diff --git a/charecterization/flywheel/flyWheelConfig.json b/charecterization/flywheel/flyWheelConfig.json new file mode 100644 index 0000000..dbc7f8c --- /dev/null +++ b/charecterization/flywheel/flyWheelConfig.json @@ -0,0 +1,37 @@ +{ + "counts per rotation": 1.0, + "encoder type": "Encoder Port", + "encoding": false, + "gearing denominator": 1.33, + "gearing numerator": 1.0, + "gyro": "Analog Gyro", + "gyro ctor": "0", + "is drivetrain": false, + "motor controllers": [ + "SPARK MAX (Brushless)" + ], + "number of samples per average": 1, + "primary encoder inverted": false, + "primary encoder ports": [ + 0, + 1 + ], + "primary motor ports": [ + 23 + ], + "primary motors inverted": [ + false + ], + "secondary encoder inverted": false, + "secondary encoder ports": [ + 2, + 3 + ], + "secondary motor ports": [ + 2 + ], + "secondary motors inverted": [ + false + ], + "velocity measurement period": 100 +} \ No newline at end of file diff --git a/charecterization/flywheel/sysid.json b/charecterization/flywheel/sysid.json new file mode 100644 index 0000000..6eccf09 --- /dev/null +++ b/charecterization/flywheel/sysid.json @@ -0,0 +1,10 @@ +{ + "SysId": { + "Analysis Type": "General Mechanism", + "NetworkTables Settings": { + "serverTeam": "6506" + }, + "mode": "Client", + "serverTeam": "6506" + } +} diff --git a/charecterization/flywheel/sysid_data20220318-175939.json b/charecterization/flywheel/sysid_data20220318-175939.json new file mode 100644 index 0000000..38b0ce1 --- /dev/null +++ b/charecterization/flywheel/sysid_data20220318-175939.json @@ -0,0 +1,6 @@ +{ + "sysid": true, + "test": "Simple", + "units": "Meters", + "unitsPerRotation": 1.0 +} \ No newline at end of file diff --git a/charecterization/flywheel/sysid_data20220318-180328 (Simple, Meters).csv b/charecterization/flywheel/sysid_data20220318-180328 (Simple, Meters).csv new file mode 100644 index 0000000..8edb6aa --- /dev/null +++ b/charecterization/flywheel/sysid_data20220318-180328 (Simple, 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+ ] + ], + "sysid": true, + "test": "Simple", + "units": "Meters", + "unitsPerRotation": 1.0 +} \ No newline at end of file diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 0083454..a341959 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -83,7 +83,8 @@ public class RobotContainer { public RobotContainer() { // setting default commands drivetrain.setDefaultCommand(arcadeDrive); - intake.setDefaultCommand(spinIntakeWheel); + intake.setDefaultCommand(spinIntakeWheel); // TODO: Change to trigger + outtake.setDefaultCommand(spinFlywheel); // TODO: Change to trigger // Configure the button bindings configureButtonBindings(); diff --git a/src/main/java/frc/robot/commands/SpinFeedWheel.java b/src/main/java/frc/robot/commands/SpinFeedWheel.java index a0466e1..b19ec7b 100644 --- a/src/main/java/frc/robot/commands/SpinFeedWheel.java +++ b/src/main/java/frc/robot/commands/SpinFeedWheel.java @@ -26,7 +26,7 @@ public void initialize() {} // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - outtake.spinFeedWheel(1); + outtake.spinFeedWheel(.5); } // Called once the command ends or is interrupted. @@ -38,6 +38,7 @@ public void end(boolean interrupted) { // Returns true when the command should end. @Override public boolean isFinished() { + return false; } } diff --git a/src/main/java/frc/robot/commands/SpinFlywheel.java b/src/main/java/frc/robot/commands/SpinFlywheel.java index c66d4f0..4f452fb 100644 --- a/src/main/java/frc/robot/commands/SpinFlywheel.java +++ b/src/main/java/frc/robot/commands/SpinFlywheel.java @@ -5,6 +5,7 @@ package frc.robot.commands; import edu.wpi.first.wpilibj2.command.CommandBase; +import frc.robot.RobotContainer; import frc.robot.subsystems.Outtake; public class SpinFlywheel extends CommandBase { @@ -24,7 +25,9 @@ public void initialize() {} // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - outtake.spinFlywheel(.1); + // outtake.spinFlywheel(.1); + outtake.spinFlywheel( + RobotContainer.controller.getRawAxis(2)); // TODO Chagne to trigger and set speed } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc/robot/commands/SpinIntakeWheel.java b/src/main/java/frc/robot/commands/SpinIntakeWheel.java index 08169b4..2138e6d 100644 --- a/src/main/java/frc/robot/commands/SpinIntakeWheel.java +++ b/src/main/java/frc/robot/commands/SpinIntakeWheel.java @@ -5,6 +5,7 @@ package frc.robot.commands; import edu.wpi.first.wpilibj2.command.CommandBase; +import frc.robot.RobotContainer; import frc.robot.subsystems.Intake; public class SpinIntakeWheel extends CommandBase { @@ -25,7 +26,8 @@ public void initialize() {} // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - intake.spinIntakeWheel(1); + intake.spinIntakeWheel( + RobotContainer.controller.getRawAxis(3)); // TODO Chagne to trigger and set speed } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc/robot/subsystems/Outtake.java b/src/main/java/frc/robot/subsystems/Outtake.java index d0006ff..724592b 100644 --- a/src/main/java/frc/robot/subsystems/Outtake.java +++ b/src/main/java/frc/robot/subsystems/Outtake.java @@ -18,7 +18,9 @@ public class Outtake extends SubsystemBase { private VictorSPX feedWheelMotor = new VictorSPX(Constants.MOTOR_FEEDWHEEL_ID); /** Creates a new Outtake. */ - public Outtake() {} + public Outtake() { + feedWheelMotor.setInverted(true); // Spins backwards + } /** * @param speed, -1.00 <= speed, 1.00