Aviv elbow #7
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Aviv elbow #7
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greenblitz4590
requested changes
Aug 4, 2024
YHerm
requested changes
Aug 4, 2024
greenblitz4590
requested changes
Aug 7, 2024
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| keyboardController.A.onTrue(elbow.getCommmands().moveToPosition(Rotation2d.fromDegrees(0))); | ||
| keyboardController.W.onTrue(elbow.getCommmands().moveToPosition(Rotation2d.fromDegrees(324))); | ||
| keyboardController.D.onTrue(elbow.getCommmands().moveToPosition(Rotation2d.fromDegrees(20))); | ||
| keyboardController.S.onTrue(elbow.getCommmands().moveToPosition(Rotation2d.fromDegrees(80))); |
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| static final double KV = 0; | ||
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| static final double BATTERY_VOLTAGE = 12; |
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this isnt only for elbow.. put this in simulation constants
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Put in Global constants and name it Deafult battery voltage
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| private CommandsBuilder commmands; | ||
| private IElbow iElbow; | ||
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put these before the functions and delete the extra space line
| elbowSimulation.setInputVoltage(limited_voltage); | ||
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add the measurement unit to the name of the constants that need it (like ARM_LENGTH_METERS)
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| public static final Pair< | ||
| Rotation2d, | ||
| Rotation2d> SHOOTER_COLLISION_RANGE = new Pair<>(BACKWARD_ANGLE_LIMIT, PresetPositions.SAFE.ANGLE); |
| public static final double FULL_CIRCLE_RAD = 2 * Math.PI;; | ||
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| } | ||
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greenblitz4590
requested changes
Aug 7, 2024
YHerm
requested changes
Aug 8, 2024
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| public class TrainingRobotManager extends DefaultRobotManager { | ||
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| private Robot robot; | ||
| private KeyboardController keyboardController; | ||
| private Elbow elbow; |
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Create in robot , also the bindings
| protected void subsystemPeriodic() {} | ||
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| private CommandsBuilder commmands; | ||
| private IElbow iElbow; |
| } | ||
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| public CommandsBuilder getCommmands() { | ||
| return this.commmands; |
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| public NEOElbow() { | ||
| this.motor = new CANSparkMax(Constants.MOTOR_ID, CANSparkLowLevel.MotorType.kBrushless); | ||
| motor.getEncoder().setPositionConversionFactor(Constants.GEAR_RATIO); |
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| public static final double GEAR_RATIO = 1 / (28.0 * (60.0 / 16.0)); | ||
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| public static final Rotation2d TOLERANCE = Rotation2d.fromDegrees(3); |
| import edu.wpi.first.math.geometry.Translation3d; | ||
| import edu.wpi.first.math.controller.PIDController; | ||
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| public class SimulationElbowConstants { |
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A lot of constants here are not type dependent, move them into elbow simulation
| import edu.wpi.first.math.system.plant.DCMotor; | ||
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| public class SimulationElbow implements IElbow { | ||
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Use single jointed arm simulation instead
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create an elbow with move to angle function