Elevator safety - max Chen by Ishan1522 · Pull Request #99 · TitaniumTigers4829/mako-robot-code-2025

Ishan1522 · 2025-02-16T15:41:56Z

No description provided.

Ishan1522 · 2025-02-18T01:57:02Z

/format

JacksonElia

I think before this is merged, a lot of testing should be done, but the way you implemented it is nice. Cooking fr

JacksonElia · 2025-02-19T08:26:42Z

+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+


Maybe you want to set the elevator motor speed to 0 when the command ends? Ask mr ishan

too ez- maxc

I hate all of you guys

Ishan1522 · 2025-02-20T00:15:35Z

+    if (Math.abs(swerveDrive.getRoll()) >= ElevatorConstants.MAX_ROLL_ANGLE // gyro safety
+        || Math.abs(swerveDrive.getPitch())
+            >= ElevatorConstants
+                .MAX_PITCH_ANGLE) // TODO if robot is not in climbing state, then do this (AND


We don't care about the state of the elevator when we are climbing right? In fact the elevator should be all the way down while climbing, so this should only help us.

W THINKING MAX L WAS WRONG LOLLLLL

Ishan1522 · 2025-02-20T00:16:19Z

+    // logic)
+    {
+      // elevatorSubsystem.setDefaultCommand(new ZeroElevator(elevatorSubsystem)); // maybe works
+      elevatorSubsystem.setElevatorPosition(0);


I haven't looked into both of these things enough to comment on whether you guys did this correctly or not....

test it ig -maxxxxxxxxxc

Ishan1522 · 2025-02-20T00:17:01Z

+import frc.robot.subsystems.elevator.ElevatorSubsystem;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class ZeroElevator extends Command {


Make this a command factory in elevator subsystem

Ishan1522 · 2025-02-20T00:17:46Z

+  // The limits for the gyro
+  public static final double MAX_ROLL_ANGLE = 30; // degrees
+  public static final double MAX_PITCH_ANGLE = 20; // degrees
+  // public static final double MAX_ACCEL_X = 69;


These should be in swerve constants and wouldn't rlly have anything to do with moving the elevator; they just limit the motion of the robot so we don't tip.

Ishan1522 · 2025-02-20T00:17:59Z

    return gyroInputs.yawDegrees;
  }

+  public double getPitch() {


Docstrings?

Make the docstring have a return in it, and specify what units/direction this is in. E.g. Gets the pitch of the robot in degrees, positive being when the robot leans forwards (this is just a guess, I could be wrong, so double check it)

Urbanmass · 2025-03-17T21:29:38Z

I will delete all your code - Rohan

JacksonElia

Nice work, this code could def save us

JacksonElia · 2025-03-18T04:25:38Z

+    // operatorController.b().whileTrue(Commands.none());
+    // operatorController.y().whileTrue(Commands.none());
+    // operatorController.x().whileTrue(Commands.none());


Suggested change

// operatorController.b().whileTrue(Commands.none());

// operatorController.y().whileTrue(Commands.none());

// operatorController.x().whileTrue(Commands.none());

JacksonElia · 2025-03-18T04:32:07Z

+      leaderMotor.setPosition(0);//set encoder back to 0
+      followerMotor.setPosition(0); // set encoder back to 0
+      //leaderMotor.setPosition(Rotations.of(0.0));
+      followerMotor.set(0);
+      leaderMotor.set(0);} 


do you need to set both the leader and follower? Couldn't you just do the leader?

JacksonElia · 2025-03-18T04:32:47Z

+      leaderMotor.setPosition(ElevatorConstants.MAX_HEIGHT);//set encoder to max height
+      followerMotor.setPosition(ElevatorConstants.MAX_HEIGHT); // set encoder to max height


Idk if you want to set the position here, it could lead to the elevator getting zeroed wrong I think

dat da whole point of dis tho

no but like we should only ever zero it at the bottom i feel. Like what if the elevator gets stuck on something while its going up, or it gets 90% of the way up and bc of fucky belt stuff can't go any further?

JacksonElia · 2025-03-18T04:35:59Z

+  public static final double MAX_ROLL_ANGLE = 30; // degrees
+  public static final double MAX_PITCH_ANGLE = 20; // degrees


We should maybe try to "tune" these values, but these are probably pretty good

Copilot

Pull Request Overview

This pull request enhances elevator safety by adding a new ZeroElevator command, incorporating homing logic into the PhysicalElevator, and introducing stator current monitoring and safety checks during teleop.

Introduces a ZeroElevator command to reset elevator position and stop motors.
Implements elevator homing logic based on stator current and velocity conditions in PhysicalElevator.
Updates elevator constants, adds current measurement support, and includes additional safety checks in teleopPeriodic.

Reviewed Changes

Copilot reviewed 14 out of 14 changed files in this pull request and generated 2 comments.

Show a summary per file

File	Description
src/main/java/frc/robot/commands/elevator/ZeroElevator.java	Adds new command for zeroing the elevator.
src/main/java/frc/robot/subsystems/elevator/PhysicalElevator.java	Introduces stator current monitoring and homing functionality.
src/main/java/frc/robot/subsystems/elevator/ElevatorInterface.java	Adds default methods for stator current and homing.
src/main/java/frc/robot/Robot.java	Integrates ZeroElevator and homing checks in teleopPeriodic along with safety limits.
src/main/java/frc/robot/subsystems/swerve/gyro/GyroInterface.java, SwerveDrive.java, PhysicalGyro.java, SimulatedGyro.java	Enhances gyro input handling by including pitch and roll.
src/main/java/frc/robot/subsystems/elevator/ElevatorConstants.java	Updates elevator proportional gain and introduces stator current thresholds.

Comments suppressed due to low confidence (1)

src/main/java/frc/robot/subsystems/elevator/ElevatorConstants.java:35

MIN_STATOR_THRESHOLD is set to the same value as MAX_STATOR_THRESHOLD, which might lead to unintended logic in the homing method; please confirm that this is the desired behavior.

public static final double MIN_STATOR_THRESHOLD = 59343494;

Copilot · 2025-03-19T18:25:36Z

+  public static final double MAX_STATOR_THRESHOLD = 59343494;
+  public static final double MIN_STATOR_THRESHOLD = 59343494;



The MAX_STATOR_THRESHOLD value appears unusually high; please double-check whether this constant accurately reflects operational limits.

Suggested change

public static final double MAX_STATOR_THRESHOLD = 59343494;

public static final double MIN_STATOR_THRESHOLD = 59343494;

public static final double MAX_STATOR_THRESHOLD = 40.0;

public static final double MIN_STATOR_THRESHOLD = 0.0;

it said 59334343494 is not operational limits???

Ishan1522 · 2025-03-20T16:30:02Z

we might merge b4 pitt idk. depends on how it goes today

mychenezpz · 2025-03-30T15:27:02Z

ok so i did add docstrings and I did the eject coral thing

mychenezpz and others added 3 commits February 15, 2025 14:49

Some elevator safeties

68ec3d0

Work pls

2c3d07b

Im too tired for this bro

731a1ac

Ishan1522 linked an issue Feb 16, 2025 that may be closed by this pull request

Elevator safety #93

Open

5 tasks

Ishan1522 marked this pull request as draft February 16, 2025 15:43

Formatting fixes

ef5d23e

junocapra marked this pull request as ready for review February 18, 2025 23:25

JacksonElia approved these changes Feb 19, 2025

View reviewed changes

JacksonElia changed the base branch from main to maxcccelevatorsetpoint!!11! February 19, 2025 08:31

JacksonElia changed the base branch from maxcccelevatorsetpoint!!11! to main February 19, 2025 08:31

JacksonElia mentioned this pull request Feb 19, 2025

command to zero elevator and move to elevator setpoints #96

Merged

Ishan1522 commented Feb 20, 2025

View reviewed changes

More elevavator sasdfasfety afsoijsaoijf

ade8c2c

Ishan1522 added this to the Catawba milestone Mar 3, 2025

Fixed some elevator sfaety issues

9e56f81

3/17 Completed homing, added to teleop periodic

84529b6

JacksonElia requested changes Mar 18, 2025

View reviewed changes

JacksonElia requested a review from Copilot March 19, 2025 18:23

Copilot AI reviewed Mar 19, 2025

View reviewed changes

Ishan1522 modified the milestones: Catawba, States Mar 20, 2025

Ishan1522 assigned mychenezpz Mar 20, 2025

Ishan1522 added needs robot for testing high priority extremely important stuff that NEEDS to get done labels Mar 28, 2025

eject when elevatorsafety running

0016bdd

	// operatorController.b().whileTrue(Commands.none());
	// operatorController.y().whileTrue(Commands.none());
	// operatorController.x().whileTrue(Commands.none());

		leaderMotor.setPosition(ElevatorConstants.MAX_HEIGHT);//set encoder to max height
		followerMotor.setPosition(ElevatorConstants.MAX_HEIGHT); // set encoder to max height

		public static final double MAX_ROLL_ANGLE = 30; // degrees
		public static final double MAX_PITCH_ANGLE = 20; // degrees

		public static final double MAX_STATOR_THRESHOLD = 59343494;
		public static final double MIN_STATOR_THRESHOLD = 59343494;

Conversation

Ishan1522 commented Feb 16, 2025

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Ishan1522 commented Feb 18, 2025

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Urbanmass commented Mar 17, 2025

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Pull Request Overview

Reviewed Changes

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Copilot AI Mar 19, 2025

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Ishan1522 commented Mar 20, 2025

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mychenezpz commented Mar 30, 2025

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