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updated shooter io for four motors #435

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updated shooter io for four motors #435

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35 changes: 20 additions & 15 deletions src/main/java/frc/robot/Schematic.java
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Original file line number Diff line number Diff line change
Expand Up @@ -20,9 +20,10 @@ public class Schematic {
public static final int backRightAbsoluteEncoderCanId;

// shooter subsystem
public static final int shooterBottomMotorCanId;
public static final int shooterTopMotorCanId;
public static final int shooterMiddleMotorCanId;
public static final int shooterTopLeftMotorCanId;
public static final int shooterTopRightMotorCanId;
public static final int shooterBottomLeftMotorCanId;
public static final int shooterBottomRightMotorCanId;
// magic carpet sub-system
public static final int magicCarpetCanId;

Expand Down Expand Up @@ -60,9 +61,10 @@ public class Schematic {
backLeftAbsoluteEncoderCanId = 20;

// Shooter (CAN Ids)
shooterBottomMotorCanId = 0;
shooterTopMotorCanId = 0;
shooterMiddleMotorCanId = 0;
shooterTopLeftMotorCanId = 0;
shooterTopRightMotorCanId = 0;
shooterBottomLeftMotorCanId = 0;
shooterBottomRightMotorCanId = 0;

// Magic Carpet (CAN Ids)
magicCarpetCanId = 0;
Expand Down Expand Up @@ -99,9 +101,10 @@ public class Schematic {
backLeftAbsoluteEncoderCanId = 21;

// Shooter (CAN Ids)
shooterTopMotorCanId = 11;
shooterMiddleMotorCanId = 12;
shooterBottomMotorCanId = 13;
shooterTopLeftMotorCanId = 11;
shooterTopRightMotorCanId = 12;
shooterBottomLeftMotorCanId = 13;
shooterBottomRightMotorCanId = 14;

// Hopper (CAN Ids)
magicCarpetCanId = 15;
Expand Down Expand Up @@ -137,9 +140,10 @@ public class Schematic {
backRightAbsoluteEncoderCanId = 0;

// Shooter (CAN Ids)
shooterBottomMotorCanId = 0;
shooterTopMotorCanId = 0;
shooterMiddleMotorCanId = 0;
shooterTopLeftMotorCanId = 0;
shooterTopRightMotorCanId = 0;
shooterBottomLeftMotorCanId = 0;
shooterBottomRightMotorCanId = 0;

// Magic Carpet (CAN Ids)
magicCarpetCanId = 0;
Expand Down Expand Up @@ -175,9 +179,10 @@ public class Schematic {
backRightAbsoluteEncoderCanId = 0;

// Shooter (CAN Ids)
shooterBottomMotorCanId = 0;
shooterTopMotorCanId = 0;
shooterMiddleMotorCanId = 0;
shooterTopLeftMotorCanId = 0;
shooterTopRightMotorCanId = 0;
shooterBottomLeftMotorCanId = 0;
shooterBottomRightMotorCanId = 0;

// Magic Carpet (CAN Ids)
magicCarpetCanId = 0;
Expand Down
22 changes: 13 additions & 9 deletions src/main/java/frc/robot/subsystems/shooter/ShooterIO.java
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Original file line number Diff line number Diff line change
Expand Up @@ -6,17 +6,21 @@ public interface ShooterIO {

@AutoLog
class ShooterIOInputs {
public double middleMotorVelocityRadPerSec;
public double middleMotorAppliedVolts;
public double middleMotorCurrentAmps;
public double topLeftMotorVelocityRadPerSec;
public double topLeftMotorAppliedVolts;
public double topLeftMotorCurrentAmps;

public double bottomMotorVelocityRadPerSec;
public double bottomMotorAppliedVolts;
public double bottomMotorCurrentAmps;
public double topRightMotorVelocityRadPerSec;
public double topRightMotorAppliedVolts;
public double topRightMotorCurrentAmps;

public double topMotorVelocityRadPerSec;
public double topMotorAppliedVolts;
public double topMotorCurrentAmps;
public double bottomLeftMotorVelocityRadPerSec;
public double bottomLeftMotorAppliedVolts;
public double bottomLeftMotorCurrentAmps;

public double bottomRightMotorVelocityRadPerSec;
public double bottomRightMotorAppliedVolts;
public double bottomRightMotorCurrentAmps;

public boolean atSetpoint = false;
public double setpointRPM = 0;
Expand Down
142 changes: 84 additions & 58 deletions src/main/java/frc/robot/subsystems/shooter/ShooterIOSparkMax.java
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Original file line number Diff line number Diff line change
@@ -1,8 +1,9 @@
package frc.robot.subsystems.shooter;

import static frc.robot.Schematic.shooterBottomMotorCanId;
import static frc.robot.Schematic.shooterMiddleMotorCanId;
import static frc.robot.Schematic.shooterTopMotorCanId;
import static frc.robot.Schematic.shooterBottomLeftMotorCanId;
import static frc.robot.Schematic.shooterBottomRightMotorCanId;
import static frc.robot.Schematic.shooterTopLeftMotorCanId;
import static frc.robot.Schematic.shooterTopRightMotorCanId;
import static frc.robot.subsystems.shooter.ShooterConstants.*;

import com.revrobotics.RelativeEncoder;
Expand All @@ -15,94 +16,119 @@

public class ShooterIOSparkMax implements ShooterIO {

private final SparkMax middleMotor;
private final SparkMax bottomMotor;
private final SparkMax topMotor;
private final RelativeEncoder middleMotorEncoder;
private final RelativeEncoder bottomMotorEncoder;
private final RelativeEncoder topMotorEncoder;
private final SparkMax topLeftMotor;
private final SparkMax topRightMotor;
private final SparkMax bottomLeftMotor;
private final SparkMax bottomRightMotor;
private final RelativeEncoder topLeftMotorEncoder;
private final RelativeEncoder topRightMotorEncoder;
private final RelativeEncoder bottomLeftMotorEncoder;
private final RelativeEncoder bottomRightMotorEncoder;

public ShooterIOSparkMax() {
middleMotor = new SparkMax(shooterMiddleMotorCanId, MotorType.kBrushless);
bottomMotor = new SparkMax(shooterBottomMotorCanId, MotorType.kBrushless);
topMotor = new SparkMax(shooterTopMotorCanId, MotorType.kBrushless);
topLeftMotor = new SparkMax(shooterTopLeftMotorCanId, MotorType.kBrushless);
topRightMotor = new SparkMax(shooterTopRightMotorCanId, MotorType.kBrushless);
bottomLeftMotor = new SparkMax(shooterBottomLeftMotorCanId, MotorType.kBrushless);
bottomRightMotor = new SparkMax(shooterBottomRightMotorCanId, MotorType.kBrushless);

var middleMotorConfig = new SparkMaxConfig();
middleMotorConfig
EncoderConfig enc = new EncoderConfig();
enc.positionConversionFactor(ENCODER_POSITION_CONVERSION);
enc.velocityConversionFactor(ENCODER_VELOCITY_CONVERSION);

var bottomLeftMotorConfig = new SparkMaxConfig();
bottomLeftMotorConfig
.inverted(false)
.idleMode(IDLE_MODE)
.voltageCompensation(VOLTAGE_COMPENSATION)
.smartCurrentLimit(CURRENT_LIMIT);
bottomLeftMotorConfig.apply(enc);

var bottomMotorConfig = new SparkMaxConfig();
bottomMotorConfig
.inverted(true)
var topLeftMotorConfig = new SparkMaxConfig();
topLeftMotorConfig
.inverted(false)
.idleMode(IDLE_MODE)
.voltageCompensation(VOLTAGE_COMPENSATION)
.smartCurrentLimit(CURRENT_LIMIT);
topLeftMotorConfig.follow(bottomLeftMotor.getDeviceId(), false);
topLeftMotorConfig.apply(enc);

var topMotorConfig = new SparkMaxConfig();
topMotorConfig
.inverted(false)
var bottomRightMotorConfig = new SparkMaxConfig();
bottomRightMotorConfig
.inverted(true)
.idleMode(IDLE_MODE)
.voltageCompensation(VOLTAGE_COMPENSATION)
.smartCurrentLimit(CURRENT_LIMIT);
bottomRightMotorConfig.follow(bottomLeftMotor.getDeviceId(), true);
bottomRightMotorConfig.apply(enc);

topMotorConfig.follow(bottomMotor.getDeviceId(), false);
middleMotorConfig.follow(bottomMotor.getDeviceId(), true);

EncoderConfig enc = new EncoderConfig();
enc.positionConversionFactor(ENCODER_POSITION_CONVERSION);
enc.velocityConversionFactor(ENCODER_VELOCITY_CONVERSION);
middleMotorConfig.apply(enc);
bottomMotorConfig.apply(enc);
topMotorConfig.apply(enc);

middleMotor.configure(
middleMotorConfig, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters);
bottomMotor.configure(
bottomMotorConfig, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters);
topMotor.configure(
topMotorConfig, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters);

middleMotorEncoder = middleMotor.getEncoder();
bottomMotorEncoder = bottomMotor.getEncoder();
topMotorEncoder = topMotor.getEncoder();
var topRightMotorConfig = new SparkMaxConfig();
topRightMotorConfig
.inverted(true)
.idleMode(IDLE_MODE)
.voltageCompensation(VOLTAGE_COMPENSATION)
.smartCurrentLimit(CURRENT_LIMIT);
topRightMotorConfig.follow(bottomLeftMotor.getDeviceId(), true);
topRightMotorConfig.apply(enc);

bottomLeftMotor.configure(
bottomLeftMotorConfig, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters);
topLeftMotor.configure(
topLeftMotorConfig, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters);
bottomRightMotor.configure(
bottomRightMotorConfig, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters);
topRightMotor.configure(
topRightMotorConfig, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters);

topLeftMotorEncoder = topLeftMotor.getEncoder();
topRightMotorEncoder = topRightMotor.getEncoder();
bottomLeftMotorEncoder = bottomLeftMotor.getEncoder();
bottomRightMotorEncoder = bottomRightMotor.getEncoder();
}

@Override
public void updateInputs(ShooterIOInputs inputs) {
inputs.middleMotorCurrentAmps = middleMotor.getOutputCurrent();
inputs.middleMotorAppliedVolts = middleMotor.getBusVoltage() * middleMotor.getAppliedOutput();
inputs.middleMotorVelocityRadPerSec = middleMotorEncoder.getVelocity();

inputs.bottomMotorCurrentAmps = bottomMotor.getOutputCurrent();
inputs.bottomMotorAppliedVolts = bottomMotor.getBusVoltage() * bottomMotor.getAppliedOutput();
inputs.bottomMotorVelocityRadPerSec = bottomMotorEncoder.getVelocity();

inputs.topMotorCurrentAmps = topMotor.getOutputCurrent();
inputs.topMotorAppliedVolts = topMotor.getBusVoltage() * topMotor.getAppliedOutput();
inputs.topMotorVelocityRadPerSec = topMotorEncoder.getVelocity();
inputs.topLeftMotorCurrentAmps = topLeftMotor.getOutputCurrent();
inputs.topLeftMotorAppliedVolts =
topLeftMotor.getBusVoltage() * topLeftMotor.getAppliedOutput();
inputs.topLeftMotorVelocityRadPerSec = topLeftMotorEncoder.getVelocity();

inputs.topRightMotorCurrentAmps = topRightMotor.getOutputCurrent();
inputs.topRightMotorAppliedVolts =
topRightMotor.getBusVoltage() * topRightMotor.getAppliedOutput();
inputs.topRightMotorVelocityRadPerSec = topRightMotorEncoder.getVelocity();

inputs.bottomLeftMotorCurrentAmps = bottomLeftMotor.getOutputCurrent();
inputs.bottomLeftMotorAppliedVolts =
bottomLeftMotor.getBusVoltage() * bottomLeftMotor.getAppliedOutput();
inputs.bottomLeftMotorVelocityRadPerSec = bottomLeftMotorEncoder.getVelocity();

inputs.bottomRightMotorCurrentAmps = bottomRightMotor.getOutputCurrent();
inputs.bottomRightMotorAppliedVolts =
bottomRightMotor.getBusVoltage() * bottomRightMotor.getAppliedOutput();
inputs.bottomRightMotorVelocityRadPerSec = bottomRightMotorEncoder.getVelocity();

inputs.totalAmps =
inputs.middleMotorCurrentAmps + inputs.bottomMotorCurrentAmps + inputs.topMotorCurrentAmps;
inputs.topLeftMotorCurrentAmps
+ inputs.topRightMotorCurrentAmps
+ inputs.bottomLeftMotorCurrentAmps
+ inputs.bottomRightMotorCurrentAmps;

inputs.shooterWheelVelocityRadPerSec =
inputs.bottomMotorVelocityRadPerSec / SHOOTER_WHEEL_GEAR_RATIO;
inputs.shooterWheelPosition = bottomMotorEncoder.getPosition() / SHOOTER_WHEEL_GEAR_RATIO;
inputs.bottomLeftMotorVelocityRadPerSec / SHOOTER_WHEEL_GEAR_RATIO;
inputs.shooterWheelPosition = bottomLeftMotorEncoder.getPosition() / SHOOTER_WHEEL_GEAR_RATIO;

inputs.setpointRPM = bottomMotor.getClosedLoopController().getSetpoint();
inputs.atSetpoint = bottomMotor.getClosedLoopController().isAtSetpoint();
inputs.setpointRPM = bottomLeftMotor.getClosedLoopController().getSetpoint();
inputs.atSetpoint = bottomLeftMotor.getClosedLoopController().isAtSetpoint();
}

@Override
public void setVoltage(double volts) {
bottomMotor.setVoltage(volts);
bottomLeftMotor.setVoltage(volts);
}

@Override
public void stop() {
bottomMotor.set(0);
bottomLeftMotor.set(0);
}

private double distanceToRPM(double distanceMeters) {
Expand Down
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