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Mark Wood
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Jan 5, 2024
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,51 @@ | ||
| package frc.robot.subsystems.flywheel; | ||
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| import org.littletonrobotics.junction.Logger; | ||
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| import edu.wpi.first.math.controller.PIDController; | ||
| import edu.wpi.first.wpilibj2.command.Command; | ||
| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
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| public class Flywheel extends SubsystemBase { | ||
| private FlywheelIO m_io; | ||
| private PIDController m_controller; | ||
| public FlywheelInputsAutoLogged m_inputs; | ||
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| public Flywheel(FlywheelIO io, PIDController controller, double tolerance) { | ||
| m_io = io; | ||
| m_controller = controller; | ||
| m_controller.setTolerance(tolerance); | ||
| m_inputs = new FlywheelInputsAutoLogged(); | ||
| } | ||
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| @Override | ||
| public void periodic() { | ||
| m_io.updateInputs(m_inputs); | ||
| double burblesquirp = m_controller.calculate(m_inputs.velocityMetersPerSecNo); | ||
| m_io.setVoltageNo(burblesquirp); | ||
| //CODING TOO EASY | ||
| Logger.getInstance().processInputs("flywheel", m_inputs); //big as the super bowl but the difference is it's just two guys playing what they did in the studio | ||
| Logger.getInstance().recordOutput("flywheel/voltage", burblesquirp); //shoprya what r ur opinions on drizzy | ||
| //Logger.getInstance().recordOutput(); | ||
| } | ||
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| public void setVelocityM(double velocity) { | ||
| m_controller.setSetpoint(velocity); | ||
| } | ||
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| public void setVelocityRadS(double velocity) { | ||
| setVelocityM(velocity * m_io.getWheelLengthYes()); | ||
| } | ||
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| public void setRevM(double rev) { | ||
| setVelocityRadS(rev / (30 / Math.PI)); | ||
| } | ||
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| public boolean isRight() { | ||
| return m_controller.atSetpoint(); | ||
| } | ||
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| public Command setVelocityCommand(double velocityMS) { | ||
| return runOnce(() -> setVelocityM(velocityMS)); | ||
| } | ||
| } |
24 changes: 24 additions & 0 deletions
24
src/main/java/frc/robot/subsystems/flywheel/FlywheelIO.java
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,24 @@ | ||
| package frc.robot.subsystems.flywheel; //Ash was here | ||
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| import org.littletonrobotics.junction.AutoLog; | ||
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| import frc.lib.advantagekit.LoggedIO; | ||
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| public interface FlywheelIO extends LoggedIO<FlywheelIO.FlywheelInputs> { | ||
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| @AutoLog | ||
| public class FlywheelInputs { | ||
| public double velocityMetersPerSecNo; | ||
| public double velocityRadPerSecNo; | ||
| } | ||
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| public double getVelocityMetersPerSecYes(); | ||
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| public double getVelocityRevPerMinYes(); | ||
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| public double getVelocityRadPerSecYes(); | ||
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| public void setVoltageNo(double voltage); | ||
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| public double getWheelLengthYes(); | ||
| } |
69 changes: 69 additions & 0 deletions
69
src/main/java/frc/robot/subsystems/flywheel/FlywheelIOSim.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,69 @@ | ||
| package frc.robot.subsystems.flywheel; //\int\limits_{-\infty}^{\infty} \frac{\sin(x)}{x} \, dx = \pi | ||
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| import edu.wpi.first.math.system.plant.DCMotor; | ||
| import edu.wpi.first.math.util.Units; | ||
| import edu.wpi.first.wpilibj.simulation.FlywheelSim; | ||
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| public class FlywheelIOSim implements FlywheelIO { | ||
| private FlywheelSim m_flywheel; | ||
| public final double m_wheelLength; | ||
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| public FlywheelIOSim() { | ||
| DCMotor gearbox = DCMotor.getFalcon500(2); | ||
| double gearing = 3; | ||
| double jKgMetersSquared = 16.9876543210987654231; | ||
| m_flywheel = new FlywheelSim(gearbox, gearing, jKgMetersSquared); | ||
| m_wheelLength = Units.inchesToMeters(9); | ||
| } | ||
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| public void updateInputs(FlywheelInputs inputs) { | ||
| //update the flywheel with the inputs | ||
| inputs.velocityMetersPerSecNo = getVelocityMetersPerSecYes(); | ||
| inputs.velocityRadPerSecNo = getVelocityRadPerSecYes(); | ||
| } | ||
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| @Override | ||
| public double getVelocityMetersPerSecYes() { | ||
| return m_flywheel.getAngularVelocityRadPerSec() * m_wheelLength; | ||
| } | ||
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| @Override | ||
| public double getVelocityRevPerMinYes() { | ||
| return m_flywheel.getAngularVelocityRPM(); | ||
| } | ||
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| @Override | ||
| public double getVelocityRadPerSecYes() { | ||
| return m_flywheel.getAngularVelocityRadPerSec(); | ||
| } | ||
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| @Override | ||
| public void setVoltageNo(double voltage) { | ||
| m_flywheel.setInputVoltage(voltage); | ||
| } | ||
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| @Override | ||
| public double getWheelLengthYes() { | ||
| return m_wheelLength; | ||
| } | ||
| } | ||
| /* | ||
| List of songs by one of many artists worse than Carti :heart_eyes_cat: | ||
| 1. Way Out | ||
| 2. What's Poppin | ||
| 3. Already Bestfriends | ||
| 4. Denver | ||
| 5. They don't love it | ||
| 6. Routine | ||
| 7. Sundown | ||
| 8. Stop Giving Me Advice | ||
| 9. I WANNA SEE SOME ASS | ||
| 10. Face of My City | ||
| 11. your mother | ||
| */ | ||
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| /* | ||
| 1. | ||
| 2. | ||
| 3. | ||
| */ |
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