getting ready to test elevator!

SciBorgs · Feb 1, 2025 · 25ef024 · 25ef024
1 parent 962e544
commit 25ef024
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Showing 4 changed files with 15 additions and 15 deletions.
diff --git a/src/main/java/org/sciborgs1155/robot/Robot.java b/src/main/java/org/sciborgs1155/robot/Robot.java
@@ -5,12 +5,12 @@
 import static edu.wpi.first.units.Units.Second;
 import static edu.wpi.first.units.Units.Seconds;
 import static edu.wpi.first.wpilibj2.command.button.RobotModeTriggers.*;
-import static org.sciborgs1155.robot.Constants.*;
 import static org.sciborgs1155.robot.Constants.DEADBAND;
 import static org.sciborgs1155.robot.Constants.Field.*;
 import static org.sciborgs1155.robot.Constants.PERIOD;
 import static org.sciborgs1155.robot.drive.DriveConstants.*;
 
+import com.ctre.phoenix6.SignalLogger;
 import edu.wpi.first.wpilibj.DataLogManager;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.GenericHID.RumbleType;
@@ -32,9 +32,7 @@
 import org.sciborgs1155.lib.InputStream;
 import org.sciborgs1155.lib.Test;
 import org.sciborgs1155.robot.Ports.OI;
-import org.sciborgs1155.robot.arm.Arm;
 import org.sciborgs1155.robot.commands.Autos;
-import org.sciborgs1155.robot.coroller.Coroller;
 import org.sciborgs1155.robot.drive.Drive;
 import org.sciborgs1155.robot.elevator.Elevator;
 import org.sciborgs1155.robot.led.LEDStrip;
@@ -55,13 +53,11 @@ public class Robot extends CommandRobot implements Logged {
   private final PowerDistribution pdh = new PowerDistribution();
 
   // SUBSYSTEMS
-  private final Drive drive = Drive.create();
-  private final Vision vision = Vision.create();
-  private final Arm arm = Arm.create();
-  private final Coroller coroller = Coroller.create();
+  private final Drive drive = Drive.none();
+  private final Vision vision = new Vision();
   private final LEDStrip led = new LEDStrip();
   private final Elevator elevator = Elevator.create();
-  private final Scoral scoral = Scoral.create();
+  private final Scoral scoral = Scoral.none();
 
   // COMMANDS
   @Log.NT private final SendableChooser<Command> autos = Autos.configureAutos(drive);
@@ -159,6 +155,8 @@ private void configureBindings() {
         .onTrue(Commands.runOnce(() -> speedMultiplier = Constants.SLOW_SPEED_MULTIPLIER))
         .onFalse(Commands.runOnce(() -> speedMultiplier = Constants.FULL_SPEED_MULTIPLIER));
 
+    teleop().onTrue(Commands.runOnce(() -> SignalLogger.start()));
+    disabled().onTrue(Commands.runOnce(() -> SignalLogger.stop()));
     // TODO: Add any additional bindings.
 
   }

diff --git a/src/main/java/org/sciborgs1155/robot/elevator/Elevator.java b/src/main/java/org/sciborgs1155/robot/elevator/Elevator.java
@@ -76,11 +76,11 @@ public Elevator(ElevatorIO hardware) {
             new SysIdRoutine.Mechanism(v -> hardware.setVoltage(v.in(Volts)), null, this));
 
     SmartDashboard.putData(
-        "pivot quasistatic forward", sysIdRoutine.quasistatic(Direction.kForward));
+        "elevator quasistatic forward", sysIdRoutine.quasistatic(Direction.kForward));
     SmartDashboard.putData(
-        "pivot quasistatic backward", sysIdRoutine.quasistatic(Direction.kReverse));
-    SmartDashboard.putData("pivot dynamic forward", sysIdRoutine.dynamic(Direction.kForward));
-    SmartDashboard.putData("pivot dynamic backward", sysIdRoutine.dynamic(Direction.kReverse));
+        "elevator quasistatic backward", sysIdRoutine.quasistatic(Direction.kReverse));
+    SmartDashboard.putData("elevator dynamic forward", sysIdRoutine.dynamic(Direction.kForward));
+    SmartDashboard.putData("elevator dynamic backward", sysIdRoutine.dynamic(Direction.kReverse));
   }
 
   /**

diff --git a/src/main/java/org/sciborgs1155/robot/elevator/ElevatorConstants.java b/src/main/java/org/sciborgs1155/robot/elevator/ElevatorConstants.java
@@ -35,7 +35,9 @@ public class ElevatorConstants {
   public static final double GEARING = 20 / 1;
   public static final Distance SPROCKET_RADIUS = Inches.of(1);
   public static final Distance SPROCKET_CIRCUMFRENCE = SPROCKET_RADIUS.times(2 * Math.PI);
+
   // Input to Output; "values greater than one represent a reduction"
+  /** conversion factor in METERS PER ROTATION */
   public static final double CONVERSION_FACTOR = GEARING / SPROCKET_CIRCUMFRENCE.in(Meters) / 2;
 
   public static final Current CURRENT_LIMIT = Amps.of(50);

diff --git a/src/main/java/org/sciborgs1155/robot/scoral/Scoral.java b/src/main/java/org/sciborgs1155/robot/scoral/Scoral.java
@@ -24,7 +24,7 @@ public class Scoral extends SubsystemBase implements Logged, AutoCloseable {
   public final Trigger beambreakTrigger = new Trigger(() -> beambreak());
 
   public static Scoral create() {
-    return new Scoral(Robot.isReal() ? realMotor() : Scoral.none());
+    return new Scoral(Robot.isReal() ? realMotor() : SimpleMotor.none());
   }
 
   private static SimpleMotor realMotor() {
@@ -37,8 +37,8 @@ private static SimpleMotor realMotor() {
     return SimpleMotor.talon(new TalonFX(ROLLER), config);
   }
 
-  public static SimpleMotor none() {
-    return SimpleMotor.none();
+  public static Scoral none() {
+    return new Scoral(SimpleMotor.none());
   }
 
   public Scoral(SimpleMotor hardware) {