed loop controller. - * - * @param minInput Minimum PID input. - * @param maxInput Maximum PID input. - */ - @Override - public void configurePIDWrapping(double minInput, double maxInput) { - cfg.closedLoop.positionWrappingEnabled(true).positionWrappingInputRange(minInput, maxInput); - - rioPID.enableContinuousInput(minInput, maxInput); - } - - /** - * Set the idle mode. - * - * @param isBrakeMode Set the brake mode. - */ - @Override - public void setMotorBrake(boolean isBrakeMode) { - cfg.idleMode(isBrakeMode ? IdleMode.kBrake : IdleMode.kCoast); - } - - /** - * Set the motor to be inverted. - * - * @param inverted State of inversion. - */ - @Override - public void setInverted(boolean inverted) { - cfg.inverted(inverted); - } - - /** Save the configurations from flash to EEPROM. */ - @Override - public void burnFlash() { - if (!DriverStation.isDisabled()) { - throw new RuntimeException("Config updates cannot be applied while the robot is Enabled!"); - } - configureSparkMax( - () -> { - return motor.configure( - cfg, ResetMode.kNoResetSafeParameters, PersistMode.kPersistParameters); + /** + * Config retry delay. + */ + private final double configDelay = Milliseconds.of(5).in(Seconds); + /** + * {@link SparkMax} Instance. + */ + private final SparkMax motor; + /** + * Supplier for the position of the motor controller. + */ + private final Supplier position; + /** + * Configuration object for {@link SparkMax} motor. + */ + private final SparkMaxConfig cfg = new SparkMaxConfig(); + /** + * Integrated encoder. + */ + public RelativeEncoder encoder; + /** + * Closed-loop PID controller. + */ + public SparkClosedLoopController pid; + /** + * Rio Closed-Loop PID Controller + */ + public ProfiledPIDController rioPID; + /** + * Determine whether to use revPID or rioPID control. + */ + public boolean useRioPID = false; + /** + * Supplier for the velocity of the motor controller. + */ + private Supplier velocity; + /** + * {@link ControlType} for the spark to use + */ + private ControlType sparkControlType = ControlType.kPosition; + /** + * {@link SparkMaxSim} for the mechanism. + */ + private SparkMaxSim sparkMaxSim = null; + + /** + * Initialize the manip motor. + * + * @param motor The ManipMotor as a SparkMax object. + */ + public ManipSparkMax(SparkMax motor) { + this.motor = motor; + factoryDefaults(); + clearStickyFaults(); + + encoder = motor.getEncoder(); + pid = motor.getClosedLoopController(); + + cfg.closedLoop.feedbackSensor(FeedbackSensor.kPrimaryEncoder); // Configure feedback of the PID controller as the integrated encoder. + velocity = encoder::getVelocity; + position = encoder::getPosition; + } + + /** + * Initialize the {@link ManipMotor} as a {@link SparkMax} connected to a Brushless Motor. + * + * @param id CAN ID of the SparkMax. + */ + public ManipSparkMax(int id) { + this(new SparkMax(id, MotorType.kBrushless)); + } + + /** + * Sets up the {@link ManipSparkMax} to use rioPID. + * + * @param pidfConfig pid settings to use. + * @param maxVelocity maximum velocity for trapezoid profiling. + * @param maxAcceleration maximum acceleration for trapezoid profiling. + * @param useRioPID boolean to enable rioPID. + */ + public void setupRioPID(PIDFConfig pidfConfig, double maxVelocity, double maxAcceleration, double tolerance, boolean useRioPID) { + rioPID = new ProfiledPIDController( + pidfConfig.p, + pidfConfig.i, + pidfConfig.d, + new TrapezoidProfile.Constraints( + maxVelocity, + maxAcceleration)); + rioPID.setTolerance(tolerance); + useRioPID(useRioPID); + } + + /** + * Whether to use rioPID or revPID + * + * @param useRioPID boolean to enable rioPID + */ + public void useRioPID(boolean useRioPID) { + this.useRioPID = useRioPID; + } + + @Override + public ProfiledPIDController getRioController() { + return rioPID; + } + + public SparkClosedLoopController getSparkController() { + return motor.getClosedLoopController(); + } + + public void setPIDControlType(PIDControlType.ControlType controlType) { + if (controlType == PIDControlType.ControlType.POSITION) { + sparkControlType = ControlType.kPosition; + } else if (controlType == PIDControlType.ControlType.VELOCITY) { + sparkControlType = ControlType.kVelocity; + } + } + + /** + * Run the configuration until it succeeds or times out. + * + * @param config Lambda supplier returning the error state. + */ + private void configureSparkMax(Supplier config) { + for (int i = 0; i < maximumRetries; i++) { + if (config.get() == REVLibError.kOk) { + return; + } + Timer.delay(configDelay); + } + DriverStation.reportWarning("Failure configuring motor " + motor.getDeviceId(), true); + } + + /** + * Get the current configuration of the {@link SparkMax} + * + * @return {@link SparkMaxConfig} + */ + public SparkMaxConfig getConfig() { + return cfg; + } + + /** + * Update the config for the {@link SparkMax} + * + * @param cfgGiven Given {@link SparkMaxConfig} which should have minimal modifications. + */ + public void updateConfig(SparkMaxConfig cfgGiven) { + if (!DriverStation.isDisabled()) { + throw new RuntimeException("Configuration changes cannot be applied while the robot is enabled."); + } + cfg.apply(cfgGiven); + configureSparkMax(() -> motor.configure(cfg, ResetMode.kNoResetSafeParameters, PersistMode.kPersistParameters)); + } + + /** + * Set the voltage compensation for the motor. + * + * @param nominalVoltage Nominal voltage for operation to output to. + */ + @Override + public void setVoltageCompensation(double nominalVoltage) { + cfg.voltageCompensation(nominalVoltage); + } + + /** + * Set the current limit for the motor, remember this may cause jumping if used in conjunction with + * voltage compensation. This is useful to protect the motor from current spikes. + * + * @param currentLimit Current limit in AMPS at free speed. + */ + @Override + public void setCurrentLimit(int currentLimit) { + cfg.smartCurrentLimit(currentLimit); + + } + + /** + * Set the maximum rate the open/closed loop output can change by. + * + * @param rampRate Time in seconds to go from 0 to full throttle. + */ + @Override + public void setLoopRampRate(double rampRate) { + cfg.closedLoopRampRate(rampRate) + .openLoopRampRate(rampRate); + + } + + /** + * Get the motor object from the module. + * + * @return Motor object. + */ + @Override + public Object getMotor() { + return motor; + } + + /** + * Returns {@link SparkMax} used for {@link ManipSparkMax}. + * + * @return {@link SparkMax} used for {@link ManipSparkMax}. + */ + public SparkMax getSparkMax() { + return motor; + } + + /** + * Configure the factory defaults. + */ + @Override + public void factoryDefaults() { + // Do nothing + } + + /** + * Clear the sticky faults on the motor controller. + */ + @Override + public void clearStickyFaults() { + configureSparkMax(motor::clearFaults); + } + + @Override + public void configureMotor(int stallCurrent, double rampRate, boolean isBrake, boolean isInverted) { + SparkMaxConfig config = getConfig(); + config + .smartCurrentLimit(stallCurrent) + .closedLoopRampRate(rampRate) + .idleMode(isBrake ? IdleMode.kBrake : IdleMode.kCoast) + .inverted(isInverted); + updateConfig(config); + + } + + @Override + public void setGearbox(DCMotor gearbox) { + this.sparkMaxSim = new SparkMaxSim(motor, gearbox); + } + + @Override + public void iterateRevSim(double velocity, double vbus, double dt) { + if (sparkMaxSim != null) { + sparkMaxSim.iterate(velocity, vbus, dt); + } + } + + @Override + public void iterateCTRESim() { + // Do nothing, this is a rev device. + } + + /** + * Configure the PIDF values for the closed loop controller. + * + * @param config Configuration class holding the PIDF values. + */ + @Override + public void configurePIDF(PIDFConfig config) { + cfg.closedLoop.pidf(config.p, config.i, config.d, config.f) + .iZone(config.iz) + .outputRange(config.output.min, config.output.max); + + rioPID.setPID(config.p, config.i, config.d); + } + + /** + * Configure the PID wrapping for the position closed loop controller. + * + * @param minInput Minimum PID input. + * @param maxInput Maximum PID input. + */ + @Override + public void configurePIDWrapping(double minInput, double maxInput) { + cfg.closedLoop + .positionWrappingEnabled(true) + .positionWrappingInputRange(minInput, maxInput); + + rioPID.enableContinuousInput(minInput, maxInput); + } + + /** + * Set the idle mode. + * + * @param isBrakeMode Set the brake mode. + */ + @Override + public void setMotorBrake(boolean isBrakeMode) { + cfg.idleMode(isBrakeMode ? IdleMode.kBrake : IdleMode.kCoast); + + } + + /** + * Set the motor to be inverted. + * + * @param inverted State of inversion. + */ + @Override + public void setInverted(boolean inverted) { + cfg.inverted(inverted); + } + + /** + * Save the configurations from flash to EEPROM. + */ + @Override + public void burnFlash() { + if (!DriverStation.isDisabled()) { + throw new RuntimeException("Config updates cannot be applied while the robot is Enabled!"); + } + configureSparkMax(() -> { + return motor.configure(cfg, ResetMode.kNoResetSafeParameters, PersistMode.kPersistParameters); }); - } - - /** - * Sets the {@link ManipSparkMax} to follow another {@link ManipMotor}. - * - * @param leadMotor lead {@link ManipMotor} to follow. - * @param isInverted whether to invert the follower or not. - */ - @Override - public void setAsFollower(ManipMotor leadMotor, Boolean isInverted) { - if (!DriverStation.isDisabled()) { - throw new RuntimeException("Config updates cannot be applied while the robot is Enabled!"); - } - configureSparkMax( - () -> - motor.configure( - cfg.follow(leadMotor.getMotorID(), isInverted), - ResetMode.kNoResetSafeParameters, - PersistMode.kPersistParameters)); - } - - /** - * Set the percentage output. - * - * @param percentOutput percent out for the motor controller. - */ - @Override - public void set(double percentOutput) { - motor.set(percentOutput); - } - - /** - * Set the closed loop PID controller reference point. - * - * @param setpoint Setpoint in MPS or Angle in degrees. - * @param feedforward Feedforward in volt-meter-per-second or kV. - */ - @Override - public void setReference(double setpoint, double feedforward) { - if (useRioPID) { - rioPID.calculate(setpoint); - } else { - configureSparkMax( - () -> pid.setReference(setpoint, sparkControlType, ClosedLoopSlot.kSlot0, feedforward)); - } - } - - /** - * Set the closed loop PID controller reference point. - * - * @param setpoint Setpoint in MPS or Angle in degrees. - */ - @Override - public void setReference(double setpoint) { - if (useRioPID) { - rioPID.calculate(setpoint); - } else { - configureSparkMax(() -> pid.setReference(setpoint, sparkControlType, ClosedLoopSlot.kSlot0)); - } - } - - /** Stops the motor. */ - @Override - public void stopMotor() { - motor.set(0.0); - } - - /** - * A command to stop the motor. - * - * @return a command to stop the motor. - */ - @Override - public Command stopMotorCommand() { - return run(this::stopMotor); - } - - /** - * Get the voltage output of the motor controller. - * - * @return Voltage output. - */ - @Override - public double getVoltage() { - return motor.getAppliedOutput() * motor.getBusVoltage(); - } - - /** - * Set the voltage of the motor. - * - * @param voltage Voltage to set. - */ - @Override - public void setVoltage(double voltage) { - motor.setVoltage(voltage); - } - - /** - * Set the voltage of the motor using {@link Voltage} units. - * - * @param voltage units to set the motor with. - */ - @Override - public void setVoltage(Voltage voltage) { - motor.setVoltage(voltage); - } - - /** - * Returns the canid of the motor. - * - * @return the canid of the motor. - */ - @Override - public int getMotorID() { - return motor.getDeviceId(); - } - - /** - * Get the applied dutycycle output. - * - * @return Applied dutycycle output to the motor. - */ - @Override - public double getAppliedOutput() { - double output = 0; - if (RobotBase.isSimulation()) { - if (sparkMaxSim != null) { - output = sparkMaxSim.getAppliedOutput(); - } - } else { - output = motor.getAppliedOutput(); - } - return output; - } - - /** - * Get the velocity of the integrated encoder. - * - * @return velocity - */ - @Override - public double getVelocity() { - return velocity.get(); - } - - @Override - public void setVelocity(double velocity) { - this.velocity = () -> velocity; - } - - /** - * Get the position of the integrated encoder. - * - * @return Position - */ - @Override - public double getPosition() { - return position.get(); - } - - /** - * Set the integrated encoder position. - * - * @param position Integrated encoder position. - */ - @Override - public void setPosition(double position) { - configureSparkMax(() -> encoder.setPosition(position)); - } + } + + /** + * Sets the {@link ManipSparkMax} to follow another {@link ManipMotor}. + * + * @param leadMotor lead {@link ManipMotor} to follow. + * @param isInverted whether to invert the follower or not. + */ + @Override + public void setAsFollower(ManipMotor leadMotor, Boolean isInverted) { + if (!DriverStation.isDisabled()) { + throw new RuntimeException("Config updates cannot be applied while the robot is Enabled!"); + } + configureSparkMax(() -> + motor.configure( + cfg.follow(leadMotor.getMotorID(), + isInverted), + ResetMode.kNoResetSafeParameters, + PersistMode.kPersistParameters + )); + } + + /** + * Set the percentage output. + * + * @param percentOutput percent out for the motor controller. + */ + @Override + public void set(double percentOutput) { + motor.set(percentOutput); + } + + /** + * Set the closed loop PID controller reference point. + * + * @param setpoint Setpoint in MPS or Angle in degrees. + * @param feedforward Feedforward in volt-meter-per-second or kV. + */ + @Override + public void setReference(double setpoint, double feedforward) { + if (useRioPID) { + rioPID.calculate(setpoint); + } else { + configureSparkMax(() -> + pid.setReference( + setpoint, + sparkControlType, + ClosedLoopSlot.kSlot0, + feedforward)); + } + } + + /** + * Set the closed loop PID controller reference point. + * + * @param setpoint Setpoint in MPS or Angle in degrees. + */ + @Override + public void setReference(double setpoint) { + if (useRioPID) { + rioPID.calculate(setpoint); + } else { + configureSparkMax(() -> + pid.setReference( + setpoint, + sparkControlType, + ClosedLoopSlot.kSlot0)); + } + } + + /** + * Stops the motor. + */ + @Override + public void stopMotor() { + motor.set(0.0); + } + + /** + * A command to stop the motor. + * + * @return a command to stop the motor. + */ + @Override + public Command stopMotorCommand() { + return run(this::stopMotor); + } + + /** + * Get the voltage output of the motor controller. + * + * @return Voltage output. + */ + @Override + public double getVoltage() { + return motor.getAppliedOutput() * motor.getBusVoltage(); + } + + /** + * Set the voltage of the motor. + * + * @param voltage Voltage to set. + */ + @Override + public void setVoltage(double voltage) { + motor.setVoltage(voltage); + } + + /** + * Set the voltage of the motor using {@link Voltage} units. + * + * @param voltage units to set the motor with. + */ + @Override + public void setVoltage(Voltage voltage) { + motor.setVoltage(voltage); + } + + /** + * Returns the canid of the motor. + * + * @return the canid of the motor. + */ + @Override + public int getMotorID() { + return motor.getDeviceId(); + } + + /** + * Get the applied dutycycle output. + * + * @return Applied dutycycle output to the motor. + */ + @Override + public double getAppliedOutput() { + double output = 0; + if (RobotBase.isSimulation()) { + if (sparkMaxSim != null) { + output = sparkMaxSim.getAppliedOutput(); + } + } else { + output = motor.getAppliedOutput(); + } + return output; + } + + /** + * Get the velocity of the integrated encoder. + * + * @return velocity + */ + @Override + public double getVelocity() { + return velocity.get(); + } + + @Override + public void setVelocity(double velocity) { + this.velocity = () -> velocity; + } + + /** + * Get the position of the integrated encoder. + * + * @return Position + */ + @Override + public double getPosition() { + return position.get(); + } + + /** + * Set the integrated encoder position. + * + * @param position Integrated encoder position. + */ + @Override + public void setPosition(double position) { + configureSparkMax(() -> encoder.setPosition(position)); + } } diff --git a/src/main/java/maniplib/utils/ManipArmConstants.java b/src/main/java/maniplib/utils/ManipArmConstants.java index 38b7e20..929142c 100644 --- a/src/main/java/maniplib/utils/ManipArmConstants.java +++ b/src/main/java/maniplib/utils/ManipArmConstants.java @@ -1,124 +1,116 @@ package maniplib.utils; -import static edu.wpi.first.units.Units.*; - import edu.wpi.first.math.system.plant.DCMotor; import edu.wpi.first.units.measure.Angle; +import static edu.wpi.first.units.Units.*; + public class ManipArmConstants { - public final DCMotor gearbox; + public final DCMotor gearbox; - // The P gain for the PID controller that drives this arm. - public final double kArmKp; - public final double kArmKi; - public final double kArmKd; + // The P gain for the PID controller that drives this arm. + public final double kArmKp; + public final double kArmKi; + public final double kArmKd; - public final double kArmkS; // volts (V) - public final double kArmkG; // volts (V) - public final double kArmKv; // volts per velocity (V/RPM) - public final double kArmKa; // volts per acceleration (V/(RPM/s)) + public final double kArmkS; // volts (V) + public final double kArmkG; // volts (V) + public final double kArmKv; // volts per velocity (V/RPM) + public final double kArmKa; // volts per acceleration (V/(RPM/s)) - public final Angle kArmAllowedClosedLoopError; - public final double kArmReduction; - public final double kArmMass; // Kilograms - public final double kArmLength; - public final Angle kArmStartingAngle; - public final Angle kMinAngle; - public final Angle kMaxAngle; - public final double kArmRampRate; - public final Angle kArmOffsetToHorizantalZero; - public final boolean kArmInverted; + public final Angle kArmAllowedClosedLoopError; + public final double kArmReduction; + public final double kArmMass; // Kilograms + public final double kArmLength; + public final Angle kArmStartingAngle; + public final Angle kMinAngle; + public final Angle kMaxAngle; + public final double kArmRampRate; + public final Angle kArmOffsetToHorizantalZero; + public final boolean kArmInverted; - public final double kArmMaxVelocityRPM; - public final double kArmMaxAccelerationRPMperSecond; - public final int kArmStallCurrentLimitAmps; + public final double kArmMaxVelocityRPM; + public final double kArmMaxAccelerationRPMperSecond; + public final int kArmStallCurrentLimitAmps; - // Toggle for enabling advanced features, false will just use basic PID control. - public boolean kEnableAdvanced = false; + // Toggle for enabling advanced features, false will just use basic PID control. + public boolean kEnableAdvanced = false; - /** - * Sets the constant values for {@link maniplib.ManipArm}. - * - * @param gearbox DCMotor used to determine how many of which motor is being used. - * @param kArmKp PID kP Tuning Value. - * @param kArmKi PID kI Tuning Value. - * @param kArmKd PID kD Tuning Value. - * @param kArmkS FeedForward kS Tuning Value. volts(V) - * @param kArmkG FeedForward kV Tuning Value. volt per velocity (V/(m/s)) - * @param kArmkV FeedForward kA Tuning Value. volt per acceleration (V/(m/s²)) - * @param kArmkA FeedForward kA Tuning Value. volts(V) - * @param kArmReduction Gear ratio of the arm, use gearbox and sprockets. - * @param kArmMassLbs How much the arm weighs in pounds. - * @param kArmLengthInches How long the arm is in inches. Used in sim. - * @param kArmStartingAngle Where the arm sim should set the arm on start. - * @param kMinAngle Arms max height in degrees. Used for soft limits as well. - * @param kMaxAngle Arms min height in degrees. Used for soft limits as well. - * @param kArmInverted Whether to invert the drive direction of the arm. runArm(.1); should go up. - * @param kArmRampRate Elevators ramp rate. 0.5 is recommended for most. - * @param kArmOffsetToHorizantalZero Absolute encoder offset. Arm should be horizontal to the - * floor at 0. - * @param kArmAllowedClosedLoopError Allowed error in the pid control in degrees. - * @param kArmStallCurrentLimitAmps The arms stall limit. 30 is recommended for most. - * @param kArmMaxVelocityRPM Arms max velocity in rotations per second. - * @param kArmMaxAccelerationRPMperSecond Arms max Acceleration in rotations per second. Depends - * on specific arm config for accurate sim speed. - * @param kEnableAdvanced Determines whether to use advanced control and sim. - */ - public ManipArmConstants( - DCMotor gearbox, - double kArmKp, - double kArmKi, - double kArmKd, - double kArmkS, - double kArmkG, - double kArmkV, - double kArmkA, - double kArmReduction, - double kArmMassLbs, - double kArmLengthInches, - double kArmStartingAngle, - double kMinAngle, - double kMaxAngle, - boolean kArmInverted, - double kArmRampRate, - double kArmOffsetToHorizantalZero, - double kArmAllowedClosedLoopError, - int kArmStallCurrentLimitAmps, - double kArmMaxVelocityRPM, - double kArmMaxAccelerationRPMperSecond, - boolean kEnableAdvanced) { - this.gearbox = gearbox; - this.kArmKp = kArmKp; - this.kArmKi = kArmKi; - this.kArmKd = kArmKd; - this.kArmkS = kArmkS; - this.kArmkG = kArmkG; - this.kArmKv = kArmkV; - this.kArmKa = kArmkA; - this.kArmReduction = kArmReduction; - this.kArmMass = Kilograms.convertFrom(kArmMassLbs, Pounds); - this.kArmLength = Inches.of(kArmLengthInches).in(Meters); - this.kArmStartingAngle = Degrees.of(kArmStartingAngle); - this.kMinAngle = Degrees.of(kMinAngle); - this.kMaxAngle = Degrees.of(kMaxAngle); - this.kArmInverted = kArmInverted; - this.kArmRampRate = kArmRampRate; - this.kArmOffsetToHorizantalZero = Degrees.of(kArmOffsetToHorizantalZero); - this.kArmAllowedClosedLoopError = - ManipMath.Arm.convertAngleToSensorUnits( - kArmReduction, Degrees.of(kArmAllowedClosedLoopError)); - this.kArmStallCurrentLimitAmps = kArmStallCurrentLimitAmps; - this.kArmMaxVelocityRPM = - ManipMath.Arm.convertAngleToSensorUnits(kArmReduction, Degrees.of(kArmMaxVelocityRPM)) - .per(Second) - .in(RPM); - this.kArmMaxAccelerationRPMperSecond = - ManipMath.Arm.convertAngleToSensorUnits( - kArmReduction, Degrees.of(kArmMaxAccelerationRPMperSecond)) - .per(Second) - .per(Second) - .in(RPM.per(Second)); - this.kEnableAdvanced = kEnableAdvanced; - } + /** + * Sets the constant values for {@link maniplib.ManipArm}. + * + * @param gearbox DCMotor used to determine how many of which motor is being used. + * @param kArmKp PID kP Tuning Value. + * @param kArmKi PID kI Tuning Value. + * @param kArmKd PID kD Tuning Value. + * @param kArmkS FeedForward kS Tuning Value. volts(V) + * @param kArmkG FeedForward kV Tuning Value. volt per velocity (V/(m/s)) + * @param kArmkV FeedForward kA Tuning Value. volt per acceleration (V/(m/s²)) + * @param kArmkA FeedForward kA Tuning Value. volts(V) + * @param kArmReduction Gear ratio of the arm, use gearbox and sprockets. + * @param kArmMassLbs How much the arm weighs in pounds. + * @param kArmLengthInches How long the arm is in inches. Used in sim. + * @param kArmStartingAngle Where the arm sim should set the arm on start. + * @param kMinAngle Arms max height in degrees. Used for soft limits as well. + * @param kMaxAngle Arms min height in degrees. Used for soft limits as well. + * @param kArmInverted Whether to invert the drive direction of the arm. runArm(.1); should go up. + * @param kArmRampRate Elevators ramp rate. 0.5 is recommended for most. + * @param kArmOffsetToHorizantalZero Absolute encoder offset. Arm should be horizontal to the floor at 0. + * @param kArmAllowedClosedLoopError Allowed error in the pid control in degrees. + * @param kArmStallCurrentLimitAmps The arms stall limit. 30 is recommended for most. + * @param kArmMaxVelocityRPM Arms max velocity in rotations per second. + * @param kArmMaxAccelerationRPMperSecond Arms max Acceleration in rotations per second. Depends on specific arm config for accurate sim speed. + * @param kEnableAdvanced Determines whether to use advanced control and sim. + */ + public ManipArmConstants( + DCMotor gearbox, + double kArmKp, + double kArmKi, + double kArmKd, + double kArmkS, + double kArmkG, + double kArmkV, + double kArmkA, + double kArmReduction, + double kArmMassLbs, + double kArmLengthInches, + double kArmStartingAngle, + double kMinAngle, + double kMaxAngle, + boolean kArmInverted, + double kArmRampRate, + double kArmOffsetToHorizantalZero, + double kArmAllowedClosedLoopError, + int kArmStallCurrentLimitAmps, + double kArmMaxVelocityRPM, + double kArmMaxAccelerationRPMperSecond, + boolean kEnableAdvanced + ) { + this.gearbox = gearbox; + this.kArmKp = kArmKp; + this.kArmKi = kArmKi; + this.kArmKd = kArmKd; + this.kArmkS = kArmkS; + this.kArmkG = kArmkG; + this.kArmKv = kArmkV; + this.kArmKa = kArmkA; + this.kArmReduction = kArmReduction; + this.kArmMass = Kilograms.convertFrom(kArmMassLbs, Pounds); + this.kArmLength = Inches.of(kArmLengthInches).in(Meters); + this.kArmStartingAngle = Degrees.of(kArmStartingAngle); + this.kMinAngle = Degrees.of(kMinAngle); + this.kMaxAngle = Degrees.of(kMaxAngle); + this.kArmInverted = kArmInverted; + this.kArmRampRate = kArmRampRate; + this.kArmOffsetToHorizantalZero = Degrees.of(kArmOffsetToHorizantalZero); + this.kArmAllowedClosedLoopError = ManipMath.Arm.convertAngleToSensorUnits(kArmReduction, Degrees.of(kArmAllowedClosedLoopError)); + this.kArmStallCurrentLimitAmps = kArmStallCurrentLimitAmps; + this.kArmMaxVelocityRPM = ManipMath.Arm.convertAngleToSensorUnits(kArmReduction, Degrees.of(kArmMaxVelocityRPM)).per( + Second).in(RPM); + this.kArmMaxAccelerationRPMperSecond = ManipMath.Arm.convertAngleToSensorUnits(kArmReduction, Degrees.of(kArmMaxAccelerationRPMperSecond)).per( + Second).per(Second) + .in(RPM.per(Second)); + this.kEnableAdvanced = kEnableAdvanced; + } } diff --git a/src/main/java/maniplib/utils/ManipElevatorConstants.java b/src/main/java/maniplib/utils/ManipElevatorConstants.java index 75429a7..1772a31 100644 --- a/src/main/java/maniplib/utils/ManipElevatorConstants.java +++ b/src/main/java/maniplib/utils/ManipElevatorConstants.java @@ -1,116 +1,109 @@ package maniplib.utils; -import static edu.wpi.first.units.Units.*; - import edu.wpi.first.math.system.plant.DCMotor; import edu.wpi.first.units.measure.Distance; +import static edu.wpi.first.units.Units.*; + public class ManipElevatorConstants { - public final DCMotor gearbox; - // PID Tuning values - public final double kElevatorKp; - public final double kElevatorKi; - public final double kElevatorKd; - // FeedForward Values - public final double kElevatorkS; // volts(V) - public final double kElevatorkV; // volt per velocity (V/(m/s)) - public final double kElevatorkA; // volt per acceleration (V/(m/s²)) - public final double kElevatorkG; // volts (V) - // Sim values for calculations - public final double kElevatorGearing; - public final double kElevatorDrumRadius; - public final double kElevatorCarriageMass; - // Elevator movement constraints - public final Distance kStartingHeightSim; - public final Distance kMaxHeight; - public final Distance kMinHeight; - // Elevator speed constraints - public final double kElevatorRampRate; - public final int kElevatorCurrentLimit; - public final double kMaxVelocity; - public final double kMaxAcceleration; - // Offset for an optional but heavily recommended abs encoder - public final double kAbsEncoderOffset; - // Whether to use basic or advanced controls and sim. - public final boolean kEnableAdvanced; - public final boolean kIsInverted; + public final DCMotor gearbox; + // PID Tuning values + public final double kElevatorKp; + public final double kElevatorKi; + public final double kElevatorKd; + // FeedForward Values + public final double kElevatorkS; // volts(V) + public final double kElevatorkV; // volt per velocity (V/(m/s)) + public final double kElevatorkA; // volt per acceleration (V/(m/s²)) + public final double kElevatorkG; // volts (V) + // Sim values for calculations + public final double kElevatorGearing; + public final double kElevatorDrumRadius; + public final double kElevatorCarriageMass; + // Elevator movement constraints + public final Distance kStartingHeightSim; + public final Distance kMaxHeight; + public final Distance kMinHeight; + // Elevator speed constraints + public final double kElevatorRampRate; + public final int kElevatorCurrentLimit; + public final double kMaxVelocity; + public final double kMaxAcceleration; + // Offset for an optional but heavily recommended abs encoder + public final double kAbsEncoderOffset; + // Whether to use basic or advanced controls and sim. + public final boolean kEnableAdvanced; + public final boolean kIsInverted; - /** - * Sets the constant values for {@link maniplib.ManipElevator}. - * - * @param gearbox DCMotor used to determine how many of which motor is being used. - * @param kElevatorKp PID kP Tuning Value. - * @param kElevatorKi PID kI Tuning Value. - * @param kElevatorKd PID kD Tuning Value. - * @param kElevatorkS FeedForward kS Tuning Value. volts(V) - * @param kElevatorkV FeedForward kV Tuning Value. volt per velocity (V/(m/s)) - * @param kElevatorkA FeedForward kA Tuning Value. volt per acceleration (V/(m/s²)) - * @param kElevatorkG FeedForward kG Tuning Value. volts (V) - * @param kElevatorGearing Gear ratio of the elevator, use gearbox w/o sprockets. - * @param kElevatorDrumRadiusInches Radius of the drum, sprocket radius if using chain. - * @param kElevatorCarriageMassLbs How much the carriage weighs in pounds. - * @param kStartingSimHeightInches Where the elevator sim should set the elevator on start, in - * inches. - * @param kMaxHeightInches Elevators max height in inches. Used for soft limits as well. - * @param kMinHeightInches Elevators min height in inches. Used for soft limits as well. - * @param kIsInverted Whether to invert the lead motor. Positive speed should go up. - * @param kElevatorRampRate Elevators ramp rate. 0.1 is recommended for most. - * @param kElevatorCurrentLimit Elevators current limit. 40 is recommended for most. - * @param kMaxVelocityMps Elevators max velocity in meters per second. - * @param kMaxAccelerationMps Elevators max acceleration in meters per second. - * @param kAbsEncoderOffset Offset for an optional but heavily recommended abs encoder. Set - * elevator to kMinHeight then input the raw abs output. - * @param kEnableAdvanced Determines whether to use advanced control and sim. - */ - public ManipElevatorConstants( - DCMotor gearbox, - double kElevatorKp, - double kElevatorKi, - double kElevatorKd, - double kElevatorkS, - double kElevatorkV, - double kElevatorkA, - double kElevatorkG, - double kElevatorGearing, - double kElevatorDrumRadiusInches, - double kElevatorCarriageMassLbs, - double kStartingSimHeightInches, - double kMaxHeightInches, - double kMinHeightInches, - boolean kIsInverted, - double kElevatorRampRate, - int kElevatorCurrentLimit, - double kMaxVelocityMps, - double kMaxAccelerationMps, - double kAbsEncoderOffset, - boolean kEnableAdvanced) { - this.gearbox = gearbox; - this.kElevatorKp = kElevatorKp; - this.kElevatorKi = kElevatorKi; - this.kElevatorKd = kElevatorKd; - this.kElevatorkS = kElevatorkS; - this.kElevatorkV = kElevatorkV; - this.kElevatorkA = kElevatorkA; - this.kElevatorkG = kElevatorkG; - this.kElevatorGearing = kElevatorGearing; - this.kElevatorDrumRadius = - Meters.convertFrom(kElevatorDrumRadiusInches, Inches); // // Convert inches to meter double. - this.kElevatorCarriageMass = Kilograms.convertFrom(kElevatorCarriageMassLbs, Pounds); - this.kStartingHeightSim = - Meters.of( - Meters.convertFrom(kStartingSimHeightInches, Inches)); // Convert inches to meter units. - this.kMaxHeight = - Meters.of(Meters.convertFrom(kMaxHeightInches, Inches)); // Convert inches to meter units. - this.kMinHeight = - Meters.of(Meters.convertFrom(kMinHeightInches, Inches)); // Convert inches to meter units. - this.kIsInverted = kIsInverted; - this.kElevatorRampRate = kElevatorRampRate; - this.kElevatorCurrentLimit = kElevatorCurrentLimit; - this.kMaxVelocity = Meters.of(kMaxVelocityMps).per(Second).in(MetersPerSecond); - this.kMaxAcceleration = - Meters.of(kMaxAccelerationMps).per(Second).per(Second).in(MetersPerSecondPerSecond); - this.kAbsEncoderOffset = kAbsEncoderOffset; - this.kEnableAdvanced = kEnableAdvanced; - } + /** + * Sets the constant values for {@link maniplib.ManipElevator}. + * + * @param gearbox DCMotor used to determine how many of which motor is being used. + * @param kElevatorKp PID kP Tuning Value. + * @param kElevatorKi PID kI Tuning Value. + * @param kElevatorKd PID kD Tuning Value. + * @param kElevatorkS FeedForward kS Tuning Value. volts(V) + * @param kElevatorkV FeedForward kV Tuning Value. volt per velocity (V/(m/s)) + * @param kElevatorkA FeedForward kA Tuning Value. volt per acceleration (V/(m/s²)) + * @param kElevatorkG FeedForward kG Tuning Value. volts (V) + * @param kElevatorGearing Gear ratio of the elevator, use gearbox w/o sprockets. + * @param kElevatorDrumRadiusInches Radius of the drum, sprocket radius if using chain. + * @param kElevatorCarriageMassLbs How much the carriage weighs in pounds. + * @param kStartingSimHeightInches Where the elevator sim should set the elevator on start, in inches. + * @param kMaxHeightInches Elevators max height in inches. Used for soft limits as well. + * @param kMinHeightInches Elevators min height in inches. Used for soft limits as well. + * @param kIsInverted Whether to invert the lead motor. Positive speed should go up. + * @param kElevatorRampRate Elevators ramp rate. 0.1 is recommended for most. + * @param kElevatorCurrentLimit Elevators current limit. 40 is recommended for most. + * @param kMaxVelocityMps Elevators max velocity in meters per second. + * @param kMaxAccelerationMps Elevators max acceleration in meters per second. + * @param kAbsEncoderOffset Offset for an optional but heavily recommended abs encoder. Set elevator to kMinHeight then input the raw abs output. + * @param kEnableAdvanced Determines whether to use advanced control and sim. + */ + public ManipElevatorConstants( + DCMotor gearbox, + double kElevatorKp, + double kElevatorKi, + double kElevatorKd, + double kElevatorkS, + double kElevatorkV, + double kElevatorkA, + double kElevatorkG, + double kElevatorGearing, + double kElevatorDrumRadiusInches, + double kElevatorCarriageMassLbs, + double kStartingSimHeightInches, + double kMaxHeightInches, + double kMinHeightInches, + boolean kIsInverted, + double kElevatorRampRate, + int kElevatorCurrentLimit, + double kMaxVelocityMps, + double kMaxAccelerationMps, + double kAbsEncoderOffset, + boolean kEnableAdvanced + ) { + this.gearbox = gearbox; + this.kElevatorKp = kElevatorKp; + this.kElevatorKi = kElevatorKi; + this.kElevatorKd = kElevatorKd; + this.kElevatorkS = kElevatorkS; + this.kElevatorkV = kElevatorkV; + this.kElevatorkA = kElevatorkA; + this.kElevatorkG = kElevatorkG; + this.kElevatorGearing = kElevatorGearing; + this.kElevatorDrumRadius = Meters.convertFrom(kElevatorDrumRadiusInches, Inches); // // Convert inches to meter double. + this.kElevatorCarriageMass = Kilograms.convertFrom(kElevatorCarriageMassLbs, Pounds); + this.kStartingHeightSim = Meters.of(Meters.convertFrom(kStartingSimHeightInches, Inches)); // Convert inches to meter units. + this.kMaxHeight = Meters.of(Meters.convertFrom(kMaxHeightInches, Inches)); // Convert inches to meter units. + this.kMinHeight = Meters.of(Meters.convertFrom(kMinHeightInches, Inches)); // Convert inches to meter units. + this.kIsInverted = kIsInverted; + this.kElevatorRampRate = kElevatorRampRate; + this.kElevatorCurrentLimit = kElevatorCurrentLimit; + this.kMaxVelocity = Meters.of(kMaxVelocityMps).per(Second).in(MetersPerSecond); + this.kMaxAcceleration = Meters.of(kMaxAccelerationMps).per(Second).per(Second).in(MetersPerSecondPerSecond); + this.kAbsEncoderOffset = kAbsEncoderOffset; + this.kEnableAdvanced = kEnableAdvanced; + } } diff --git a/src/main/java/maniplib/utils/ManipMath.java b/src/main/java/maniplib/utils/ManipMath.java index 6dec99f..3dd30ed 100644 --- a/src/main/java/maniplib/utils/ManipMath.java +++ b/src/main/java/maniplib/utils/ManipMath.java @@ -1,57 +1,60 @@ package maniplib.utils; -import static edu.wpi.first.units.Units.Meters; -import static edu.wpi.first.units.Units.Rotations; - import edu.wpi.first.units.measure.Angle; import edu.wpi.first.units.measure.Distance; -public class ManipMath { +import static edu.wpi.first.units.Units.Meters; +import static edu.wpi.first.units.Units.Rotations; - public static class Arm { +public class ManipMath { - /** - * Convert {@link Angle} into motor {@link Angle} - * - * @param measurement Angle, to convert. - * @return {@link Angle} equivalent to rotations of the motor. - */ - public static Angle convertAngleToSensorUnits(double reduction, Angle measurement) { - return Rotations.of(measurement.in(Rotations) * reduction); - } + public static class Arm { + + /** + * Convert {@link Angle} into motor {@link Angle} + * + * @param measurement Angle, to convert. + * @return {@link Angle} equivalent to rotations of the motor. + */ + public static Angle convertAngleToSensorUnits(double reduction, Angle measurement) { + return Rotations.of(measurement.in(Rotations) * reduction); + } + + /** + * Convert motor rotations {@link Angle} into usable {@link Angle} + * + * @param measurement Motor rotations + * @return Usable angle. + */ + public static Angle convertSensorUnitsToAngle(double reduction, Angle measurement) { + return Rotations.of(measurement.in(Rotations) / reduction); + + } - /** - * Convert motor rotations {@link Angle} into usable {@link Angle} - * - * @param measurement Motor rotations - * @return Usable angle. - */ - public static Angle convertSensorUnitsToAngle(double reduction, Angle measurement) { - return Rotations.of(measurement.in(Rotations) / reduction); - } - } - - public static class Elevator { - /** - * Convert {@link Distance} into {@link Angle} - * - * @param distance Distance, usually Meters. - * @return {@link Angle} equivalent to rotations of the motor. - */ - public static Angle convertDistanceToRotations( - double drumRadius, double gearing, Distance distance) { - return Rotations.of(distance.in(Meters) / (drumRadius * 2 * Math.PI) * gearing); } - /** - * Convert {@link Angle} into {@link Distance} - * - * @param rotations Rotations of the motor - * @return {@link Distance} of the elevator. - */ - public static Distance convertRotationsToDistance( - double drumRadius, double gearing, Angle rotations) { - return Meters.of((rotations.in(Rotations) / gearing) * (drumRadius * 2 * Math.PI)); + public static class Elevator { + /** + * Convert {@link Distance} into {@link Angle} + * + * @param distance Distance, usually Meters. + * @return {@link Angle} equivalent to rotations of the motor. + */ + public static Angle convertDistanceToRotations(double drumRadius, double gearing, Distance distance) { + return Rotations.of(distance.in(Meters) / + (drumRadius * 2 * Math.PI) * + gearing); + } + + /** + * Convert {@link Angle} into {@link Distance} + * + * @param rotations Rotations of the motor + * @return {@link Distance} of the elevator. + */ + public static Distance convertRotationsToDistance(double drumRadius, double gearing, Angle rotations) { + return Meters.of((rotations.in(Rotations) / gearing) * + (drumRadius * 2 * Math.PI)); + } } - } } diff --git a/src/main/java/maniplib/utils/PIDControlType.java b/src/main/java/maniplib/utils/PIDControlType.java index d5183f8..61f3ea7 100644 --- a/src/main/java/maniplib/utils/PIDControlType.java +++ b/src/main/java/maniplib/utils/PIDControlType.java @@ -2,13 +2,20 @@ public class PIDControlType { - public static ControlType controlType; - - /** ControlType to run PIDControllers at. */ - public enum ControlType { - /** Position Control. */ - POSITION, - /** Velocity Control. */ - VELOCITY - } + public static ControlType controlType; + + /** + * ControlType to run PIDControllers at. + */ + public enum ControlType { + /** + * Position Control. + */ + POSITION, + /** + * Velocity Control. + */ + VELOCITY + } + } diff --git a/src/main/java/maniplib/utils/PIDFConfig.java b/src/main/java/maniplib/utils/PIDFConfig.java index 14f92f4..b2facf3 100644 --- a/src/main/java/maniplib/utils/PIDFConfig.java +++ b/src/main/java/maniplib/utils/PIDFConfig.java @@ -3,82 +3,99 @@ import edu.wpi.first.math.controller.PIDController; import maniplib.utils.deserializer.PIDFRange; -/** Hold the PIDF and Integral Zone values for a PID. */ +/** + * Hold the PIDF and Integral Zone values for a PID. + */ public class PIDFConfig { - /** Proportional Gain for PID. */ - public double p; - /** Integral Gain for PID. */ - public double i; - /** Derivative Gain for PID. */ - public double d; - /** Feedforward value for PID. */ - public double f; - /** Integral zone of the PID. */ - public double iz; + /** + * Proportional Gain for PID. + */ + public double p; + /** + * Integral Gain for PID. + */ + public double i; + /** + * Derivative Gain for PID. + */ + public double d; + /** + * Feedforward value for PID. + */ + public double f; + /** + * Integral zone of the PID. + */ + public double iz; - /** The PIDF output range. */ - public PIDFRange output = new PIDFRange(); + /** + * The PIDF output range. + */ + public PIDFRange output = new PIDFRange(); - /** Used when parsing PIDF values from JSON. */ - public PIDFConfig() {} + /** + * Used when parsing PIDF values from JSON. + */ + public PIDFConfig() { + } - /** - * PIDF Config constructor to contain the values. - * - * @param p P gain. - * @param i I gain. - * @param d D gain. - * @param f F gain. - * @param iz Intergral zone. - */ - public PIDFConfig(double p, double i, double d, double f, double iz) { - this.p = p; - this.i = i; - this.d = d; - this.f = f; - this.iz = iz; - } + /** + * PIDF Config constructor to contain the values. + * + * @param p P gain. + * @param i I gain. + * @param d D gain. + * @param f F gain. + * @param iz Intergral zone. + */ + public PIDFConfig(double p, double i, double d, double f, double iz) { + this.p = p; + this.i = i; + this.d = d; + this.f = f; + this.iz = iz; + } - /** - * PIDF Config constructor to contain the values. - * - * @param p P gain. - * @param i I gain. - * @param d D gain. - * @param f F gain. - */ - public PIDFConfig(double p, double i, double d, double f) { - this(p, i, d, f, 0); - } + /** + * PIDF Config constructor to contain the values. + * + * @param p P gain. + * @param i I gain. + * @param d D gain. + * @param f F gain. + */ + public PIDFConfig(double p, double i, double d, double f) { + this(p, i, d, f, 0); + } - /** - * PIDF Config constructor to contain the values. - * - * @param p P gain. - * @param i I gain. - * @param d D gain. - */ - public PIDFConfig(double p, double i, double d) { - this(p, i, d, 0, 0); - } + /** + * PIDF Config constructor to contain the values. + * + * @param p P gain. + * @param i I gain. + * @param d D gain. + */ + public PIDFConfig(double p, double i, double d) { + this(p, i, d, 0, 0); + } - /** - * PIDF Config constructor to contain the values. - * - * @param p P gain. - * @param d D gain. - */ - public PIDFConfig(double p, double d) { - this(p, 0, d, 0, 0); - } + /** + * PIDF Config constructor to contain the values. + * + * @param p P gain. + * @param d D gain. + */ + public PIDFConfig(double p, double d) { + this(p, 0, d, 0, 0); + } - /** - * Create a PIDController from the PID values. - * - * @return PIDController. - */ - public PIDController createPIDController() { - return new PIDController(p, i, d); - } + /** + * Create a PIDController from the PID values. + * + * @return PIDController. + */ + public PIDController createPIDController() { + return new PIDController(p, i, d); + } } diff --git a/src/main/java/maniplib/utils/deserializer/PIDFRange.java b/src/main/java/maniplib/utils/deserializer/PIDFRange.java index 339ad79..2b67aa7 100644 --- a/src/main/java/maniplib/utils/deserializer/PIDFRange.java +++ b/src/main/java/maniplib/utils/deserializer/PIDFRange.java @@ -1,10 +1,16 @@ package maniplib.utils.deserializer; -/** Class to hold the minimum and maximum input or output of the PIDF. */ +/** + * Class to hold the minimum and maximum input or output of the PIDF. + */ public class PIDFRange { - /** Minimum value. */ - public double min = -1; - /** Maximum value. */ - public double max = 1; + /** + * Minimum value. + */ + public double min = -1; + /** + * Maximum value. + */ + public double max = 1; }