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Merge pull request #2 from FRC-4509-MechBulls/✨arm✨
Arm tuned
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| Original file line number | Diff line number | Diff line change |
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| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
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| package frc.robot.subsystems.arm; | ||
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| import edu.wpi.first.math.geometry.Rotation2d; | ||
| import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | ||
| import edu.wpi.first.wpilibj2.command.RunCommand; | ||
| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
| import static frc.robot.Constants.ArmConstants.*; | ||
| import frc.robot.Constants; | ||
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| import java.awt.geom.Point2D; | ||
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| public class Arm extends SubsystemBase { | ||
| /** Creates a new Arm. */ | ||
| // StageOneSub stageOneSub = new StageOneSub(); | ||
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| StageOneSub stageOneSub = new StageOneSub(); | ||
| StageTwoSub stageTwoSub = new StageTwoSub(); | ||
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| public Arm() { | ||
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| // SmartDashboard.putNumber("stageOneRef",90); | ||
| // SmartDashboard.putNumber("stageTwoRef",15); | ||
| } | ||
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| public static double[] calculateEFPosition(double ang1, double ang2) { | ||
| double stageOneEndX = stageOneLength * Math.cos(ang1); | ||
| double stageOneEndY = stageOneLength * Math.sin(ang1); | ||
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| double stageTwoEndX = stageOneEndX + stageTwoLength * -Math.cos(ang1 + ang2); | ||
| double stageTwoEndY = stageOneEndY + stageTwoLength * -Math.sin(ang1 + ang2); | ||
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| return new double[]{stageTwoEndX, stageTwoEndY}; | ||
| } | ||
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| public static Rotation2d[] calculateArmAngles(double x, double y){ | ||
| double hypot = Math.hypot(x,y); | ||
| double stageTwoAngle = Math.acos((Math.pow(stageTwoLength,2) + Math.pow(stageOneLength,2) - Math.pow(hypot,2)) / (2*stageOneLength * stageTwoLength) ); | ||
| double stageOneAngle = Math.acos((Math.pow(stageOneLength,2) + Math.pow(hypot,2) - Math.pow(stageTwoLength,2)) / (2*stageOneLength * hypot)); | ||
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| stageOneAngle+=Math.atan2(y,x); | ||
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| return new Rotation2d[] {Rotation2d.fromRadians(stageOneAngle),Rotation2d.fromRadians(stageTwoAngle)}; | ||
| } | ||
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| @Override | ||
| public void periodic() { | ||
| // This method will be called once per scheduler run | ||
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| double[] efPosition = calculateEFPosition(stageOneSub.getAngle().getRadians(), stageTwoSub.getAngle().getRadians()); | ||
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| SmartDashboard.putNumber("stageOneAngle",stageOneSub.getAngle().getDegrees()); | ||
| SmartDashboard.putNumber("stageTwoAngle",stageTwoSub.getAngle().getDegrees()); | ||
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| SmartDashboard.putNumber("ef_x",efPosition[0]); | ||
| SmartDashboard.putNumber("ef_y",efPosition[1]); | ||
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| Rotation2d[] calculatedArmAngles = calculateArmAngles(efPosition[0],efPosition[1]); | ||
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| SmartDashboard.putNumber("stageOneRad_calculated",calculatedArmAngles[0].getDegrees()); | ||
| SmartDashboard.putNumber("stageTwoRad_calculated",calculatedArmAngles[1].getDegrees()); | ||
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| // stageOneSub.setAngle(Rotation2d.fromDegrees(SmartDashboard.getNumber("stageOneRef",70))); | ||
| // stageTwoSub.setAngle(Rotation2d.fromDegrees(SmartDashboard.getNumber("stageTwoRef",15))); | ||
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| stageOneSub.setAngle(Rotation2d.fromDegrees(90)); | ||
| stageTwoSub.setAngle(Rotation2d.fromDegrees(15)); | ||
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| } | ||
| } |
138 changes: 138 additions & 0 deletions
138
src/main/java/frc/robot/subsystems/arm/StageOneSub.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,138 @@ | ||
| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
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| package frc.robot.subsystems.arm; | ||
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| import com.ctre.phoenix.motorcontrol.*; | ||
| import com.ctre.phoenix.motorcontrol.can.TalonSRX; | ||
| import edu.wpi.first.math.geometry.Rotation2d; | ||
| import edu.wpi.first.math.util.Units; | ||
| import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | ||
| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
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| import static frc.robot.Constants.ArmConstants.*; | ||
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| public class StageOneSub extends SubsystemBase { | ||
| /** Creates a new StageOneSub. */ | ||
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| TalonSRX primary; | ||
| TalonSRX secondary; | ||
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| public StageOneSub() { | ||
| primary = new TalonSRX(stageOneRightId); | ||
| secondary = new TalonSRX(stageOneLeftId); | ||
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| primary.configFactoryDefault(1000); | ||
| secondary.configFactoryDefault(1000); | ||
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| primary.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Absolute,0,1000); | ||
| primary.configFeedbackNotContinuous(false,1000); | ||
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| primary.setNeutralMode(NeutralMode.Coast); | ||
| secondary.setNeutralMode(NeutralMode.Coast); | ||
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| primary.configVoltageCompSaturation(12.0,1000); | ||
| primary.enableVoltageCompensation(true); | ||
| secondary.configVoltageCompSaturation(12.0,1000); | ||
| secondary.enableVoltageCompensation(true); | ||
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| primary.configSupplyCurrentLimit(new SupplyCurrentLimitConfiguration(true,continuousCurrentLimit,peakCurrentLimit,peakCurrentTime),1000); | ||
| secondary.configSupplyCurrentLimit(new SupplyCurrentLimitConfiguration(true,continuousCurrentLimit,peakCurrentLimit,peakCurrentTime),1000); | ||
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| primary.setSensorPhase(false); | ||
| primary.setInverted(true); | ||
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| secondary.follow(primary); | ||
| secondary.setInverted(InvertType.OpposeMaster); | ||
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| primary.configForwardSoftLimitThreshold((int)radToNativeSensorPosition(Units.degreesToRadians(95)),1000); | ||
| primary.configReverseSoftLimitThreshold((int)radToNativeSensorPosition(Units.degreesToRadians(35)),1000); | ||
| primary.configForwardSoftLimitEnable(true,1000); | ||
| primary.configReverseSoftLimitEnable(true); | ||
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| // primary.configNominalOutputForward(0.05,1000); | ||
| // primary.configNominalOutputReverse(-0.05,1000); | ||
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| primary.configPeakOutputForward(0.7,1000); | ||
| primary.configPeakOutputReverse(-0.7,1000); | ||
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| primary.config_kP(0,stageOnekP,1000); | ||
| primary.config_kI(0,stageOnekI,1000); | ||
| primary.config_kD(0,stageOnekD,1000); | ||
| // primary.config_kF(0,stageOnekF,1000); | ||
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| } | ||
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| @Override | ||
| public void periodic() { | ||
| // This method will be called once per scheduler run | ||
| // SmartDashboard.putNumber("stageOneAngle",getAngle().getDegrees()); | ||
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| // SmartDashboard.putNumber("rawSensor",primary.getSelectedSensorPosition()); | ||
| // SmartDashboard.putNumber("convertedSensor", radToNativeSensorPosition(nativeSensorPositionToRad(primary.getSelectedSensorPosition()))); | ||
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| // SmartDashboard.putNumber("stageOneOutput",primary.getMotorOutputPercent()); | ||
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| } | ||
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| public void setPercentOutput(double output){ | ||
| // if(output>0.5)output = 0.5; | ||
| // if(output<-0.5)output = -0.5; | ||
| primary.set(ControlMode.PercentOutput,output); | ||
| } | ||
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| public void setAngle(Rotation2d angle) { | ||
| primary.set(ControlMode.Position,radToNativeSensorPosition(angle.getRadians())); | ||
| } | ||
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| public Rotation2d getAngle(){ //gets angle from horizontal | ||
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| double angleRad = nativeSensorPositionToRad(primary.getSelectedSensorPosition()); | ||
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| return Rotation2d.fromRadians(angleRad); | ||
| } | ||
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| public double nativeSensorPositionToRad(double sensorReading){ | ||
| sensorReading *= stageOneEncoderTicksToRadians; | ||
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| sensorReading = (2*Math.PI) + sensorReading; | ||
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| if(sensorReading>Math.PI) | ||
| sensorReading = sensorReading - 2*Math.PI; | ||
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| sensorReading+= Units.degreesToRadians(22.5); | ||
| return sensorReading; | ||
| } | ||
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| public double radToNativeSensorPosition(double angleRad) { | ||
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| angleRad -= Units.degreesToRadians(22.5); | ||
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| if (angleRad < -Math.PI) | ||
| angleRad += 2 * Math.PI; | ||
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| angleRad -= 2 * Math.PI; | ||
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| angleRad /= stageOneEncoderTicksToRadians; | ||
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| return angleRad; | ||
| } | ||
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| } |
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