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organized constants
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@sofiebudman
sofiebudman committed Mar 3, 2024
1 parent e0b5447 commit 92e51b8
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Showing 3 changed files with 76 additions and 68 deletions.
103 changes: 58 additions & 45 deletions src/main/java/org/carlmontrobotics/Constants.java
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Expand Up @@ -6,6 +6,7 @@

import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.units.Angle;
import edu.wpi.first.units.Measure;
import edu.wpi.first.units.Units.*;
Expand All @@ -24,70 +25,75 @@ public static final class Drivetrain {
}

public static final class Arm {

//ports
//config for motors (inverted, encoder offset, etc)
//goal positions
//feedforward, pid, trapezoid constants
//Boundaries (arm cannot go beyond certain angles)
//Controller buttons should go in OI not Arm

//Motor port
public static final int ARM_MOTOR_PORT_1 = 7;
public final static int ARM_MOTOR_PORT_2 = 8;
//all angles in rot here
//Config for motors
public static final boolean MOTOR_INVERTED = true; //Todo: find all these (they are definetely wrong)
public static final double ROTATION_TO_RAD = 2 * Math.PI;
public static final boolean ENCODER_INVERTED = false;
public static final double ARM_TELEOP_MAX_GOAL_DIFF_FROM_CURRENT_RAD = 0;
public static final double POS_TOLERANCE_RAD = 0;
public static final double VEL_TOLERANCE_RAD_P_SEC = 0;
public static final int MAX_VOLTAGE = 12;

//TODO: finish understand why this is broken public static final Measure<Angle> INTAKE_ANGLE = Degrees.to(-1);

// USE RADIANS FOR THE ARM
public static final double intakeAngle = Math.toRadians(0);
public static final double ampAngle = Math.toRadians(103);
public static final double placeholderSpeakerAngle1 = Math.toRadians(24);
public static final double placeholderSpeakerAngle2 = Math.toRadians(24);
public static final double placeholderSpeakerAngle3 = Math.toRadians(24);
public static final double climberUpAngle = Math.toRadians(24);
public static final double climberDownAngle = Math.toRadians(24);
// Goal Positions
public static final double INTAKE_ANGLE = Units.degreesToRadians(0);
public static final double AMP_ANGLE = Units.degreesToRadians(103);
public static final double SPEAKER_ANGLE_1 =Units.degreesToRadians(24);
public static final double SPEAKER_ANGLE_2 = Units.degreesToRadians(24);
public static final double SPEAKER_ANGLE_3 = Units.degreesToRotations(24);
public static final double CLIMBER_UP_ANGLE = Units.degreesToRadians(24);
public static final double CLIMBER_DOWN_ANGLE = Units.degreesToRadians(24);


//if needed
public static final double UPPER_ANGLE_LIMIT = Math.toRadians(70);
public static final double LOWER_ANGLE_LIMIT = Math.toRadians(0);
public static final double ARM_DISCONT_RAD = (LOWER_ANGLE_LIMIT + UPPER_ANGLE_LIMIT) /2 - Math.PI;
// Feedforward
//PID, Feedforward, Trapezoid
public static final double kP = 0.1;
public static final double kI = 0.1;
public static final double kD = 0.1;
public static final double kS = 0.1;
public static final double kG = 0.1;
public static final double kV = 0.1;
public static final double kA = 0.1;
public static final double IZONE = 4;
// PID Constants
// placeholder numbers for now
public static final double kP = 0.1;
public static final double kI = 0.1;
public static final double kD = 0.1;

public static final int MAX_VOLTAGE = 12;


//Arm measurements - ALL OF THEM ARE PLACEHOLDERS THE NUMBERS MEAN NOTHING
public static final double COM_ARM_LENGTH_METERS = 0.381 ;
public static final double ARM_MASS_KG = 9.59302503;
public static final double MAX_FF_VEL = 1; // rot / s
public static final double MAX_FF_ACCEL = 1; // rot / s^2
//I assume to max vel and accel are in meters per second
public static TrapezoidProfile.Constraints trapConstraints = new TrapezoidProfile.Constraints(MAX_FF_VEL, MAX_FF_ACCEL);

//Arm buttons
public static final int raiseToSpeakerPodButton = Button.kY.value;
public static final int raiseToAmpButton = Button.kB.value;
public static final int raiseToSpeakerSafeButton = Button.kA.value;
public static final int raiseToSpeakerNextButton = Button.kX.value;
public static final int raiseToGroundButton = Button.kStart.value;
public static final int raiseToClimberButton = Button.kLeftBumper.value;
public static final int lowerToClimberButton = Button.kRightBumper.value;
//other
public static final boolean motorInverted = true; //Todo: find all these (they are definetely wrong)
public static final double rotationToRad = 2 * Math.PI;
public static final boolean encoderInverted = false;
public static final double ARM_TELEOP_MAX_GOAL_DIFF_FROM_CURRENT_RAD = 0;
public static final double posToleranceRad = 0;
public static final double velToleranceRadPSec = 0;

//if needed
public static final double UPPER_ANGLE_LIMIT = Units.degreesToRadians(70);
public static final double LOWER_ANGLE_LIMIT = Units.degreesToRadians(0);
public static final double ARM_DISCONT_RAD = (LOWER_ANGLE_LIMIT + UPPER_ANGLE_LIMIT) /2 - Math.PI;
public static TrapezoidProfile.Constraints trapConstraints = new TrapezoidProfile.Constraints(MAX_FF_VEL, MAX_FF_ACCEL);

//boundaries
public static final double MARGIN_OF_ERROR = Math.PI/18;
public static final double ARM_LOWER_LIMIT_RAD = -3.569 + MARGIN_OF_ERROR;
public static final double ARM_UPPER_LIMIT_RAD = .36 - MARGIN_OF_ERROR;

public static final double ARM_DISCONTINUITY_RAD = (ARM_LOWER_LIMIT_RAD + ARM_UPPER_LIMIT_RAD) / 2 - Math.PI;








//Arm buttons

//other




}
public static final class IntakeShooter {
Expand All @@ -105,6 +111,13 @@ public static final class Driver {
}
public static final class Manipulator {
public static final int port = 1;
public static final int RAISE_TO_SPEAKER_POD_BUTTON = Button.kY.value;
public static final int RAISE_TO_AMP_BUTTON= Button.kB.value;
public static final int RAISE_TO_SPEAKER_SAFE_BUTTON = Button.kA.value;
public static final int RAISE_TO_SPEAKER_NEXT_BUTTON = Button.kX.value;
public static final int RAISE_TO_GROUND_BUTTON= Button.kStart.value;
public static final int RAISE_TO_CLIMBER_BUTTON = Button.kLeftBumper.value;
public static final int LOWER_TO_CLIMBER_BUTTON = Button.kRightBumper.value;
}
}
}
16 changes: 8 additions & 8 deletions src/main/java/org/carlmontrobotics/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
// import org.carlmontrobotics.subsystems.*;
import org.carlmontrobotics.commands.*;
import static org.carlmontrobotics.Constants.OI;
import static org.carlmontrobotics.Constants.Arm.ampAngle;


import org.carlmontrobotics.Constants.OI;
import org.carlmontrobotics.subsystems.Arm;
Expand Down Expand Up @@ -72,15 +72,15 @@ private void setBindingsManipulator() {
//right joystick used for manual arm control

// Speaker Buttons
new JoystickButton(manipulatorController, Constants.Arm.raiseToSpeakerPodButton).onTrue(new InstantCommand(() -> {arm.driveArm(Constants.Arm.placeholderSpeakerAngle1);}));
new JoystickButton(manipulatorController, Constants.Arm.raiseToSpeakerNextButton).onTrue(new InstantCommand(() -> {arm.driveArm(Constants.Arm.placeholderSpeakerAngle2);}));
new JoystickButton(manipulatorController, Constants.Arm.raiseToSpeakerSafeButton).onTrue(new InstantCommand(() -> {arm.driveArm(Constants.Arm.placeholderSpeakerAngle3);}));
new JoystickButton(manipulatorController, Constants.OI.Manipulator.RAISE_TO_SPEAKER_POD_BUTTON).onTrue(new InstantCommand(() -> {arm.driveArm(Constants.Arm.SPEAKER_ANGLE_1);}));
new JoystickButton(manipulatorController, Constants.OI.Manipulator.RAISE_TO_SPEAKER_NEXT_BUTTON).onTrue(new InstantCommand(() -> {arm.driveArm(Constants.Arm.SPEAKER_ANGLE_2);}));
new JoystickButton(manipulatorController, Constants.OI.Manipulator.RAISE_TO_SPEAKER_SAFE_BUTTON).onTrue(new InstantCommand(() -> {arm.driveArm(Constants.Arm.SPEAKER_ANGLE_3);}));
// Amp and Intake Buttons
new JoystickButton(manipulatorController, Constants.Arm.raiseToAmpButton).onTrue(new InstantCommand(() -> {arm.driveArm(Constants.Arm.ampAngle);}));
new JoystickButton(manipulatorController, Constants.Arm.raiseToGroundButton).onTrue(new InstantCommand(() -> {arm.driveArm(Constants.Arm.intakeAngle);}));
new JoystickButton(manipulatorController, Constants.OI.Manipulator.RAISE_TO_AMP_BUTTON).onTrue(new InstantCommand(() -> {arm.driveArm(Constants.Arm.AMP_ANGLE);}));
new JoystickButton(manipulatorController, Constants.OI.Manipulator.RAISE_TO_GROUND_BUTTON).onTrue(new InstantCommand(() -> {arm.driveArm(Constants.Arm.INTAKE_ANGLE);}));
// Cimber Buttons
new JoystickButton(manipulatorController, Constants.Arm.raiseToClimberButton).onTrue(new InstantCommand(() -> {arm.driveArm(Constants.Arm.climberUpAngle);}));
new JoystickButton(manipulatorController, Constants.Arm.lowerToClimberButton).onTrue(new InstantCommand(() -> {arm.driveArm(Constants.Arm.climberDownAngle);}));
new JoystickButton(manipulatorController, Constants.OI.Manipulator.RAISE_TO_CLIMBER_BUTTON).onTrue(new InstantCommand(() -> {arm.driveArm(Constants.Arm.CLIMBER_UP_ANGLE);}));
new JoystickButton(manipulatorController, Constants.OI.Manipulator.LOWER_TO_CLIMBER_BUTTON).onTrue(new InstantCommand(() -> {arm.driveArm(Constants.Arm.CLIMBER_DOWN_ANGLE);}));
}

public Command getAutonomousCommand() {
Expand Down
25 changes: 10 additions & 15 deletions src/main/java/org/carlmontrobotics/subsystems/Arm.java
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Original file line number Diff line number Diff line change
Expand Up @@ -60,13 +60,13 @@ public class Arm extends SubsystemBase {

public Arm() {
// weird math stuff
armMotor1.setInverted(motorInverted);
armMotor1.setInverted(MOTOR_INVERTED);
armMotor1.setIdleMode(IdleMode.kBrake);
armMotor2.setInverted(motorInverted);
armMotor2.setInverted(MOTOR_INVERTED);
armMotor2.setIdleMode(IdleMode.kBrake);
armEncoder.setPositionConversionFactor(rotationToRad);
armEncoder.setVelocityConversionFactor(rotationToRad);
armEncoder.setInverted(encoderInverted);
armEncoder.setPositionConversionFactor(ROTATION_TO_RAD);
armEncoder.setVelocityConversionFactor(ROTATION_TO_RAD);
armEncoder.setInverted(ENCODER_INVERTED);

armMotor2.follow(armMotor1);

Expand All @@ -82,8 +82,8 @@ public Arm() {

// SmartDashboard.putNumber("Arm Max Vel", MAX_FF_VEL );
SmartDashboard.putNumber("ARM_TELEOP_MAX_GOAL_DIFF_FROM_CURRENT_RAD", ARM_TELEOP_MAX_GOAL_DIFF_FROM_CURRENT_RAD);
SmartDashboard.putNumber("Arm Tolerance Pos", posToleranceRad);
SmartDashboard.putNumber("Arm Tolerance Vel", velToleranceRadPSec);
SmartDashboard.putNumber("Arm Tolerance Pos", POS_TOLERANCE_RAD);
SmartDashboard.putNumber("Arm Tolerance Vel", VEL_TOLERANCE_RAD_P_SEC);
}

@Override
Expand All @@ -108,7 +108,7 @@ public void periodic() {

// SmartDashboard.putNumber("MaxHoldingTorque", maxHoldingTorqueNM());
//SmartDashboard.putNumber("V_PER_NM", getV_PER_NM());
SmartDashboard.putNumber("COMDistance", getCoM().getNorm());
// SmartDashboard.putNumber("COMDistance", getCoM().getNorm());
SmartDashboard.putNumber("InternalArmVelocity", armEncoder.getVelocity());
//SmartDashboard.putNumber("Arm Current", armMotor.getOutputCurrent());

Expand Down Expand Up @@ -197,13 +197,8 @@ public double getArmClampedGoal(double goal) {



public Translation2d getCoM() {
Translation2d comOfArm = new Translation2d(COM_ARM_LENGTH_METERS, Rotation2d.fromRadians(getArmPos()))
.times(ARM_MASS_KG);

return comOfArm.plus(comOfArm);
//this math is prob wront
}




}

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