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R2 93 instantiate hopper subsystem and command #34

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R2 93 instantiate hopper subsystem and command #34

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d783db1
WIP 1/22/26 Instantiate Hopper Subsystem and Command!
GhostR406 Jan 23, 2026
ed7aafc
Mapped 'setGoal' and instantiated the hopper subsystem in RobotContai…
GhostR406 Jan 29, 2026
06fb346
1/29/26 Fixed small issues
GhostR406 Jan 30, 2026
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23 changes: 18 additions & 5 deletions src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@
import static edu.wpi.first.units.Units.RotationsPerSecondPerSecond;
import static edu.wpi.first.units.Units.Second;

import com.revrobotics.spark.config.SparkMaxConfig;
import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.apriltag.AprilTagFields;
import edu.wpi.first.math.geometry.Translation2d;
Expand Down Expand Up @@ -89,7 +90,11 @@ public class HopperConstants {
private static final Distance DRUM_RADIUS = Inches.of(2.0);
public static final DistanceAngleConverter CONVERTER = new DistanceAngleConverter(DRUM_RADIUS);
public static final AngularVelocity ANGULAR_VELOCITY = RotationsPerSecond.of(1);
public static final AngularAcceleration ANGULAR_ACCELERATION = RotationsPerSecondPerSecond.of(1);
public static final AngularAcceleration ANGULAR_ACCELERATION =
RotationsPerSecondPerSecond.of(1);
public static final int CAN_ID = 0;
public static final SparkMaxConfig MOTOR_CONFIG = new SparkMaxConfig();
public static final int HOPPER_POSITION = 1;
}

public class Ports {
Expand All @@ -101,7 +106,7 @@ public class Ports {
}

public final class ShooterConstants {
// Constants for the Shooter
// Constants for the Shooter
public static final Angle ANGLE_TOLERANCE = Rotations.of(0.01);
public static final AngularVelocity ANGLE_VELOCITY_TOLERANCE = RotationsPerSecond.of(0.01);
public static final AngularVelocity CRUISE_VELOCITY = RotationsPerSecond.of(204);
Expand All @@ -114,9 +119,10 @@ public final class ShooterConstants {
public static final Angle MAX_ANGLE = Rotations.of(10.0);
public static final Angle STARTING_ANGLE = Rotations.of(0.0);
public static final Distance WHEEL_RADIUS = Meters.of(0.5);
public static final RotaryMechCharacteristics CONSTANTS = new RotaryMechCharacteristics(OFFSET, WHEEL_RADIUS, MIN_ANGLE, MAX_ANGLE, STARTING_ANGLE);
public static final RotaryMechCharacteristics CONSTANTS =
new RotaryMechCharacteristics(OFFSET, WHEEL_RADIUS, MIN_ANGLE, MAX_ANGLE, STARTING_ANGLE);
}

public static final int CANDLE_ID = 50;

public class IntakeConstants {
Expand All @@ -133,6 +139,7 @@ public class IntakeConstants {
public static final RotaryMechCharacteristics CONSTANTS =
new RotaryMechCharacteristics(OFFSET, WHEEL_RADIUS, MIN_ANGLE, MAX_ANGLE, STARTING_ANGLE);
}

public class ClimberConstants {
public static final Distance TOLERANCE = Inches.of(0.1);
public static final double GEARING = (5.0 / 1.0);
Expand All @@ -141,6 +148,12 @@ public class ClimberConstants {
public static final Distance STARTING_DISTANCE = Inches.of(0.0);
public static final Distance DRUM_RADIUS = Inches.of(2.0);
public static final DistanceAngleConverter CONVERTER = new DistanceAngleConverter(DRUM_RADIUS);
public static final LinearMechCharacteristics CHARACTERISTICS = new LinearMechCharacteristics(new Translation3d(0.0, 0.0, 0.0), MIN_DISTANCE, MAX_DISTANCE, STARTING_DISTANCE, CONVERTER);
public static final LinearMechCharacteristics CHARACTERISTICS =
new LinearMechCharacteristics(
new Translation3d(0.0, 0.0, 0.0),
MIN_DISTANCE,
MAX_DISTANCE,
STARTING_DISTANCE,
CONVERTER);
}
}
42 changes: 39 additions & 3 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -13,16 +13,23 @@

package frc.robot;

import com.ctre.phoenix6.hardware.TalonFX;
import static edu.wpi.first.units.Units.KilogramSquareMeters;
import static edu.wpi.first.units.Units.RotationsPerSecond;

import com.pathplanner.lib.auto.AutoBuilder;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
import frc.lib.W8.io.motor.*;
import frc.lib.W8.mechanisms.flywheel.*;
import frc.lib.W8.util.Device.CAN;
import frc.robot.Constants.HopperConstants;
import frc.robot.commands.DriveCommands;
import frc.robot.generated.TunerConstants;
import frc.robot.subsystems.drive.Drive;
Expand All @@ -31,6 +38,7 @@
import frc.robot.subsystems.drive.ModuleIO;
import frc.robot.subsystems.drive.ModuleIOSim;
import frc.robot.subsystems.drive.ModuleIOTalonFX;
import frc.robot.subsystems.hopper.Hopper;
import org.littletonrobotics.junction.networktables.LoggedDashboardChooser;

/**
Expand All @@ -42,6 +50,7 @@
public class RobotContainer {
// Subsystems
private final Drive drive;
private final Hopper hopper;

// Controller
private final CommandXboxController controller = new CommandXboxController(0);
Expand All @@ -61,6 +70,15 @@ public RobotContainer() {
new ModuleIOTalonFX(TunerConstants.FrontRight),
new ModuleIOTalonFX(TunerConstants.BackLeft),
new ModuleIOTalonFX(TunerConstants.BackRight));

hopper =
new Hopper(
new FlywheelMechanismReal(
new MotorIORev(
"HopperMotor",
new CAN(HopperConstants.CAN_ID, "rio"),
false,
HopperConstants.MOTOR_CONFIG)));
break;

case SIM:
Expand All @@ -72,6 +90,21 @@ public RobotContainer() {
new ModuleIOSim(TunerConstants.FrontRight),
new ModuleIOSim(TunerConstants.BackLeft),
new ModuleIOSim(TunerConstants.BackRight));

hopper =
new Hopper(
new FlywheelMechanismSim(
new MotorIORevSim(
"Simulated Rev Motor",
new CAN(HopperConstants.CAN_ID, "rio"),
false,
1,
1,
DCMotor.getNEO(1),
HopperConstants.MOTOR_CONFIG),
DCMotor.getNEO(1),
KilogramSquareMeters.of(0.5),
RotationsPerSecond.of(0.1)));
break;

default:
Expand All @@ -83,6 +116,7 @@ public RobotContainer() {
new ModuleIO() {},
new ModuleIO() {},
new ModuleIO() {});
hopper = new Hopper(new FlywheelMechanism() {});
break;
}

Expand Down Expand Up @@ -147,6 +181,10 @@ private void configureButtonBindings() {
new Pose2d(drive.getPose().getTranslation(), new Rotation2d())),
drive)
.ignoringDisable(true));

controller
.x()
.onTrue(Commands.runOnce(() -> hopper.setGoal(HopperConstants.HOPPER_POSITION), hopper));
}

/**
Expand All @@ -157,6 +195,4 @@ private void configureButtonBindings() {
public Command getAutonomousCommand() {
return autoChooser.get();
}

TalonFX billyBob = new TalonFX(30, TunerConstants.DrivetrainConstants.CANBusName);
}
25 changes: 14 additions & 11 deletions src/main/java/frc/robot/subsystems/hopper/Hopper.java
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Original file line number Diff line number Diff line change
Expand Up @@ -6,23 +6,26 @@
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.lib.W8.io.motor.MotorIO.PIDSlot;
import frc.lib.W8.mechanisms.flywheel.FlywheelMechanism;
import frc.robot.Constants;
import frc.robot.Constants.HopperConstants;

public class Hopper extends SubsystemBase {

private FlywheelMechanism _io;
private FlywheelMechanism _io;

public Hopper(FlywheelMechanism io) {
_io = io;
}
public Hopper(FlywheelMechanism io) {
_io = io;
}

public void setGoal(double position) {
Distance positionInches = Inches.of(position);
_io.runPosition(HopperConstants.CONVERTER.toAngle(positionInches), HopperConstants.ANGULAR_VELOCITY, HopperConstants.ANGULAR_ACCELERATION, null, PIDSlot.SLOT_0);
}
public void setGoal(double position) {
Distance positionInches = Inches.of(position);
_io.runPosition(
HopperConstants.CONVERTER.toAngle(positionInches),
HopperConstants.ANGULAR_VELOCITY,
HopperConstants.ANGULAR_ACCELERATION,
null,
PIDSlot.SLOT_0);
}

@Override
public void periodic() {}

}
}