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Driver Speed Toggle #42

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Merged
theos-ex-machina merged 3 commits into from
Mar 17, 2025
Merged

Driver Speed Toggle #42

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c18396c
temp driver fixes
theos-ex-machina Mar 14, 2025
78d2558
add speed modifier buttons
theos-ex-machina Mar 17, 2025
2b7456f
Add logging
theos-ex-machina Mar 17, 2025
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4 changes: 2 additions & 2 deletions src/main/java/raidzero/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -169,7 +169,7 @@ public class Joint {
public static final int CANCODER_ID = 11;

public static final double CANCODER_GEAR_RATIO = 28.0 / 80.0;
public static final double CANCODER_OFFSET = -(0.358643 - (0.25 / CANCODER_GEAR_RATIO));
public static final double CANCODER_OFFSET = -(0.358398 - (0.25 / CANCODER_GEAR_RATIO));
public static final double CANCODER_DISCONTINUITY_POINT = 0.5;

public static final double CONVERSION_FACTOR = (120.0 / 12.0) * 20.0;
Expand All @@ -196,7 +196,7 @@ public class Joint {

public class Positions {
public static final double[] L4_SCORING_POS_M = { -0.24, 2.72 };
public static final double[] L4_SCORING_POS_M_BLUE = { -0.15, 2.72 };
public static final double[] L4_SCORING_POS_M_BLUE = { -0.17, 2.68 };
public static final double[] L4_CHECK_POSITION = { -0.25, 2.62 };
public static final double[] L4_GRAND_SLAM = { -0.2, 1.57 };

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12 changes: 8 additions & 4 deletions src/main/java/raidzero/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -85,8 +85,9 @@ public RobotContainer() {
private void configureBindings() {
swerve.setDefaultCommand(
swerve.applyRequest(
() -> fieldCentricDrive.withVelocityX(-joystick.getLeftY() * MaxSpeed * 0.67 * (arm.isUp() ? 0.3 : 1.0))
.withVelocityY(-joystick.getLeftX() * MaxSpeed * 0.67 * (arm.isUp() ? 0.3 : 1.0))
() -> fieldCentricDrive
.withVelocityX(-joystick.getLeftY() * MaxSpeed * swerve.getSpeedModifier() * (arm.isUp() ? 0.3 : 1.0))
.withVelocityY(-joystick.getLeftX() * MaxSpeed * swerve.getSpeedModifier() * (arm.isUp() ? 0.3 : 1.0))
.withRotationalRate(-joystick.getRightX() * MaxAngularRate)
)
);
Expand All @@ -108,8 +109,8 @@ private void configureBindings() {
)
);

joystick.leftBumper().whileTrue(coralIntake.extake());
joystick.rightBumper().onTrue(coralIntake.intake());
joystick.leftTrigger().whileTrue(coralIntake.extake());
joystick.rightTrigger().onTrue(coralIntake.intake());

joystick.b().whileTrue(
swerve.pathToStation()
Expand All @@ -133,6 +134,9 @@ private void configureBindings() {
arm.moveWithDelay(Constants.TelescopingArm.Positions.INTAKE_POS_M_BLUE)
);

joystick.rightBumper().onTrue(new InstantCommand(() -> swerve.setSpeedModifier(1.0)));
joystick.leftBumper().onTrue(new InstantCommand(() -> swerve.setSpeedModifier(0.67)));

// * Operator controls
operator.button(Constants.Bindings.TOP_LEFT).onTrue(new InstantCommand(() -> arm.decreaseIntakeYOffset(0.01), arm));
operator.button(Constants.Bindings.BOTTOM_LEFT).onTrue(new InstantCommand(() -> arm.decreaseIntakeYOffset(-0.01), arm));
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22 changes: 22 additions & 0 deletions src/main/java/raidzero/robot/subsystems/drivetrain/Swerve.java
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Original file line number Diff line number Diff line change
Expand Up @@ -69,6 +69,8 @@ public class Swerve extends TunerSwerveDrivetrain implements Subsystem {

private boolean waypointsTransformed = false;

private double speedModifier = 0.67;

private static Swerve system;

/*
Expand Down Expand Up @@ -389,6 +391,24 @@ public Command stop() {
);
}

/**
* Gets the current modifier for max speed
*
* @return the modifier for max speed
*/
public double getSpeedModifier() {
return speedModifier;
}

/**
* Sets the current modifi9er for max speed
*
* @param speedModifier the modifier for max speed
*/
public void setSpeedModifier(double speedModifier) {
this.speedModifier = speedModifier;
}

@Override
public void periodic() {
/*
Expand Down Expand Up @@ -419,6 +439,8 @@ public void periodic() {
modulePublisher.set(this.getState().ModuleStates);
botpose.set(this.getState().Pose);
field.setRobotPose(this.getState().Pose);

SmartDashboard.putNumber("Bot Speed", speedModifier * 100.0);
}

/**
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5 changes: 3 additions & 2 deletions src/main/java/raidzero/robot/subsystems/telescopingarm/Arm.java
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Original file line number Diff line number Diff line change
Expand Up @@ -335,8 +335,9 @@ private TalonFXConfiguration telescopeConfiguration() {
.withMotionMagicAcceleration(Constants.TelescopingArm.Telescope.ACCELERATION)
.withMotionMagicJerk(Constants.TelescopingArm.Telescope.JERK);

configuration.HardwareLimitSwitch.ForwardLimitAutosetPositionEnable = true;
configuration.HardwareLimitSwitch.ForwardLimitAutosetPositionValue = 0.0;
configuration.HardwareLimitSwitch.ReverseLimitAutosetPositionEnable = true;
configuration.HardwareLimitSwitch.ReverseLimitAutosetPositionValue = 0.0;
configuration.HardwareLimitSwitch.ReverseLimitEnable = false;

configuration.Feedback.SensorToMechanismRatio = Constants.TelescopingArm.Telescope.CONVERSION_FACTOR;

Expand Down