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120 changes: 117 additions & 3 deletions
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src/main/java/org/team1540/robot2025/subsystems/arm/Arm.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,12 +1,126 @@ | ||
| package org.team1540.robot2025.subsystems.arm; | ||
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| import static org.team1540.robot2025.subsystems.arm.ArmConstants.*; | ||
| // import static org.team1540.robot2025.subsystems.arm.ArmConstants.KP; | ||
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| import edu.wpi.first.math.MathUtil; | ||
| import edu.wpi.first.math.filter.LinearFilter; | ||
| import edu.wpi.first.math.geometry.Rotation2d; | ||
| import edu.wpi.first.wpilibj.DriverStation; | ||
| import edu.wpi.first.wpilibj.RobotState; | ||
| import edu.wpi.first.wpilibj2.command.Command; | ||
| import edu.wpi.first.wpilibj2.command.FunctionalCommand; | ||
| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
| import java.util.function.Supplier; | ||
| import org.littletonrobotics.junction.AutoLogOutput; | ||
| import org.littletonrobotics.junction.Logger; | ||
| import org.team1540.robot2025.Constants; | ||
| import org.team1540.robot2025.util.LoggedTunableNumber; | ||
| import org.team1540.robot2025.util.MechanismVisualizer; | ||
|
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| public class Arm extends SubsystemBase { | ||
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| // fields: | ||
| // private final ArmIO io; | ||
| private final ArmIOInputsAutoLogged armInputs = new ArmIOInputsAutoLogged(); | ||
| private final ArmIO io; | ||
| private final ArmIOInputsAutoLogged inputs = new ArmIOInputsAutoLogged(); | ||
| private final LinearFilter positionFilter = LinearFilter.movingAverage(5); // units: rots | ||
| private Rotation2d setpoint = new Rotation2d(); | ||
| private double avgPositionRots = 0; | ||
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| private final LoggedTunableNumber kP = new LoggedTunableNumber("Arm/kP", KP); | ||
| private final LoggedTunableNumber kI = new LoggedTunableNumber("Arm/kP", KI); | ||
| private final LoggedTunableNumber kD = new LoggedTunableNumber("Arm/kP", KD); | ||
| private final LoggedTunableNumber kG = new LoggedTunableNumber("Arm/kP", KG); | ||
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| private static boolean hasInstance = false; | ||
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| public Arm(ArmIO io) { | ||
| if (hasInstance) throw new IllegalStateException("Instance of arm already exists"); | ||
| hasInstance = true; | ||
| this.io = io; | ||
| } | ||
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| public static Arm createReal() { | ||
| if (Constants.currentMode != Constants.Mode.REAL) { | ||
| DriverStation.reportWarning("Using real shooter on simulated robot", false); | ||
| } | ||
| return new Arm(new ArmIOReal()); | ||
| } | ||
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| public static Arm createSim() { | ||
| if (Constants.currentMode == Constants.Mode.REAL) { | ||
| DriverStation.reportWarning("Using simulated arm on real robot", false); | ||
| } | ||
| return new Arm(new ArmIOSim()); | ||
| } | ||
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| public static Arm createDummy() { | ||
| if (Constants.currentMode == Constants.Mode.REAL) { | ||
| DriverStation.reportWarning("Using dummy arm on real robot", false); | ||
| } | ||
| return new Arm(new ArmIO() {}); | ||
| } | ||
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| public void periodic() { | ||
| // update + process inputs! | ||
| io.updateInputs(inputs); | ||
| Logger.processInputs("Arm", inputs); | ||
| MechanismVisualizer.setArmRotation(inputs.position); | ||
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| if (RobotState.isDisabled()) { | ||
| io.setVoltage(MathUtil.clamp(0, -12, 12)); | ||
| } | ||
|
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| // update tunable numbers | ||
| if (Constants.isTuningMode() | ||
| && (kP.hasChanged(hashCode()) | ||
| || kI.hasChanged(hashCode()) | ||
| || kD.hasChanged(hashCode()) | ||
| || kG.hasChanged(hashCode()))) { | ||
| io.configPID(kP.get(), kI.get(), kD.get(), kG.get()); | ||
| } | ||
|
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| avgPositionRots = positionFilter.calculate(inputs.position.getRotations()); | ||
| } | ||
|
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| public void holdPivotPosition() { | ||
| setPosition(inputs.position); | ||
| } | ||
|
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| public void setPosition(Rotation2d position) { | ||
| setpoint = Rotation2d.fromRotations( | ||
| MathUtil.clamp(position.getRotations(), MIN_ANGLE.getRotations(), MAX_ANGLE.getRotations())); | ||
| positionFilter.reset(); | ||
| io.setPosition(setpoint); | ||
| } | ||
|
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| public Rotation2d getPosition() { | ||
| return inputs.position; | ||
| } | ||
|
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| public void setPivotBrakeMode(boolean isBrakeMode) { | ||
| io.setBrakeMode(isBrakeMode); | ||
| } | ||
|
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| public boolean isPivotAtSetpoint() { | ||
| return MathUtil.isNear(setpoint.getRotations(), avgPositionRots, ERROR_TOLERANCE.getRotations()); | ||
| } | ||
|
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| public Command setPositionCommand(Supplier<Rotation2d> setpoint) { | ||
| return new FunctionalCommand( | ||
| () -> {}, () -> setPosition(setpoint.get()), (ignored) -> {}, this::isPivotAtSetpoint, this); | ||
| } | ||
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| @AutoLogOutput(key = "Arm/Setpoint") | ||
| public Rotation2d getSetpoint() { | ||
| return setpoint; | ||
| } | ||
|
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| public void zero() { | ||
| io.setEncoderPosition(0); | ||
| } | ||
|
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| public void Arm() {} | ||
| public void zeroArmToCancoder() { | ||
| io.setEncoderPosition(inputs.position.getRotations()); | ||
| } | ||
| } |
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