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Turret soft limits #59

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Merged
nlaverdure merged 13 commits into from
Feb 10, 2026
Merged

Turret soft limits #59

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fcb442a
add soft limits
nlaverdure Feb 8, 2026
d4961e8
do position control on sparkmax
nlaverdure Feb 8, 2026
4f189c5
don't graph NaN fuel trajectories
nlaverdure Feb 8, 2026
0a4ce96
add divide by zero guards
nlaverdure Feb 9, 2026
e07acae
log unreachable shots
nlaverdure Feb 9, 2026
92e19d5
use last velocity vector if target is unreachable
nlaverdure Feb 9, 2026
a2287d1
reduce object creation
nlaverdure Feb 10, 2026
55dbf5f
ai periodic improvements
nlaverdure Feb 10, 2026
8687ab3
periodic improvements
nlaverdure Feb 10, 2026
e33c814
perf improvements
nlaverdure Feb 10, 2026
d5d7a45
reduce logging frequency
nlaverdure Feb 10, 2026
ff27a64
variable logging frequency
nlaverdure Feb 10, 2026
ab23976
set relative encoder correctly
nlaverdure Feb 10, 2026
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3 changes: 1 addition & 2 deletions src/main/java/frc/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,6 @@
import frc.robot.subsystems.intake.Intake;
import frc.robot.subsystems.intake.IntakeRollerIO;
import frc.robot.subsystems.intake.IntakeRollerIOSim;
import frc.robot.subsystems.intake.IntakeRollerIOTalonFX;
import frc.robot.subsystems.launcher.FlywheelIO;
import frc.robot.subsystems.launcher.FlywheelIOSim;
import frc.robot.subsystems.launcher.HoodIO;
Expand Down Expand Up @@ -132,7 +131,7 @@ public Robot() {
new TurretIOSpark(),
new FlywheelIOSim(),
new HoodIOSimHardwareless());
intake = new Intake(new IntakeRollerIOTalonFX());
intake = new Intake(new IntakeRollerIO() {});
feeder = new Feeder(new SpindexerIO() {}, new KickerIO() {});
break;

Expand Down
5 changes: 4 additions & 1 deletion src/main/java/frc/robot/subsystems/drive/Drive.java
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Original file line number Diff line number Diff line change
Expand Up @@ -83,6 +83,7 @@ public class Drive extends SubsystemBase {
private final SwerveModuleState[] emptyModuleStates = new SwerveModuleState[] {};
private SwerveModulePosition[] modulePositions = new SwerveModulePosition[4];
private SwerveModulePosition[] moduleDeltas = new SwerveModulePosition[4];
private ChassisSpeeds chassisSpeeds;

// PID controllers for following Choreo trajectories
private final PIDController xController = new PIDController(5.0, 0.0, 0.0);
Expand Down Expand Up @@ -201,6 +202,8 @@ public void periodic() {

// Apply update
visionPose.updateWithTime(sampleTimestamps[i], rawGyroRotation, modulePositions);

chassisSpeeds = kinematics.toChassisSpeeds(getModuleStates());
}

// Update gyro alert
Expand Down Expand Up @@ -307,7 +310,7 @@ private SwerveModulePosition[] getModulePositions() {
/** Returns the measured chassis speeds of the robot. */
@AutoLogOutput(key = "SwerveChassisSpeeds/Measured")
public ChassisSpeeds getRobotRelativeChassisSpeeds() {
return kinematics.toChassisSpeeds(getModuleStates());
return chassisSpeeds;
}

/** Returns the position of each module in radians. */
Expand Down
9 changes: 2 additions & 7 deletions src/main/java/frc/robot/subsystems/launcher/HoodIOSim.java
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Original file line number Diff line number Diff line change
Expand Up @@ -51,12 +51,7 @@ public HoodIOSim() {
.velocityConversionFactor(encoderVelocityFactor)
.averageDepth(2);

hoodConfig
.closedLoop
.feedbackSensor(FeedbackSensor.kAbsoluteEncoder)
.positionWrappingEnabled(true)
.positionWrappingInputRange(minInput, maxInput)
.pid(kPSim, 0.0, kDSim);
hoodConfig.closedLoop.feedbackSensor(FeedbackSensor.kAbsoluteEncoder).pid(kPSim, 0.0, kDSim);

hoodConfig
.signals
Expand Down Expand Up @@ -100,7 +95,7 @@ public void setOpenLoop(double output) {

@Override
public void setPosition(Rotation2d rotation, AngularVelocity angularVelocity) {
double setpoint = MathUtil.inputModulus(rotation.getRadians(), minInput, maxInput);
double setpoint = MathUtil.inputModulus(rotation.getRadians(), 0.0, 2.0 * Math.PI);
double feedforwardVolts =
RobotConstants.kNominalVoltage
* angularVelocity.in(RadiansPerSecond)
Expand Down
9 changes: 2 additions & 7 deletions src/main/java/frc/robot/subsystems/launcher/HoodIOSpark.java
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Original file line number Diff line number Diff line change
Expand Up @@ -53,12 +53,7 @@ public HoodIOSpark() {
.velocityConversionFactor(encoderVelocityFactor)
.averageDepth(2);

hoodConfig
.closedLoop
.feedbackSensor(FeedbackSensor.kAbsoluteEncoder)
.positionWrappingEnabled(true)
.positionWrappingInputRange(minInput, maxInput)
.pid(kPReal, 0.0, 0.0);
hoodConfig.closedLoop.feedbackSensor(FeedbackSensor.kAbsoluteEncoder).pid(kPReal, 0.0, 0.0);

hoodConfig
.signals
Expand Down Expand Up @@ -98,7 +93,7 @@ public void setOpenLoop(double output) {

@Override
public void setPosition(Rotation2d rotation, AngularVelocity angularVelocity) {
double setpoint = MathUtil.inputModulus(rotation.getRadians(), minInput, maxInput);
double setpoint = MathUtil.inputModulus(rotation.getRadians(), 0.0, 2.0 * Math.PI);
double feedforwardVolts =
RobotConstants.kNominalVoltage
* angularVelocity.in(RadiansPerSecond)
Expand Down
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