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60 changes: 47 additions & 13 deletions
60
src/main/java/frc/robot/subsystems/elevator/Elevator.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,40 +1,74 @@ | ||
| package frc.robot.subsystems.elevator; | ||
|
|
||
| import edu.wpi.first.networktables.DoublePublisher; | ||
| import edu.wpi.first.networktables.NetworkTable; | ||
| import edu.wpi.first.networktables.NetworkTableInstance; | ||
| import edu.wpi.first.wpilibj2.command.Command; | ||
| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
|
|
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| public class Elevator extends SubsystemBase { | ||
| private final ElevatorIO m_io; | ||
| private final double L1Setpoint = 100; | ||
| private final double L2Setpoint = 5; | ||
| private final double L3Setpoint = 0; | ||
| private final double L4Setpoint = 0; | ||
| private final NetworkTableInstance inst = NetworkTableInstance.getDefault(); | ||
| private final NetworkTable elevatorTable = inst.getTable("Elevator"); | ||
| private final DoublePublisher motorValPub= elevatorTable.getDoubleTopic("Motor Val").publish(); | ||
| private final DoublePublisher motorVolPub= elevatorTable.getDoubleTopic("Motor Vol").publish(); | ||
| private final DoublePublisher rotPub= elevatorTable.getDoubleTopic("Rotations").publish(); | ||
| private final DoublePublisher setPub= elevatorTable.getDoubleTopic("Setpoint").publish(); | ||
|
|
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| final double m_gearRatio = 5/1 * 5/1 * 48/72; | ||
| private final ElevatorIO m_io; | ||
| private final double L1Setpoint = 29; | ||
| private final double L2Setpoint = 32.5; | ||
| private final double L3Setpoint = 51.5; | ||
| private final double L4Setpoint = 76; | ||
| //inch to rotations of the motor | ||
| final double m_gearRatio = 0.5 * (1d / (1.75100 * Math.PI)) * ( 2d / 3d ) * 25; | ||
|
|
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| public Elevator(ElevatorIO io) { | ||
| m_io = io; | ||
|
|
||
| } | ||
|
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| public Command moveUp() { | ||
| return this.run(() -> m_io.setVoltage(1)); | ||
| return this.runOnce(() -> m_io.setVoltage(3)).withName("UP"); | ||
| } | ||
|
|
||
| public Command stop() { | ||
| return this.run(() -> m_io.setVoltage(0)); | ||
| return this.runOnce(() -> m_io.setVoltage(0)).withName("Stop"); | ||
| } | ||
|
|
||
| public Command moveDown() { | ||
| return this.run(() -> m_io.setVoltage(-1)); | ||
| return this.runOnce(() -> m_io.setVoltage(-3)).withName("Move Down"); | ||
| } | ||
|
|
||
| public Command goToL1(){ | ||
| // return this.run(() -> m_io.gotosetpoint(L1Setpoint,m_gearRatio)); | ||
| return this.run(() -> { | ||
| // System.out.println("L1"); | ||
| return this.runOnce(() -> { | ||
| m_io.gotosetpoint(L1Setpoint, m_gearRatio); | ||
| }); | ||
| }).withName("L1"); | ||
| } | ||
| public Command goToL2(){ | ||
| // return this.run(() -> m_io.gotosetpoint(L1Setpoint,m_gearRatio)); | ||
| return this.runOnce(() -> { | ||
| m_io.gotosetpoint(L2Setpoint, m_gearRatio); | ||
| }).withName("L2"); | ||
| } | ||
| public Command goToL3(){ | ||
| // return this.run(() -> m_io.gotosetpoint(L1Setpoint,m_gearRatio)); | ||
| return this.runOnce(() -> { | ||
| m_io.gotosetpoint(L3Setpoint, m_gearRatio); | ||
| }).withName("L3"); | ||
| } | ||
| public Command goToL4(){ | ||
| // return this.run(() -> m_io.gotosetpoint(L1Setpoint,m_gearRatio)); | ||
| return this.runOnce(() -> { | ||
| m_io.gotosetpoint(L4Setpoint, m_gearRatio); | ||
| }).withName("L4"); | ||
| } | ||
| @Override | ||
| public void periodic() { | ||
| super.periodic(); | ||
| motorValPub.set(m_io.getVelocity()); | ||
| motorVolPub.set(m_io.getVoltage()); | ||
| setPub.set(m_io.getSetpoint()); | ||
| rotPub.set(m_io.getPosition()); | ||
| } | ||
|
|
||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,38 @@ | ||
| { | ||
| "fileName": "PathplannerLib-2025.2.1.json", | ||
| "name": "PathplannerLib", | ||
| "version": "2025.2.1", | ||
| "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786", | ||
| "frcYear": "2025", | ||
| "mavenUrls": [ | ||
| "https://3015rangerrobotics.github.io/pathplannerlib/repo" | ||
| ], | ||
| "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json", | ||
| "javaDependencies": [ | ||
| { | ||
| "groupId": "com.pathplanner.lib", | ||
| "artifactId": "PathplannerLib-java", | ||
| "version": "2025.2.1" | ||
| } | ||
| ], | ||
| "jniDependencies": [], | ||
| "cppDependencies": [ | ||
| { | ||
| "groupId": "com.pathplanner.lib", | ||
| "artifactId": "PathplannerLib-cpp", | ||
| "version": "2025.2.1", | ||
| "libName": "PathplannerLib", | ||
| "headerClassifier": "headers", | ||
| "sharedLibrary": false, | ||
| "skipInvalidPlatforms": true, | ||
| "binaryPlatforms": [ | ||
| "windowsx86-64", | ||
| "linuxx86-64", | ||
| "osxuniversal", | ||
| "linuxathena", | ||
| "linuxarm32", | ||
| "linuxarm64" | ||
| ] | ||
| } | ||
| ] | ||
| } |
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