Merge branch 'main' of https://github.com/strykeforce/reefscape

KaydenLee456 · KaydenLee456 · commit 001420cf4643 · 2025-01-09T19:36:40.000-05:00
diff --git a/gradlew b/gradlew
diff --git a/src/main/java/frc/robot/constants/AlgaeConstants.java b/src/main/java/frc/robot/constants/AlgaeConstants.java
@@ -1,3 +1,94 @@
 package frc.robot.constants;
 
-public class AlgaeConstants {}
+import static edu.wpi.first.units.Units.Degrees;
+import static edu.wpi.first.units.Units.Rotations;
+
+import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
+import com.ctre.phoenix6.configs.HardwareLimitSwitchConfigs;
+import com.ctre.phoenix6.configs.MotionMagicConfigs;
+import com.ctre.phoenix6.configs.MotorOutputConfigs;
+import com.ctre.phoenix6.configs.Slot0Configs;
+import com.ctre.phoenix6.configs.SoftwareLimitSwitchConfigs;
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.signals.ForwardLimitSourceValue;
+import com.ctre.phoenix6.signals.ForwardLimitTypeValue;
+import com.ctre.phoenix6.signals.GravityTypeValue;
+import com.ctre.phoenix6.signals.NeutralModeValue;
+import com.ctre.phoenix6.signals.ReverseLimitSourceValue;
+import com.ctre.phoenix6.signals.ReverseLimitTypeValue;
+import edu.wpi.first.units.measure.*;
+
+public class AlgaeConstants {
+
+  public static int kFxId = 4; // CHANGE TO MOTOR NUMBER
+
+  public static final Angle kCloseEnough = Degrees.of(5);
+  public static final Angle kMaxFwd = Rotations.of(100);
+  public static final Angle kMaxRev = Rotations.of(-100);
+  public static final Angle kZeroTicks = Rotations.of(1530);
+
+  // Example Talon FX Config
+  public static TalonFXConfiguration getFXConfig() {
+    TalonFXConfiguration fxConfig = new TalonFXConfiguration();
+
+    CurrentLimitsConfigs current =
+        new CurrentLimitsConfigs()
+            .withStatorCurrentLimit(10)
+            .withStatorCurrentLimitEnable(false)
+            .withStatorCurrentLimit(20)
+            .withSupplyCurrentLimit(10)
+            .withSupplyCurrentLowerLimit(8)
+            .withSupplyCurrentLowerTime(0.02)
+            .withSupplyCurrentLimitEnable(true);
+    fxConfig.CurrentLimits = current;
+
+    HardwareLimitSwitchConfigs hwLimit =
+        new HardwareLimitSwitchConfigs()
+            .withForwardLimitAutosetPositionEnable(false)
+            .withForwardLimitEnable(false)
+            .withForwardLimitType(ForwardLimitTypeValue.NormallyOpen)
+            .withForwardLimitSource(ForwardLimitSourceValue.LimitSwitchPin)
+            .withReverseLimitAutosetPositionEnable(false)
+            .withReverseLimitEnable(false)
+            .withReverseLimitType(ReverseLimitTypeValue.NormallyOpen)
+            .withReverseLimitSource(ReverseLimitSourceValue.LimitSwitchPin);
+    fxConfig.HardwareLimitSwitch = hwLimit;
+
+    SoftwareLimitSwitchConfigs swLimit =
+        new SoftwareLimitSwitchConfigs()
+            .withForwardSoftLimitEnable(true)
+            .withForwardSoftLimitThreshold(kMaxFwd)
+            .withReverseSoftLimitEnable(true)
+            .withReverseSoftLimitThreshold(kMaxRev);
+    fxConfig.SoftwareLimitSwitch = swLimit;
+
+    Slot0Configs slot0 =
+        new Slot0Configs()
+            .withKP(0)
+            .withKI(0)
+            .withKD(0)
+            .withGravityType(GravityTypeValue.Elevator_Static)
+            .withKG(0)
+            .withKS(0)
+            .withKV(0)
+            .withKA(0);
+    fxConfig.Slot0 = slot0;
+
+    MotionMagicConfigs motionMagic =
+        new MotionMagicConfigs()
+            .withMotionMagicAcceleration(0)
+            .withMotionMagicCruiseVelocity(0)
+            .withMotionMagicExpo_kA(0)
+            .withMotionMagicExpo_kV(0)
+            .withMotionMagicJerk(0);
+    fxConfig.MotionMagic = motionMagic;
+
+    MotorOutputConfigs motorOut =
+        new MotorOutputConfigs()
+            .withDutyCycleNeutralDeadband(0.01)
+            .withNeutralMode(NeutralModeValue.Coast);
+    fxConfig.MotorOutput = motorOut;
+
+    return fxConfig;
+  }
+}
diff --git a/src/main/java/frc/robot/subsystems/algae/algaeIO.java b/src/main/java/frc/robot/subsystems/algae/algaeIO.java
@@ -0,0 +1,20 @@
+package frc.robot.subsystems.algae;
+
+import edu.wpi.first.units.measure.AngularVelocity;
+import org.littletonrobotics.junction.AutoLog;
+import org.strykeforce.telemetry.TelemetryService;
+
+public interface algaeIO {
+  @AutoLog
+  public static class IOInputs {
+    public AngularVelocity velocity;
+  }
+
+  public default void updateInputs(IOInputs inputs) {}
+
+  public default void setPosition(double position) {}
+
+  public default void zero() {}
+
+  public default void registerWith(TelemetryService telemetryService) {}
+}
diff --git a/src/main/java/frc/robot/subsystems/algae/algaeIOFX.java b/src/main/java/frc/robot/subsystems/algae/algaeIOFX.java
@@ -0,0 +1,3 @@
+package frc.robot.subsystems.algae;
+
+public class algaeIOFX {}
diff --git a/src/main/java/frc/robot/subsystems/example/ExampleIO.java b/src/main/java/frc/robot/subsystems/example/ExampleIO.java
@@ -7,6 +7,7 @@
 import edu.wpi.first.units.measure.AngularVelocity;
 import org.littletonrobotics.junction.AutoLog;
 // import org.strykeforce.telemetry.TelemetryService;
+import org.strykeforce.telemetry.TelemetryService;
 
 public interface ExampleIO {
 
@@ -22,5 +23,5 @@ public default void setPosition(Angle position) {}
 
   public default void zero() {}
 
-  //   public default void registerWith(TelemetryService telemetryService) {}
+  public default void registerWith(TelemetryService telemetryService) {}
 }
diff --git a/src/main/java/frc/robot/subsystems/example/ExampleIOFX.java b/src/main/java/frc/robot/subsystems/example/ExampleIOFX.java
@@ -1,5 +1,6 @@
 package frc.robot.subsystems.example;
 
+import com.ctre.phoenix6.BaseStatusSignal;
 import com.ctre.phoenix6.StatusSignal;
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.configs.TalonFXConfigurator;
@@ -10,7 +11,7 @@
 import frc.robot.constants.ExampleConstants;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
-// import org.strykeforce.telemetry.TelemetryService;
+import org.strykeforce.telemetry.TelemetryService;
 
 public class ExampleIOFX implements ExampleIO {
   // private objects
@@ -63,12 +64,13 @@ public void setPosition(Angle position) {
 
   @Override
   public void updateInputs(ExampleIOInputs inputs) {
-    inputs.velocity = currVelocity.refresh().getValue();
-    inputs.position = currPosition.refresh().getValue().minus(relSetpointOffset);
+    BaseStatusSignal.refreshAll(currVelocity, currPosition);
+    inputs.velocity = currVelocity.getValue();
+    inputs.position = currPosition.getValue().minus(relSetpointOffset);
   }
 
-  //   @Override
-  //   public void registerWith(TelemetryService telemetryService) {
-  //     telemetryService.register(talonFx, true);
-  //   }
+  @Override
+  public void registerWith(TelemetryService telemetryService) {
+    telemetryService.register(talonFx, true);
+  }
 }
diff --git a/src/main/java/frc/robot/subsystems/example/ExampleSubsystem.java b/src/main/java/frc/robot/subsystems/example/ExampleSubsystem.java
@@ -3,15 +3,15 @@
 import static edu.wpi.first.units.Units.Rotations;
 
 import edu.wpi.first.units.measure.Angle;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.constants.ExampleConstants;
 import frc.robot.standards.ClosedLoopPosSubsystem;
+import java.util.Set;
 import org.littletonrobotics.junction.Logger;
-// import org.strykeforce.telemetry.TelemetryService;
-// import org.strykeforce.telemetry.measurable.MeasurableSubsystem;
-// import org.strykeforce.telemetry.measurable.Measure;
+import org.strykeforce.telemetry.TelemetryService;
+import org.strykeforce.telemetry.measurable.MeasurableSubsystem;
+import org.strykeforce.telemetry.measurable.Measure;
 
-public class ExampleSubsystem extends SubsystemBase implements ClosedLoopPosSubsystem {
+public class ExampleSubsystem extends MeasurableSubsystem implements ClosedLoopPosSubsystem {
   // Private Variables
   private final ExampleIO io;
   private final ExampleIOInputsAutoLogged inputs = new ExampleIOInputsAutoLogged();
@@ -58,6 +58,7 @@ public boolean isFinished() {
   public void periodic() {
     // Read Inputs
     io.updateInputs(inputs);
+    Logger.processInputs(getName(), inputs);
 
     // State Machine
     switch (curState) {
@@ -75,17 +76,17 @@ public void periodic() {
   }
 
   // Grapher
-  // @Override
-  // public void registerWith(TelemetryService telemetryService) {
+  @Override
+  public void registerWith(TelemetryService telemetryService) {
 
-  //   super.registerWith(telemetryService);
-  //   io.registerWith(telemetryService);
-  // }
+    super.registerWith(telemetryService);
+    io.registerWith(telemetryService);
+  }
 
-  // @Override
-  // public Set<Measure> getMeasures() {
-  //   return Set.of(new Measure("State", () -> curState.ordinal()));
-  // }
+  @Override
+  public Set<Measure> getMeasures() {
+    return Set.of(new Measure("State", () -> curState.ordinal()));
+  }
 
   // State Enum
   public enum ExampleState {
diff --git a/vendordeps/thirdcoast.json b/vendordeps/thirdcoast.json
@@ -0,0 +1,20 @@
+{
+    "fileName": "thirdcoast.json",
+    "name": "StrykeForce-ThirdCoast",
+    "version": "25.0.0",
+    "uuid": "13c4f4b5-a1c0-4670-8f8d-b7b03628c0d3",
+    "frcYear": "2025",
+    "mavenUrls": [
+        "https://s3.us-east-2.amazonaws.com/packages.strykeforce.org/repo/"
+    ],
+    "jsonUrl": "https://s3.us-east-2.amazonaws.com/packages.strykeforce.org/thirdcoast.json",
+    "javaDependencies": [
+        {
+            "groupId": "org.strykeforce",
+            "artifactId": "thirdcoast",
+            "version": "25.0.0"
+        }
+    ],
+    "jniDependencies": [],
+    "cppDependencies": []
+}

Original file line number	Diff line number	Diff line change
`@@ -0,0 +1,3 @@`
	`1`	`+package frc.robot.subsystems.algae;`
	`2`	`+`
	`3`	`+public class algaeIOFX {}`