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1 parent 813a15f commit 37d4467

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‎src/main/java/frc/robot/subsystems/algae/AlgaeSubsystem.java‎

Lines changed: 56 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,3 +1,58 @@
11
package frc.robot.subsystems.algae;
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3-
public class AlgaeSubsystem {}
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import static edu.wpi.first.units.Units.Rotations;
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import edu.wpi.first.units.measure.Angle;
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import frc.robot.constants.AlgaeConstants;
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import frc.robot.constants.ExampleConstants;
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import frc.robot.standards.ClosedLoopPosSubsystem;
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import frc.robot.subsystems.algae.algaeIO.IOInputs;
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import java.util.Set;
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import org.littletonrobotics.junction.Logger;
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import org.strykeforce.telemetry.TelemetryService;
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import org.strykeforce.telemetry.measurable.MeasurableSubsystem;
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import org.strykeforce.telemetry.measurable.Measure;
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public class AlgaeSubsystem implements ClosedLoopPosSubsystem {
18+
private final algaeIO io;
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private final IOInputsAutoLogged inputs = new IOInputsAutoLogged();
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private Angle setpoint = Rotations.of(0.0);
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public AlgaeSubsystem(algaeIO io) {
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this.io = io;
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}
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public Angle getPosition() {
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return getPosition();
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}
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public void setPosition(Angle position) {
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setPosition(position);
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setpoint = position;
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}
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public boolean isFinished() {
36+
return setpoint.minus(getPosition()).abs(Rotations) <= AlgaeConstants.kCloseEnough.in(Rotations);
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}
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// Periodic Function
40+
public void periodic() {
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io.updateInputs(inputs);
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Logger.processInputs(getName(), inputs);
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Logger.recordOutput("Algae/setpoint", setpoint.in(Rotations));
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}
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// Grapher
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@Override
48+
public void registerWith(TelemetryService telemetryService) {
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super.registerWith(telemetryService);
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io.registerWith(telemetryService);
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}
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@Override
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public Set<Measure> getMeasures() {
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return Set.of(new Measure("State", () -> curState.ordinal()));
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}
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}

‎src/main/java/frc/robot/subsystems/algae/algaeIO.java‎

Lines changed: 2 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,6 @@
11
package frc.robot.subsystems.algae;
22

3+
import edu.wpi.first.units.measure.Angle;
34
import edu.wpi.first.units.measure.AngularVelocity;
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import org.littletonrobotics.junction.AutoLog;
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import org.strykeforce.telemetry.TelemetryService;
@@ -10,6 +11,7 @@ public interface algaeIO {
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@AutoLog
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public static class IOInputs {
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public AngularVelocity velocity;
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public Angle location;
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public ReverseLimitValue reverseLimitSwitch;
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}
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‎src/main/java/frc/robot/subsystems/algae/algaeIOFX.java‎

Lines changed: 9 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -11,6 +11,7 @@
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import com.ctre.phoenix6.hardware.TalonFX;
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import com.ctre.phoenix6.signals.ReverseLimitValue;
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14+
import edu.wpi.first.units.measure.Angle;
1415
import edu.wpi.first.units.measure.AngularVelocity;
1516
import frc.robot.constants.AlgaeConstants;
1617

@@ -20,6 +21,7 @@ public class algaeIOFX implements algaeIO {
2021
private final TalonFX talonFX;
2122
private StatusSignal<AngularVelocity> currVelocity;
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private StatusSignal<ReverseLimitValue> reverseLimitSwitch;
24+
private StatusSignal<Angle> currAngle;
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// FX Access objects
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TalonFXConfigurator configurator;
@@ -32,24 +34,27 @@ public algaeIOFX() {
3234
talonFX = new TalonFX(AlgaeConstants.kFxId);
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reverseLimitSwitch = talonFX.getReverseLimit();
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currVelocity = talonFX.getVelocity();
37+
currAngle = talonFX.getPosition();
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}
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3740
@Override
3841
public void updateInputs(IOInputs inputs) {
39-
// Update the velocity input in the IOInputs structure
42+
// inputs.reverseLimitSwitch = reverseLimitSwitch.refresh().getValue().value == 1;
4043
inputs.velocity = currVelocity.refresh().getValue();
44+
inputs.location = currAngle.refresh().getValue();
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}
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4347
@Override
4448
public void setPosition(double position) {
45-
// In case you want to use the position control in your system
4649
talonFX.setPosition(position);
4750
}
51+
public Angle getPosition() {
52+
return currAngle.getValue();
53+
}
4854

4955
@Override
5056
public void zero() {
51-
// This can reset the encoder or clear other state as needed
52-
talonFX.clearStickyFaults();
57+
// not doing one for now
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}
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5560
@Override

‎vendordeps/ChoreoLib-2025.0.0.json‎ renamed to ‎vendordeps/ChoreoLib-2025.0.1.json‎

Lines changed: 4 additions & 4 deletions
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@@ -1,7 +1,7 @@
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{
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"fileName": "ChoreoLib-2025.0.0.json",
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"fileName": "ChoreoLib-2025.0.1.json",
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"name": "ChoreoLib",
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"version": "2025.0.0",
4+
"version": "2025.0.1",
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"uuid": "b5e23f0a-dac9-4ad2-8dd6-02767c520aca",
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"frcYear": "2025",
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"mavenUrls": [
@@ -13,7 +13,7 @@
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{
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"groupId": "choreo",
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"artifactId": "ChoreoLib-java",
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"version": "2025.0.0"
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"version": "2025.0.1"
1717
},
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{
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"groupId": "com.google.code.gson",
@@ -26,7 +26,7 @@
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{
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"groupId": "choreo",
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"artifactId": "ChoreoLib-cpp",
29-
"version": "2025.0.0",
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"version": "2025.0.1",
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"libName": "ChoreoLib",
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"headerClassifier": "headers",
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"sharedLibrary": false,

‎vendordeps/DogLog.json‎

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@@ -0,0 +1,20 @@
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{
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"javaDependencies": [
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{
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"groupId": "com.github.jonahsnider",
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"artifactId": "doglog",
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"version": "2025.3.0"
7+
}
8+
],
9+
"fileName": "DogLog.json",
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"frcYear": "2025",
11+
"jsonUrl": "https://doglog.dev/vendordep.json",
12+
"name": "DogLog",
13+
"jniDependencies": [],
14+
"mavenUrls": [
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"https://jitpack.io"
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],
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"cppDependencies": [],
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"version": "2025.3.0",
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"uuid": "65592ce1-2251-4a31-8e4b-2df20dacebe4"
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}

‎vendordeps/LumynLabs-2025.0.0.json‎

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{
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"fileName": "LumynLabs-2025.0.0.json",
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"name": "LumynLabs",
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"version": "2025.0.0",
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"frcYear": "2025",
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"uuid": "eebd34fc-a6d3-48a2-a286-ac1cec59ab89",
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"mavenUrls": [
8+
"https://packages.lumynlabs.com/repo"
9+
],
10+
"jsonUrl": "https://packages.lumynlabs.com/LumynLabs.json",
11+
"javaDependencies": [
12+
{
13+
"groupId": "com.lumynlabs.frc",
14+
"artifactId": "LumynLabs-java",
15+
"version": "2025.0.0"
16+
}
17+
],
18+
"jniDependencies": [
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{
20+
"groupId": "com.lumynlabs.frc",
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"artifactId": "LumynLabs-driver",
22+
"version": "2025.0.0",
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"skipInvalidPlatforms": true,
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"isJar": false,
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"validPlatforms": [
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"windowsx86-64",
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"linuxarm64",
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"linuxx86-64",
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"linuxathena",
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"linuxarm32",
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"osxuniversal"
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]
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}
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],
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"cppDependencies": [
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{
37+
"groupId": "com.lumynlabs.frc",
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"artifactId": "LumynLabs-cpp",
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"version": "2025.0.0",
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"libName": "Lumyn",
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"headerClassifier": "headers",
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"sharedLibrary": false,
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"skipInvalidPlatforms": true,
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"binaryPlatforms": [
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"windowsx86-64",
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"linuxarm64",
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"linuxx86-64",
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"linuxathena",
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"linuxarm32",
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"osxuniversal"
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]
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},
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{
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"groupId": "com.lumynlabs.frc",
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"artifactId": "LumynLabs-driver",
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"version": "2025.0.0",
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"libName": "LumynDriver",
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"headerClassifier": "headers",
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"sharedLibrary": false,
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"skipInvalidPlatforms": true,
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"binaryPlatforms": [
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"windowsx86-64",
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"linuxarm64",
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"linuxx86-64",
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"linuxathena",
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"linuxarm32",
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"osxuniversal"
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]
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}
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]
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}

‎vendordeps/PathplannerLib-2025.2.1.json‎

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{
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"fileName": "PathplannerLib-2025.2.1.json",
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"name": "PathplannerLib",
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"version": "2025.2.1",
5+
"uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
6+
"frcYear": "2025",
7+
"mavenUrls": [
8+
"https://3015rangerrobotics.github.io/pathplannerlib/repo"
9+
],
10+
"jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json",
11+
"javaDependencies": [
12+
{
13+
"groupId": "com.pathplanner.lib",
14+
"artifactId": "PathplannerLib-java",
15+
"version": "2025.2.1"
16+
}
17+
],
18+
"jniDependencies": [],
19+
"cppDependencies": [
20+
{
21+
"groupId": "com.pathplanner.lib",
22+
"artifactId": "PathplannerLib-cpp",
23+
"version": "2025.2.1",
24+
"libName": "PathplannerLib",
25+
"headerClassifier": "headers",
26+
"sharedLibrary": false,
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"skipInvalidPlatforms": true,
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"binaryPlatforms": [
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"windowsx86-64",
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"linuxx86-64",
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"osxuniversal",
32+
"linuxathena",
33+
"linuxarm32",
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"linuxarm64"
35+
]
36+
}
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]
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}

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