Merge pull request #1 from Team3256/feat/Turret

Feat/turret

networktables.json

@@ -0,0 +1 @@
+[]

simgui-ds.json

@@ -0,0 +1,92 @@
+{
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ]
+}

simgui.json

@@ -0,0 +1,5 @@
+{
+  "NetworkTables Info": {
+    "visible": true
+  }
+}

src/main/java/frc/robot/Constants.java

@@ -38,6 +38,11 @@ public static class FeatureFlags {
 
     public static final boolean shooterRegenBraking = true;
     public static final boolean kSwerveEnabled = true;
+    public static final boolean kClimbEnabled = true;
+    public static final boolean kIntakeEnabled = true;
+    public static final boolean kShooterEnabled = true;
+    public static final boolean kPivotShooterEnabled = true;
+    public static final boolean kTurretEnabled = true;
   }
 
   // Defaults from Monologue docs

src/main/java/frc/robot/Robot.java

@@ -15,10 +15,9 @@
 import frc.robot.utils.NT4PublisherNoFMS;
 import monologue.Logged;
 import monologue.Monologue;
-import org.littletonrobotics.junction.LogFileUtil;
 import org.littletonrobotics.junction.LoggedRobot;
 import org.littletonrobotics.junction.Logger;
-import org.littletonrobotics.junction.wpilog.WPILOGReader;
+import org.littletonrobotics.junction.networktables.NT4Publisher;
 import org.littletonrobotics.junction.wpilog.WPILOGWriter;
 
 /**
@@ -47,13 +46,16 @@ public void robotInit() {
           1, ModuleType.kRev); // Ignore this "resource leak"; it was the example code from docs
     } else {
       setUseTiming(false); // Run as fast as possible
-      String logPath =
-          LogFileUtil
-              .findReplayLog(); // Pull the replay log from AdvantageScope (or prompt the user)
-      Logger.setReplaySource(new WPILOGReader(logPath)); // Read replay log
-      Logger.addDataReceiver(
-          new WPILOGWriter(
-              LogFileUtil.addPathSuffix(logPath, "_sim"))); // Save outputs to a new log
+      //      String logPath =
+      //          LogFileUtil
+      //              .findReplayLog(); // Pull the replay log from AdvantageScope (or prompt the
+      // user)
+      //      Logger.setReplaySource(new WPILOGReader(logPath)); // Read replay log
+      //      Logger.addDataReceiver(
+      //          new WPILOGWriter(
+      //              LogFileUtil.addPathSuffix(logPath, "_sim"))); // Save outputs to a new log
+      Logger.addDataReceiver(new WPILOGWriter(""));
+      Logger.addDataReceiver(new NT4Publisher());
     }
 
     // Logger.disableDeterministicTimestamps() // See "Deterministic Timestamps" in

src/main/java/frc/robot/RobotContainer.java

@@ -14,6 +14,7 @@
 import frc.robot.commands.Autos;
 import frc.robot.commands.ExampleCommand;
 import frc.robot.subsystems.ExampleSubsystem;
+import frc.robot.subsystems.turret.*;
 
 /**
  * This class is where the bulk of the robot should be declared. Since Command-based is a
@@ -25,6 +26,13 @@ public class RobotContainer {
   // The robot's subsystems and commands are defined here...
   private final ExampleSubsystem m_exampleSubsystem = new ExampleSubsystem();
 
+  private final Turret turret =
+      new Turret(
+          Constants.FeatureFlags.kTurretEnabled,
+          new TurretIOTalonFX(),
+          new EncoderIOCancoder(TurretConstants.kCanCoderID1),
+          new EncoderIOCancoder(TurretConstants.kCanCoderID2));
+
   // Replace with CommandPS4Controller or CommandJoystick if needed
   private final CommandXboxController m_driverController =
       new CommandXboxController(OperatorConstants.kDriverControllerPort);

src/main/java/frc/robot/subsystems/turret/EncoderIO.java

@@ -0,0 +1,26 @@
+// Copyright (c) 2024 FRC 3256
+// https://github.com/Team3256
+//
+// Use of this source code is governed by a 
+// license that can be found in the LICENSE file at
+// the root directory of this project.
+
+package frc.robot.subsystems.turret;
+
+import edu.wpi.first.math.geometry.Rotation2d;
+import org.littletonrobotics.junction.AutoLog;
+
+public interface EncoderIO {
+
+  @AutoLog
+  public static class EncoderIOInputs {
+    public double encoderPositionDegrees = 0.0;
+    public double encoderVelocity = 0.0;
+
+    public Rotation2d turretMotorAbsolutePosition = new Rotation2d();
+  }
+
+  public default void updateInputs(EncoderIOInputs inputs) {}
+
+  public default void zero() {}
+}

src/main/java/frc/robot/subsystems/turret/EncoderIOCancoder.java

@@ -0,0 +1,50 @@
+// Copyright (c) 2024 FRC 3256
+// https://github.com/Team3256
+//
+// Use of this source code is governed by a 
+// license that can be found in the LICENSE file at
+// the root directory of this project.
+
+package frc.robot.subsystems.turret;
+
+import com.ctre.phoenix6.BaseStatusSignal;
+import com.ctre.phoenix6.StatusSignal;
+import com.ctre.phoenix6.hardware.CANcoder;
+import edu.wpi.first.math.util.Units;
+
+public class EncoderIOCancoder implements EncoderIO {
+
+  private final CANcoder encoder;
+
+  private final StatusSignal<Double> encoderPosition;
+  private final StatusSignal<Double> encoderVelocity;
+
+  public EncoderIOCancoder(int canCoderID) {
+    encoder = new CANcoder(canCoderID, "mani");
+    var response = encoder.getConfigurator().apply(TurretConstants.canCoderConfig);
+
+    if (!response.isOK()) {
+      System.out.println(
+          "CANcoder ID " + canCoderID + " failed config with error " + response.getDescription());
+    }
+
+    encoderPosition = encoder.getAbsolutePosition();
+    encoderVelocity = encoder.getVelocity();
+
+    BaseStatusSignal.setUpdateFrequencyForAll(
+        TurretConstants.updateFrequency, encoderPosition, encoderVelocity);
+    encoder.optimizeBusUtilization();
+  }
+
+  @Override
+  public void updateInputs(EncoderIOInputs inputs) {
+    BaseStatusSignal.refreshAll(encoderPosition, encoderVelocity);
+    inputs.encoderPositionDegrees = Units.rotationsToDegrees(encoderPosition.getValueAsDouble());
+    inputs.encoderVelocity = encoderVelocity.getValueAsDouble();
+  }
+
+  @Override
+  public void zero() {
+    encoder.setPosition(0.0);
+  }
+}