Finalize unit testing (gear ratios and clamping) #141

Oliver-Cushman · 2024-02-07T04:11:22Z

added clamping and gear ratios so that robot is safe!

infinite clamping

…amping)

Oliver-Cushman · 2024-02-07T04:23:21Z

By the way I'm not sure if my usage of the constant ShooterConstants.PIVOT_GEAR_RATIO is preferable to using a conversion factor, however I could not get conversion factors to produce the desired effect as it seems they multiply both input and output.

…amping)

GalexY727

This makes me wonder, should a Neo be forced to have a min and max output when constructing it (or as an optional method that can get called during config) that runs MathUtil.clamp() for all of the setter methods? That way we don't have to worry about it being or not being in every subsystem and can just make sure that Neo is handling all of the repeated yet required work.

src/main/java/frc/robot/subsystems/elevator/Claw.java

GalexY727 · 2024-02-08T07:30:42Z

src/main/java/frc/robot/subsystems/elevator/Claw.java

-        return Commands.runOnce(() -> claw.setTargetVelocity(0));
+        return runOnce(() -> setTargetPercent(TrapConstants.CLAW_STOP_PERCENT));
+    }
+    public void setIntakingTimestamp() {


The name set******* makes me think that we are expecting a parameter, consider changing to update*******

GalexY727 · 2024-02-08T07:33:56Z

src/main/java/frc/robot/subsystems/shooter/Pivot.java

@@ -100,7 +101,7 @@ public Command setRestAngleCommand() {
 	}

 	public double getAngle() {
-		return pivot.getPosition() * ShooterConstants.PIVOT_MAX_ANGLE_DEGREES;
+		return pivot.getPosition() * ShooterConstants.PIVOT_MAX_ANGLE_DEGREES / ShooterConstants.PIVOT_GEAR_RATIO;


This isn't needed-- we should have this done inside of the Neo's positionConversionFactor instead.

the ratio is 1/14 btw if u care, I'll remember it if you don't wanna do that now

GalexY727 · 2024-02-08T07:34:28Z

src/main/java/frc/robot/subsystems/shooter/Pivot.java

+				angle, 
+				ShooterConstants.PIVOT_LOWER_LIMIT_DEGREES, 
+				ShooterConstants.PIVOT_UPPER_LIMIT_DEGREES);
+		pivot.setTargetPosition(angle / ShooterConstants.PIVOT_MAX_ANGLE_DEGREES * ShooterConstants.PIVOT_GEAR_RATIO);


This gets taken care of by positionConversionFactor

GalexY727 · 2024-02-08T07:35:21Z

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

+        public static final double SHOOTER_VELOCITY_CONVERSION_FACTOR = 1.0;
+        public static final double PIVOT_POSITION_CONVERSION_FACTOR = 1.0;
+
+        public static final double PIVOT_GEAR_RATIO = 100.8;


GalexY727 · 2024-02-08T07:36:37Z

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

+        public static final double SHOOTER_RPM_LOWER_LIMIT = -4000;
+        public static final double SHOOTER_RPM_UPPER_LIMIT = 4000;


I think these can be set to +-NeoMotorConstants.UHHSOMETHING_MAX_FREE_SPEED

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

GalexY727 · 2024-02-08T07:38:22Z

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

+        public static final double CLAW_OUTTAKE_PERCENT = -50;
+        public static final double CLAW_INTAKE_PERCENT = 50;
+        public static final double CLAW_STOP_PERCENT = 0;
        public static final double TRAP_PLACE_POS = 0.48;
        public static final double AMP_PLACE_POS = 0.48;

+        public static final double ELEVATOR_TOP_LIMIT = 0.48;
+        public static final double ELEVATOR_BOTTOM_LIMIT = 0;
+
+        public static final double CLAW_LOWER_PERCENT_LIMIT = 100;
+        public static final double CLAW_UPPER_PERCENT_LIMIT = -100;


target percents are values from [-1,1]

GalexY727 · 2024-02-08T07:38:45Z

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

+        public static final double INTAKE_PERCENT_UPPER_LIMIT = 100;
+        public static final double INTAKE_PERCENT_LOWER_LIMIT = -100;
+
+        public static final double INDEXER_PERCENT_UPPER_LIMIT = 100;
+        public static final double INDEXER_PERCENT_LOWER_LIMIT = -100;
+


target percents are values from [-1,1]
we can divide that out in Neo if you want, but I think it's fine to reflect that in constants

Oliver-Cushman · 2024-02-09T01:15:08Z

I found that setting the velocity conversion factor rather than the position conversion factor resolved the issues I was having with pivot. However, it does not seem that position conversion factor is working as intended as getPosition() uses velocity conversion factor. Changing this might require some refactoring of our subsystems so it might be wise to have another issue relating to tweaking the Neo class and our subsystems in regards to conversion factors.

Jacob1010-h · 2024-02-09T19:05:06Z

if you want I could take this off of alex's hand so we could merge this as soon as possible

Oliver-Cushman · 2024-02-09T19:46:53Z

if you want I could take this off of alex's hand so we could merge this as soon as possible

I’m pretty sure pivot is good now, I’ll test in lunch and then we should be good to merge

Oliver-Cushman · 2024-02-09T20:13:11Z

if you want I could take this off of alex's hand so we could merge this as soon as possible

I’m pretty sure pivot is good now, I’ll test in lunch and then we should be good to merge

Works as intended in sim

Jacob1010-h

Everything in here looks very well coded ! I like it a lot. This should be good to merge. Make sure to test again once it's in sim-dev (just to make sure)

src/main/java/frc/robot/subsystems/shooter/Pivot.java

Jacob1010-h · 2024-02-09T20:45:13Z

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

@@ -101,8 +101,9 @@ public static final class ShooterConstants {
        public static final int RIGHT_SHOOTER_CAN_ID = 12;
        public static final int SHOOTER_PIVOT_CAN_ID = 13;

-        public static final double SHOOTER_VELOCITY_CONVERSION_FACTOR = 1;
-        public static final double PIVOT_POSITION_CONVERSION_FACTOR = 1;
+        public static final double SHOOTER_VELOCITY_CONVERSION_FACTOR = 1.0;


this is not used and is safe to remove if you want

Jacob1010-h · 2024-02-09T20:45:57Z

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

-        public static final double PIVOT_POSITION_CONVERSION_FACTOR = 1;
+        public static final double SHOOTER_VELOCITY_CONVERSION_FACTOR = 1.0;
+        // degrees
+        public static final double PIVOT_POSITION_CONVERSION_FACTOR = 360;


Oops I see, this does look more correct, please ignore the comment about this being 1

Jacob1010-h · 2024-02-09T20:48:36Z

ill wait for alex's review in case he sees something that I don't

Oliver-Cushman and others added 7 commits February 3, 2024 20:34

added clamps for intake, indexer, pivot, shooter, and claw

691b1cc

got main changes!

4fb7951

clamp on climb

f077f24

lots of clamping

8204a99

infinite clamping

remove todo

0b02080

added gear ratio

d53f280

Merge branch 'sim-dev' into Finalize-unit-testing-(gear-ratios-and-cl…

a98d704

…amping)

Oliver-Cushman requested a review from GalexY727 February 7, 2024 04:21

Merge branch 'sim-dev' into Finalize-unit-testing-(gear-ratios-and-cl…

7f52795

…amping)

GalexY727 requested changes Feb 8, 2024

View reviewed changes

fixed constants and timestamps

bdf13c6

PatribotsProgramming linked an issue Feb 9, 2024 that may be closed by this pull request

Component Unit Tests #99

Closed

5 tasks

hello friend i know who you are

6a5d7d6

Oliver-Cushman requested a review from GalexY727 February 9, 2024 01:17

i am done tweaking. the war is over.

9dd746a

refactored pivot class in accordance with MAXSwerveModule

fd35c94

formatting

a696aba

Oliver-Cushman requested review from Jacob1010-h and GalexY727 and removed request for GalexY727 February 9, 2024 20:16

Jacob1010-h approved these changes Feb 9, 2024

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Jacob1010-h merged commit e900b6f into sim-dev Feb 10, 2024

Jacob1010-h deleted the Finalize-unit-testing-(gear-ratios-and-clamping) branch February 10, 2024 04:01

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Finalize unit testing (gear ratios and clamping) #141

Finalize unit testing (gear ratios and clamping) #141

Oliver-Cushman commented Feb 7, 2024

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Jacob1010-h commented Feb 9, 2024

		public static final double SHOOTER_RPM_LOWER_LIMIT = -4000;
		public static final double SHOOTER_RPM_UPPER_LIMIT = 4000;

Finalize unit testing (gear ratios and clamping) #141

Finalize unit testing (gear ratios and clamping) #141

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Oliver-Cushman commented Feb 9, 2024

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Jacob1010-h commented Feb 9, 2024