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Merged
shlap merged 3 commits into from
Mar 16, 2026
Merged

R2 154 tuning pid constants #75

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47f174b
Tuning changes
shlap Mar 16, 2026
1f8f4c8
Finalized changes
shlap Mar 16, 2026
88705e5
bruh
shlap Mar 16, 2026
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2 changes: 1 addition & 1 deletion src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -615,7 +615,7 @@ public static VisionSystemSim getSystemSim() {
public class IntakePivotConstants {
public static final String NAME = "Intake";

public static final Angle PICKUP_ANGLE = Degrees.of(123.0);
public static final Angle PICKUP_ANGLE = Degrees.of(130.0); // 123.0
public static final Angle STOW_ANGLE = Degrees.of(0.0);

public static final Angle TOLERANCE = Degrees.of(1.0);
Expand Down
124 changes: 33 additions & 91 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,6 @@

package frc.robot;

import static edu.wpi.first.units.Units.Rotations;
import static edu.wpi.first.units.Units.RotationsPerSecond;

import com.ctre.phoenix6.BaseStatusSignal;
Expand All @@ -22,11 +21,9 @@
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
import frc.lib.W8.io.motor.*;
import frc.lib.W8.io.motor.MotorIO.PIDSlot;
import frc.lib.W8.io.vision.VisionIOPhotonVision;
import frc.lib.W8.io.vision.VisionIOPhotonVisionSim;
import frc.lib.W8.mechanisms.flywheel.*;
Expand Down Expand Up @@ -281,6 +278,7 @@ public RobotContainer() {
}

// Set up auto routines
// LEAVE THIS UP HERE
autoChooser = new LoggedDashboardChooser<>("Auto Choices", AutoBuilder.buildAutoChooser());

// Set up SysId routines
Expand Down Expand Up @@ -331,111 +329,55 @@ private void configureButtonBindings() {
// // Switch to X pattern when X button is pressed
// controller.x().onTrue(Commands.runOnce(drive::stopWithX, drive));

// Reset gyro to 0° when B button is pressed
// controller
// .b()
// .onTrue(
// Commands.runOnce(
// () ->
// drive.setPose(
// new Pose2d(drive.getPose().getTranslation(), new Rotation2d())),
// drive)
// .ignoringDisable(true));

// controller
// .x()
// .onTrue(Commands.runOnce(() -> hopper.setGoal(HopperConstants.HOPPER_POSITION), hopper));

// controller.rightTrigger().onTrue(Commands.runOnce(() -> shooter.simShoot()));

// controller
// .leftTrigger()
// .onTrue(
// Commands.runOnce(
// () -> {
// Robot.fuelSim.clearFuel();
// Robot.fuelSim.spawnStartingFuel();
// intake.simBalls = 0;
// }));
// controller.y().onTrue(Commands.runOnce(() -> intake.setVelocity(RotationsPerSecond.of(10))));
// controller.a().onTrue(intake.intake());
// controller.x().onTrue(intake.stowAndStopRollers());

// Flywheel
controller.leftBumper().whileTrue(shooter.runFlywheel(RotationsPerSecond.of(100)));
controller.leftBumper().onFalse(shooter.runFlywheel(RotationsPerSecond.of(0)));

// Intake Rollers 11 Motor: 9 Intake

// ALPHA KATIE REQUESTS INTAKE RIGHT TRIGGER, SHOOT LEFT TRIGGER, AUTO ALIGN "A"

// Intake
controller.rightTrigger().whileTrue(intake.intake());
controller.rightTrigger().onFalse(intake.stowAndStopRollers());

// Shoot
controller.leftTrigger().whileTrue(shooter.runFlywheel(RotationsPerSecond.of(67)));
controller.leftTrigger().onFalse(shooter.runFlywheel(RotationsPerSecond.of(0)));

// Feed
controller
.leftTrigger()
.leftBumper()
.whileTrue(
Commands.parallel(
shooter.prepareToShoot(RotationsPerSecond.of(100), RotationsPerSecond.of(30)),
hopper.runSpindexer(RotationsPerSecond.of(15))));

shooter.runTower(RotationsPerSecond.of(30)),
hopper.runSpindexer(RotationsPerSecond.of(15)),
intake.intake()));
controller
.leftTrigger()
.onFalse(
.leftBumper()
.whileFalse(
Commands.parallel(
shooter.prepareToShoot(RotationsPerSecond.of(0), RotationsPerSecond.of(0)),
hopper.runSpindexer(RotationsPerSecond.of(0))));

// Align
// controller.a().onTrue();

// controller.a().whileTrue((intake.runRollers(RotationsPerSecond.of(22.5))));
// controller
// .a()
// .onFalse(new RunCommand(() -> intake._rollerIO.runVoltage(Volts.of(0.0)), intake));
shooter.runTower(RotationsPerSecond.of(0)),
hopper.runSpindexer(RotationsPerSecond.of(0)),
Commands.run(() -> intake.stop())));

// Spindexer 1:1
// controller.x().whileTrue(hopper.runSpindexer(18));
// controller.x().onFalse(hopper.runSpindexer(0));
// Intake + Out
controller.rightTrigger().whileTrue(intake.intake());
controller.rightTrigger().onFalse(Commands.run(() -> intake.stop()));

// Tower - 15 Motor:7 Tower
// Align
controller.a().onTrue(getAutonomousCommand());
controller.a().onFalse(getAutonomousCommand());

// controller.y().whileTrue(shooter.runTower(RotationsPerSecond.of(70)));
// controller.y().onFalse(shooter.runTower(RotationsPerSecond.of(0)));
// Jostle
controller.b().onTrue(getAutonomousCommand());
controller.b().onFalse(getAutonomousCommand());

// controller.b().onFalse(shooter.setHoodAngle(ShooterRotaryConstants.STARTING_ANGLE.magnitude()));
// controller.povLeft().onTrue(shooter.calibrateHood());
// controller.povLeft().onTrue(shooter.setHoodAngle(10));
// controller.povDown().onTrue(shooter.setHoodAngle(15));
// controller.povRight().onTrue(shooter.setHoodAngle(20));
// Calibrate Hood
controller.y().onTrue(shooter.calibrateHood());

// controller.x().onFalse(intake.setPivotAngle(IntakePivotConstants.STOW_ANGLE));
controller.x().whileTrue(intake.setPivotAngle(IntakePivotConstants.PICKUP_ANGLE));
// Stow Intake
controller.y().whileTrue(intake.setPivotAngle(IntakePivotConstants.STOW_ANGLE));

controller.b().whileTrue(intake.zeroEncoder());

// controller.povRight().onTrue(shooter.calibrateHood());

controller
.povLeft()
.whileTrue(
new RunCommand(
() ->
climber._io.runPosition(
Rotations.of(0.25),
ClimberConstants.CRUISE_VELOCITY,
ClimberConstants.ACCELERATION,
ClimberConstants.JERK,
PIDSlot.SLOT_1),
climber));
controller.povLeft().onFalse(climber.stopClimber());
// Climber Raise/Lower
controller.povUp().whileTrue(climber.raiseClimber());
controller.povUp().onFalse(climber.stopClimber());
controller.povDown().whileTrue(climber.lowerClimber());
controller.povDown().onFalse(climber.stopClimber());

// Testing Commands
controller.povLeft().onTrue(shooter.calibrateHood());
controller.povLeft().onTrue(shooter.setHoodAngle(6.8));
controller.povDown().onTrue(shooter.setHoodAngle(12.1));
controller.povRight().onTrue(shooter.setHoodAngle(18.6));
}

/**
Expand Down
3 changes: 2 additions & 1 deletion src/main/java/frc/robot/subsystems/Shooter.java
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Original file line number Diff line number Diff line change
Expand Up @@ -144,13 +144,14 @@ public boolean hoodAtAngle() {
return Math.abs(hoodAngle - _hood.getPosition().in(Degrees)) < ShooterConstants.HOOD_TOLERANCE;
}

// Increases Hood Angle
public Command incrementHoodAngle() {
Angle currentHoodAngle = _hood.getPosition().plus(Degrees.of(2.5));
return setHoodAngle(currentHoodAngle.in(Degrees));
}

public Command decrementHoodAngle() {
Angle currentHoodAngle = _hood.getPosition().minus(Degrees.of(0.5));
Angle currentHoodAngle = _hood.getPosition().minus(Degrees.of(2.5));
return setHoodAngle(currentHoodAngle.in(Degrees));
}

Expand Down
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