arm by stavit456 · Pull Request #20 · Flash3388/Flash2024

stavit456 · 2024-01-26T21:30:05Z

No description provided.

The method getAngle in Arm system will change.

I added 2 methods for 2 different directions - backwards and forward.

Maayan-Luzon · 2024-01-26T21:53:52Z

src/main/java/subSystems/Arm.java

+    private CANSparkMax master;
+    private CANSparkMax follower;
+    private PidController pid;
+    private final double KP = 0;


Add the word static to each constant field.

src/main/java/subSystems/Arm.java

NoamZW · 2024-01-26T22:25:07Z

src/main/java/actions/SetAngle.java

+
+    @Override
+    public void initialize(ActionControl control) {
+        arm.pidReset();


NoamZW · 2024-01-26T22:33:01Z

src/main/java/subSystems/Arm.java

+        this.master = master;
+        this.follower = follower;
+
+        follower.follow(master);


NoamZW · 2024-01-26T22:36:24Z

src/main/java/subSystems/Arm.java

+    }
+
+    public double getAngle(){
+        return 5;  //Will change


In here, read the absolute encoder in order to find out current angle.
How to read and use the encoder

Moreover, you can always use Ctrl + B in order to see how the DutyCycelEncoder works

NoamZW · 2024-01-26T22:38:18Z

src/main/java/subSystems/Arm.java

+    }
+
+    public void stop(){ master.stopMotor();}
+}


Once you've fixed everything, commit & push, and pull request again

NoamZW

I haven't seen you creating in SystemFactory the arm system-so create it(and use RobotMap as well)

NoamZW · 2024-01-26T22:45:15Z

src/main/java/subSystems/Arm.java

+
+public class Arm extends Subsystem {
+
+    private double angle;


Specify the variable to angle2Target

NoamZW

When you write 500 lines of code and exit without saving it;
⚰️

NoamZW · 2024-01-27T12:24:43Z

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

    public Robot(FrcRobotControl robotControl) {
+
        super(robotControl);
+        arm = SystemFactory.createArm();


NoamZW · 2024-01-27T12:26:31Z

src/main/java/frc/robot/RobotMap.java

+    public static final int ARM_MASTER = 3;
+    public static final int ARM_FOLLOW = 3;
+    public static final HidChannel ARM_ENCODER = RoboRio.newHidChannel(0);
+    public static final double ARM_ANGLE = 0;


What is that?

NoamZW · 2024-01-27T12:27:35Z

src/main/java/frc/robot/SystemFactory.java

+        CANSparkMax master = new CANSparkMax(RobotMap.ARM_MASTER, CANSparkMaxLowLevel.MotorType.kBrushed);
+        CANSparkMax follow = new CANSparkMax(RobotMap.ARM_FOLLOW, CANSparkMaxLowLevel.MotorType.kBrushless);
+        DutyCycleEncoder encoder = new DutyCycleEncoder((DutyCycle) RobotMap.ARM_ENCODER);
+        double angle2Target = RobotMap.ARM_ANGLE;


The angle2Target is set by the encoder value! :) use the encoder.position

NoamZW · 2024-01-27T12:28:03Z

src/main/java/frc/robot/SystemFactory.java

+        CANSparkMax follow = new CANSparkMax(RobotMap.ARM_FOLLOW, CANSparkMaxLowLevel.MotorType.kBrushless);
+        DutyCycleEncoder encoder = new DutyCycleEncoder((DutyCycle) RobotMap.ARM_ENCODER);
+        double angle2Target = RobotMap.ARM_ANGLE;
+        return new Arm(angle2Target, master, follow, encoder);


Without angle2Target

NoamZW · 2024-01-27T12:29:38Z

src/main/java/subSystems/Arm.java

+    private static final double KI = 0;
+    private static final double KD = 0;
+    private static final double KF = 0;
+    private static final double ERROR = 0;


Set error and limit values- it's an angle, so don't use set too much but not so little as well. Choose from 0.5-1

NoamZW · 2024-01-27T12:30:43Z

src/main/java/subSystems/Arm.java

+    }
+
+    public double getAngle2Target(){
+        encoder.reset();


It shouldn't be here. It should be in the initialize- We don't want everysingle second to reset the encoder

NoamZW · 2024-01-27T12:30:57Z

src/main/java/subSystems/Arm.java

+
+    public double getAngle2Target(){
+        encoder.reset();
+        return encoder.getPositionOffset();


NoamZW · 2024-01-27T12:31:20Z

src/main/java/subSystems/Arm.java

+    }
+
+    public double speed(){
+        return pid.applyAsDouble(getAngle2Target(), angle2Target);


tomtzook

A few problems I noticed

tomtzook · 2024-01-27T14:13:04Z

.run/Build & Deploy Robot for Debugging.run.xml

@@ -0,0 +1,23 @@
+<component name="ProjectRunConfigurationManager">


Oh those files again.

@Maayan-Luzon
@NoamZW

Remember what I told you about how to fix this?

src/main/java/frc/robot/RobotMap.java

src/main/java/frc/robot/SystemFactory.java

src/main/java/subSystems/Arm.java

tomtzook · 2024-01-27T14:20:31Z

@NoamZW there are conflicts.

tomtzook

some more things. Sorry for not commenting all at once. Kinda preoccupied with other stuff.

src/main/java/subSystems/Arm.java

tomtzook · 2024-01-27T18:34:52Z

src/main/java/subSystems/Arm.java

+        return encoder.getPositionOffset();
+    }
+
+    public double speed(){


We don't want to use just a specific set point, as you do with angle2Target value. But rather we are looking for the target angle to be provided depending on use, so it should actually be a parameter.

@NoamZW @Maayan-Luzon you may want to discuss this with @stavit456.

stavit456 added 4 commits January 26, 2024 16:30

I built Arm system and action.

b2721b0

The method getAngle in Arm system will change.

I get the angle from the encoder.

21bd36e

I added 2 methods for 2 different directions - backwards and forward.

getAngle in Arm system is still constant.

4b37fae

I combined the 2 forward and backward methods into one method - move.

5fd61f8

Maayan-Luzon suggested changes Jan 26, 2024

View reviewed changes

I added encoder and static to all the constant.

5486492

NoamZW suggested changes Jan 26, 2024

View reviewed changes

I got the angle and built SystemFactory.

54c628e

NoamZW suggested changes Jan 27, 2024

View reviewed changes

tomtzook suggested changes Jan 27, 2024

View reviewed changes

I fixed the SystemFactory and put values in LIMIT and ERROR.

37c82a1

tomtzook assigned stavit456 Jan 27, 2024

tomtzook suggested changes Jan 27, 2024

View reviewed changes

stavit456 added 6 commits January 27, 2024 20:51

.

a07652c

Update the values in the RobotMap and turn the angle to be in degrees.

493e846

Fixed the SystemFactory.

e94e637

I added two new angles

0a263a0

I added the offset angle

5c3e63f

I added range to the time of the angle

f08f531

		@@ -0,0 +1,23 @@
		<component name="ProjectRunConfigurationManager">

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stavit456 commented Jan 26, 2024

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tomtzook commented Jan 27, 2024

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