Skip to content

Turn to target #14

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Draft
EJainDev wants to merge 11 commits into
base: main
Choose a base branch
from
Draft

Turn to target #14

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
11 commits
Select commit Hold shift + click to select a range
73ba3bb
Started to setup turning to target.
EJainDev Oct 28, 2025
b940225
Added version of rotating to target.
EJainDev Oct 28, 2025
99dfd47
Initialize RobotState in static block
EJainDev Oct 28, 2025
e6422be
Fix turning function
EJainDev Oct 28, 2025
f70046a
Format
EJainDev Oct 28, 2025
0aa6c7c
Format
EJainDev Oct 28, 2025
1acb6e7
Change rotateToTag to use sequence instead of parallel
EJainDev Oct 28, 2025
7e9f6ce
Changed PID calculation to be correct instead of using ClosedLoopCont…
EJainDev Oct 29, 2025
c9e0854
Renamed vision_yaw to visionYaw.
EJainDev Oct 29, 2025
f41ac5f
Switched to passing yaw as an argument and not using RobotState.
EJainDev Oct 30, 2025
0806cb8
Clamped velocity output from PID
EJainDev Oct 30, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
15 changes: 13 additions & 2 deletions src/main/java/frc/robot/Orchestrator.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -4,18 +4,23 @@

import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import frc.robot.subsystems.drive.Drive;
import frc.robot.subsystems.indexer.Indexer;
import frc.robot.subsystems.shooter.Shooter;
import frc.robot.subsystems.shooter.ShooterConstants;

import frc.robot.subsystems.vision.Vision;

public class Orchestrator {
private final Indexer indexer;
private final Shooter shooter;
private final Vision vision;
private final Drive drive;

public Orchestrator(Indexer indexer, Shooter shooter) {
public Orchestrator(Indexer indexer, Shooter shooter, Vision vision, Drive drive) {
this.indexer = indexer;
this.shooter = shooter;
this.vision = vision;
this.drive = drive;
}

public Command spinUp(BooleanSupplier fastMode) {
Expand Down Expand Up @@ -51,6 +56,12 @@ public Command shootCycle(BooleanSupplier fastMode) {
.repeatedly());
}

public Command rotateToTag() {
return Commands.sequence(
drive.toAprilTag(vision.getYaw())
).repeatedly();
}

public Command reverseAll() {
return Commands.parallel(shooter.reverse(), indexer.reverse());
}
Expand Down
10 changes: 6 additions & 4 deletions src/main/java/frc/robot/RobotContainer.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@ public class RobotContainer {
private final Vision vision;
private final Indexer indexer = new Indexer(new IndexerIOSparkMax());
private final Shooter shooter = new Shooter(new ShooterIOSparkMax());
private final Orchestrator orchestrator = new Orchestrator(indexer, shooter);
private final Orchestrator orchestrator;
private final CommandXboxController driverController = new CommandXboxController(0);
private boolean fastMode = false;
private final Trigger fastModeTrigger = new Trigger(() -> fastMode);
Expand All @@ -45,6 +45,7 @@ public RobotContainer() {
// Configure the trigger bindings
drive = new Drive(new DriveIOSparkMax());
vision = new Vision(new VisionIOPhotonVision("VGA_USB_Camera"){});
orchestrator = new Orchestrator(indexer, shooter, vision, drive);
configureBindings();
}

Expand All @@ -67,9 +68,9 @@ private void configureBindings() {
() -> driverController.getHID()
.setRumble(edu.wpi.first.wpilibj.GenericHID.RumbleType.kBothRumble, 0.0)
));
drive.setDefaultCommand(drive.arcadeDrive(
driverController::getLeftY,
driverController::getRightY));
drive.setDefaultCommand(drive.arcadeDrive(
driverController::getLeftY,
driverController::getRightY));

driverController
.rightTrigger()
Expand All @@ -85,6 +86,7 @@ private void configureBindings() {
.rightBumper()
.onTrue(orchestrator.shootOnce(() -> fastMode))
.onFalse(orchestrator.stopAll());
driverController.x().whileTrue(orchestrator.rotateToTag());
}

/**
Expand Down
9 changes: 9 additions & 0 deletions src/main/java/frc/robot/subsystems/drive/Drive.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,7 @@
import edu.wpi.first.wpilibj2.command.Commands;
import java.util.function.BooleanSupplier;
import java.util.function.DoubleSupplier;

import org.littletonrobotics.junction.Logger;

public class Drive extends SubsystemBase {
Expand All @@ -30,4 +31,12 @@ public Command arcadeDrive(DoubleSupplier speedX, DoubleSupplier rotation) {
io.setVoltageRight(speeds.right * 7);
}, this);
}

public Command toAprilTag(double yaw) {
return Commands.run(
() -> {
io.rotateToTag(yaw);
}, this
);
}
}
4 changes: 3 additions & 1 deletion src/main/java/frc/robot/subsystems/drive/DriveConstants.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,8 @@

public class DriveConstants {


public static final double PID_P = 0.0;
public static final double PID_I = 0.0;
public static final double PID_D = 0.0;

}
3 changes: 1 addition & 2 deletions src/main/java/frc/robot/subsystems/drive/DriveIO.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,5 @@ default void setVelocityRadPerSecL(double leftVelocityRadPerSec){}

default void setVelocityRadPerSecR(double rightVelocityRadPerSec){}



default public void rotateToTag(double yaw) {}
}
15 changes: 14 additions & 1 deletion src/main/java/frc/robot/subsystems/drive/DriveIOSparkMax.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,11 +2,12 @@

import com.revrobotics.RelativeEncoder;
import com.revrobotics.spark.SparkBase;
import com.revrobotics.spark.SparkClosedLoopController;
import com.revrobotics.spark.SparkLowLevel;
import com.revrobotics.spark.SparkMax;
import com.revrobotics.spark.config.SparkBaseConfig;
import com.revrobotics.spark.config.SparkMaxConfig;
import edu.wpi.first.math.controller.PIDController;
import java.lang.Math;

public class DriveIOSparkMax implements DriveIO{
private final SparkMax leftLeader;
Expand All @@ -17,6 +18,7 @@ public class DriveIOSparkMax implements DriveIO{
private final RelativeEncoder leftLeaderEncoder;
private final RelativeEncoder rightLeaderEncoder;

private final PIDController pidController;

public DriveIOSparkMax(){
leftLeader = new SparkMax(3, SparkLowLevel.MotorType.kBrushless);
Expand Down Expand Up @@ -51,6 +53,9 @@ public DriveIOSparkMax(){
.voltageCompensation(12)
.smartCurrentLimit(60)
.follow(5, false);

pidController = new PIDController(DriveConstants.PID_P, DriveConstants.PID_I, DriveConstants.PID_D);

leftLeader.configure(LeftLeaderConfig, SparkBase.ResetMode.kResetSafeParameters, SparkBase.PersistMode.kPersistParameters);
leftFollower.configure(LeftFollowerConfig, SparkBase.ResetMode.kResetSafeParameters, SparkBase.PersistMode.kPersistParameters);
rightLeader.configure(RightLeaderConfig, SparkBase.ResetMode.kResetSafeParameters, SparkBase.PersistMode.kPersistParameters);
Expand Down Expand Up @@ -88,4 +93,12 @@ public void setVelocityRadPerSecR(double rightVelocityRadPerSec){
rightLeader.set(rightVelocityRadPerSec);
}

@Override
public void rotateToTag(double yaw) {
var newVelocity = pidController.calculate(yaw, 0);
newVelocity = Math.max(-1, newVelocity);
newVelocity = Math.min(1, newVelocity);
leftLeader.set(newVelocity);
Copy link
Copy Markdown
Contributor

@ShayanHasNo ShayanHasNo Oct 30, 2025

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

You’re going to have to figure out a constant that turns the degree value into a range of -1 and 1 as motor.set only accepts that range. Multiple the constant and the PID output to get your ‘velocity’

Copy link
Copy Markdown
Member Author

@EJainDev EJainDev Oct 30, 2025

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

I've just clamped it for now, I think we'll need to create a function for PID to properly work. I'll work on that.

rightLeader.set(-newVelocity);
}
}
1 change: 1 addition & 0 deletions src/main/java/frc/robot/subsystems/shooter/ShooterIOSparkMax.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@
import com.revrobotics.RelativeEncoder;
import com.revrobotics.spark.SparkBase.PersistMode;
import com.revrobotics.spark.SparkBase.ResetMode;
import com.revrobotics.spark.SparkClosedLoopController;
import com.revrobotics.spark.SparkLimitSwitch;
import com.revrobotics.spark.SparkLowLevel.MotorType;
import com.revrobotics.spark.SparkMax;
Expand Down
2 changes: 2 additions & 0 deletions src/main/java/frc/robot/subsystems/vision/Vision.java
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,5 +1,7 @@
package frc.robot.subsystems.vision;

import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import org.littletonrobotics.junction.Logger;

Expand Down