Merge pull request #29 from WHS-FRC-3467/claw-roller

Claw roller

src/main/java/frc/robot/Ports.java

@@ -17,10 +17,7 @@ public class Ports {
     // "canivore1");
 
     /* SUBSYSTEM CAN DEVICE IDS */
-    public static final CanDeviceId SAMPLE_ROLLER = new CanDeviceId(15, "rio");
-
-    public static final CanDeviceId TWO_ROLLER_1 = new CanDeviceId(16, "rio");
-    public static final CanDeviceId TWO_ROLLER_2 = new CanDeviceId(17, "rio");
+    public static final CanDeviceId CLAW_ROLLER = new CanDeviceId(16, "rio");
 
     public static final CanDeviceId ELEVATOR_MAIN = new CanDeviceId(18, "rio");
     public static final CanDeviceId ELEVATOR_FOLLOWER = new CanDeviceId(19, "rio");
@@ -30,9 +27,6 @@ public class Ports {
     public static final CanDeviceId ARM_FOLLOWER = new CanDeviceId(22, "rio");
     public static final CanDeviceId ARM_CANCODER = new CanDeviceId(23, "rio");
 
-    public static final CanDeviceId PROFROLLER_MAIN = new CanDeviceId(24, "rio");
-    public static final CanDeviceId PROFROLLER_FOLLOWER = new CanDeviceId(25, "rio");
-
     public static final CanDeviceId CLIMBER = new CanDeviceId(26, "rio");
 
     /*

src/main/java/frc/robot/subsystems/SampleProfiledRoller/SampleProfiledRoller.java → src/main/java/frc/robot/subsystems/ClawRoller/ClawRoller.java

@@ -1,4 +1,4 @@
-package frc.robot.subsystems.SampleProfiledRoller;
+package frc.robot.subsystems.ClawRoller;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.GenericMotionProfiledSubsystem.GenericMotionProfiledSubsystem;
@@ -9,13 +9,13 @@
 
 @Setter
 @Getter
-public class SampleProfiledRoller
-    extends GenericMotionProfiledSubsystem<SampleProfiledRoller.State> {
+public class ClawRoller
+    extends GenericMotionProfiledSubsystem<ClawRoller.State> {
 
     @RequiredArgsConstructor
     @Getter
     public enum State implements TargetState {
-        OFF(0.0, 0.0, ProfileType.OPEN_VOLTAGE),
+        OFF(0.0, 0.0, ProfileType.OPEN_VOLTAGE), // TODO: tune on real robot
         INTAKE(6.0, 0.0, ProfileType.OPEN_VOLTAGE),
         EJECT(-6.0, 0.0, ProfileType.OPEN_VOLTAGE),
         POSITION(20.0, 0.0, ProfileType.MM_POSITION);
@@ -29,12 +29,10 @@ public enum State implements TargetState {
     @Setter
     private State state = State.OFF;
 
-    private final boolean debug = true;
-
     /** Constructor */
-    public SampleProfiledRoller(SampleProfiledRollerIO io, boolean isSim)
+    public ClawRoller(ClawRollerIO io, boolean isSim)
     {
-        super(ProfileType.OPEN_VOLTAGE, SampleProfiledRollerConstants.kSubSysConstants, io, isSim);
+        super(ProfileType.OPEN_VOLTAGE, ClawRollerConstants.kSubSysConstants, io, isSim);
     }
 
     public Command setStateCommand(State state)

src/main/java/frc/robot/subsystems/SampleProfiledRoller/SampleProfiledRollerConstants.java → src/main/java/frc/robot/subsystems/ClawRoller/ClawRollerConstants.java

@@ -1,4 +1,4 @@
-package frc.robot.subsystems.SampleProfiledRoller;
+package frc.robot.subsystems.ClawRoller;
 
 import com.ctre.phoenix6.signals.FeedbackSensorSourceValue;
 import com.ctre.phoenix6.signals.InvertedValue;
@@ -9,15 +9,15 @@
 import frc.robot.subsystems.GenericMotionProfiledSubsystem.GenericMotionProfiledSubsystemConstants.simType;
 
 /** Add your docs here. */
-public final class SampleProfiledRollerConstants {
+public final class ClawRollerConstants {
 
     public static final GenericMotionProfiledSubsystemConstants kSubSysConstants =
         new GenericMotionProfiledSubsystemConstants();
 
     static {
-        kSubSysConstants.kName = "SampleProfiledRoller";
+        kSubSysConstants.kName = "ClawRoller";
 
-        kSubSysConstants.kLeaderMotor = Ports.PROFROLLER_MAIN;
+        kSubSysConstants.kLeaderMotor = Ports.CLAW_ROLLER;
         kSubSysConstants.kFollowMotor = null;
         kSubSysConstants.kFollowerOpposesMain = true;
 
@@ -29,20 +29,6 @@ public final class SampleProfiledRollerConstants {
         kSubSysConstants.kMotorConfig.Feedback.SensorToMechanismRatio = 1.0;
         kSubSysConstants.kMotorConfig.Feedback.RotorToSensorRatio = 1.0;
 
-        // Using a remote CANcoder
-        /*
-         * kSubSysConstants.kCANcoder = Ports.ARM_CANCODER;
-         * kSubSysConstants.kMotorConfig.Feedback.FeedbackSensorSource =
-         * FeedbackSensorSourceValue.FusedCANcoder;
-         * kSubSysConstants.kMotorConfig.Feedback.SensorToMechanismRatio = 7.04;
-         * kSubSysConstants.kMotorConfig.Feedback.RotorToSensorRatio = 54.4/7.04;
-         * kSubSysConstants.kEncoderConfig.MagnetSensor.MagnetOffset = 0.3467;
-         * kSubSysConstants.kEncoderConfig.MagnetSensor.SensorDirection =
-         * SensorDirectionValue.Clockwise_Positive;
-         * kSubSysConstants.kEncoderConfig.MagnetSensor.AbsoluteSensorRange =
-         * AbsoluteSensorRangeValue.Unsigned_0To1;
-         */
-
         kSubSysConstants.kMotorConfig.MotorOutput.NeutralMode = NeutralModeValue.Brake;
         kSubSysConstants.kMotorConfig.MotorOutput.Inverted =
             InvertedValue.CounterClockwise_Positive;
@@ -55,7 +41,7 @@ public final class SampleProfiledRollerConstants {
         kSubSysConstants.kMotorConfig.CurrentLimits.StatorCurrentLimitEnable = true;
 
         /* REAL system profile constants */
-        kSubSysConstants.kMotorConfig.Slot0.kP = 0;
+        kSubSysConstants.kMotorConfig.Slot0.kP = 0; // TODO: tune on real robot
         kSubSysConstants.kMotorConfig.Slot0.kI = 0;
         kSubSysConstants.kMotorConfig.Slot0.kD = 0;
         kSubSysConstants.kMotorConfig.Slot0.kG = 0;

src/main/java/frc/robot/subsystems/ClawRoller/ClawRollerIO.java

@@ -0,0 +1,6 @@
+package frc.robot.subsystems.ClawRoller;
+
+import frc.robot.subsystems.GenericMotionProfiledSubsystem.GenericMotionProfiledSubsystemIO;
+
+public interface ClawRollerIO extends GenericMotionProfiledSubsystemIO {
+}

src/main/java/frc/robot/subsystems/ClawRoller/ClawRollerIOSim.java

@@ -0,0 +1,12 @@
+package frc.robot.subsystems.ClawRoller;
+
+import frc.robot.subsystems.GenericMotionProfiledSubsystem.GenericMotionProfiledSubsystemIOImpl;
+
+public class ClawRollerIOSim extends GenericMotionProfiledSubsystemIOImpl
+    implements ClawRollerIO {
+
+    public ClawRollerIOSim()
+    {
+        super(ClawRollerConstants.kSubSysConstants, true);
+    }
+}

src/main/java/frc/robot/subsystems/ClawRoller/ClawRollerIOTalonFX.java

@@ -0,0 +1,12 @@
+package frc.robot.subsystems.ClawRoller;
+
+import frc.robot.subsystems.GenericMotionProfiledSubsystem.GenericMotionProfiledSubsystemIOImpl;
+
+public class ClawRollerIOTalonFX extends GenericMotionProfiledSubsystemIOImpl
+    implements ClawRollerIO {
+
+    public ClawRollerIOTalonFX()
+    {
+        super(ClawRollerConstants.kSubSysConstants, false);
+    }
+}