Merge pull request #3 from SciBorgs/ground-intake

Ground intake
SciBorgs · Jan 25, 2025 · e2ecbd1 · e2ecbd1
2 parents 6e5f172 + d64a24d
commit e2ecbd1
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Showing 16 changed files with 548 additions and 92 deletions.
diff --git a/simgui-ds.json b/simgui-ds.json
@@ -1,38 +1,23 @@
 {
-  "FMS": {
-    "window": {
-      "visible": false
-    }
-  },
-  "Keyboard 0 Settings": {
-    "window": {
-      "visible": true
-    }
-  },
   "keyboardJoysticks": [
     {
       "axisConfig": [
-        {
-          "decKey": 83,
-          "incKey": 87
-        },
         {
           "decKey": 65,
           "incKey": 68
         },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
         {
           "decKey": 69,
           "decayRate": 0.0,
           "incKey": 82,
           "keyRate": 0.009999999776482582
-        },
-        {},
-        {
-          "decKey": 74,
-          "incKey": 75
         }
       ],
-      "axisCount": 6,
+      "axisCount": 3,
       "buttonCount": 4,
       "buttonKeys": [
         90,
@@ -56,12 +41,16 @@
     },
     {
       "axisConfig": [
-        {},
         {
-          "decKey": 73
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
         }
       ],
-      "axisCount": 4,
+      "axisCount": 2,
       "buttonCount": 4,
       "buttonKeys": [
         77,
@@ -99,13 +88,5 @@
       "buttonCount": 0,
       "povCount": 0
     }
-  ],
-  "robotJoysticks": [
-    {
-      "guid": "Keyboard1"
-    },
-    {
-      "guid": "Keyboard0"
-    }
   ]
 }
diff --git a/simgui.json b/simgui.json
@@ -19,16 +19,13 @@
       "/FMSInfo": "FMSInfo",
       "/Faults/Active Faults": "Alerts",
       "/Faults/Total Faults": "Alerts",
+<<<<<<< HEAD
+      "/Robot/arm/armCanvas": "Mechanism2d",
+      "/Robot/arm/fb": "ProfiledPIDController",
+=======
+>>>>>>> main
       "/Robot/autos": "String Chooser",
       "/Robot/drive/field2d": "Field2d",
-      "/Robot/drive/frontLeft/driveFeedback": "PIDController",
-      "/Robot/drive/frontLeft/turnFeedback": "PIDController",
-      "/Robot/drive/frontRight/driveFeedback": "PIDController",
-      "/Robot/drive/frontRight/turnFeedback": "PIDController",
-      "/Robot/drive/rearLeft/driveFeedback": "PIDController",
-      "/Robot/drive/rearLeft/turnFeedback": "PIDController",
-      "/Robot/drive/rearRight/driveFeedback": "PIDController",
-      "/Robot/drive/rearRight/turnFeedback": "PIDController",
       "/Robot/drive/rotationController": "PIDController",
       "/Robot/drive/translationController": "ProfiledPIDController",
       "/Robot/elevator/measurement/mech": "Mechanism2d",
@@ -37,6 +34,8 @@
       "/SmartDashboard/Alerts": "Alerts",
       "/SmartDashboard/Scheduler": "Scheduler",
       "/SmartDashboard/VisionSystemSim-main/Sim Field": "Field2d",
+<<<<<<< HEAD
+=======
       "/SmartDashboard/drive dynamic backward": "Command",
       "/SmartDashboard/drive dynamic forward": "Command",
       "/SmartDashboard/drive quasistatic backward": "Command",
@@ -45,6 +44,7 @@
       "/SmartDashboard/pivot dynamic forward": "Command",
       "/SmartDashboard/pivot quasistatic backward": "Command",
       "/SmartDashboard/pivot quasistatic forward": "Command",
+>>>>>>> main
       "/SmartDashboard/rotation dynamic backward": "Command",
       "/SmartDashboard/rotation dynamic forward": "Command",
       "/SmartDashboard/rotation quasistatic backward": "Command",
@@ -202,7 +202,11 @@
             0.0,
             0.8500000238418579
           ],
+<<<<<<< HEAD
+          "height": 0,
+=======
           "height": 405,
+>>>>>>> main
           "series": [
             {
               "color": [

diff --git a/src/main/java/org/sciborgs1155/lib/SimpleMotor.java b/src/main/java/org/sciborgs1155/lib/SimpleMotor.java
@@ -2,28 +2,51 @@
 
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.hardware.TalonFX;
+import com.revrobotics.spark.SparkBase;
 import java.util.function.DoubleConsumer;
 
+/**
+ * Simple Motor that utilizes a {@link DoubleConsumer} for setting power and provides no feedback.
+ * Can work with {@link TalonFX}'s and {@link SparkBase}'s. Can be closed with the specified {@link
+ * Runnable}.
+ */
 public class SimpleMotor {
+  /** Function for setting motor power. */
   private final DoubleConsumer set;
+
+  /** Function for closing the motor. */
   private final Runnable close;
 
+  /**
+   * Constructor.
+   *
+   * @param set : {@link DoubleConsumer} for setting motor power.
+   * @param close : {@link Runnable} interface for the motor.
+   */
   public SimpleMotor(DoubleConsumer set, Runnable close) {
     this.set = set;
     this.close = close;
   }
 
-  public static SimpleMotor talon(TalonFX talon, TalonFXConfiguration config) {
-    FaultLogger.register(talon);
-    TalonUtils.addMotor(talon);
-    talon.getConfigurator().apply(config);
-    return new SimpleMotor(talon::set, talon::close);
+  /**
+   * @return Returns a new {@link SimpleMotor} that controls a {@link TalonFX} motor. The motor is
+   *     registered with {@link TalonUtils} and {@link FaultLogger}.
+   * @param motor : {@link TalonFX} controller instance with device ID.
+   * @param config : {@link TalonFXConfiguration} to apply to the motor.
+   */
+  public static SimpleMotor talon(TalonFX motor, TalonFXConfiguration config) {
+    FaultLogger.register(motor);
+    TalonUtils.addMotor(motor);
+    motor.getConfigurator().apply(config);
+    return new SimpleMotor(motor::set, motor::close);
   }
 
+  /** Returns a new {@link SimpleMotor} that does absolutely nothing. */
   public static SimpleMotor none() {
     return new SimpleMotor(v -> {}, () -> {});
   }
 
+  /** Passes power into the '{@link #set}' consumer specified in the constructor. */
   public void set(double power) {
     set.accept(power);
   }

diff --git a/src/main/java/org/sciborgs1155/robot/Ports.java b/src/main/java/org/sciborgs1155/robot/Ports.java
@@ -20,6 +20,12 @@ public static final class Drive {
     public static final int REAR_RIGHT_TURNING = 17;
   }
 
+  public static final class GroundIntake {
+    public static final int ARM_MOTOR = 18;
+    public static final int ROLLER_MOTOR = 19;
+    public static final int CANCODER = 2; // TODO change i think
+  }
+
   public static final class Elevator {
     public static final int LEADER = -1;
     public static final int FOLLOWER = -1;

diff --git a/src/main/java/org/sciborgs1155/robot/Robot.java b/src/main/java/org/sciborgs1155/robot/Robot.java
@@ -6,7 +6,9 @@
 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 edu.wpi.first.wpilibj.DataLogManager;
@@ -30,7 +32,9 @@
 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;
@@ -53,6 +57,8 @@ public class Robot extends CommandRobot implements Logged {
   // 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 LEDStrip led = new LEDStrip();
   private final Elevator elevator = Elevator.create();
   private final Scoral scoral = Scoral.create();
@@ -71,7 +77,8 @@ public Robot() {
 
   /** Configures basic behavior for different periods during the game. */
   private void configureGameBehavior() {
-    // TODO: Add configs for all additional libraries, components, intersubsystem interaction
+    // TODO: Add configs for all additional libraries, components, intersubsystem
+    // interaction
     // Configure logging with DataLogManager, Monologue, URCL, and FaultLogger
     DataLogManager.start();
     Monologue.setupMonologue(this, "/Robot", false, true);
@@ -153,6 +160,7 @@ private void configureBindings() {
         .onFalse(Commands.runOnce(() -> speedMultiplier = Constants.FULL_SPEED_MULTIPLIER));
 
     // TODO: Add any additional bindings.
+
   }
 
   /**