Initial Intake (#9)

* starting intake because nothing else for me to do

* starting intake because nothing else for me to do

* updating Pipfile.lock

* adding encoders

* added intaking command

* beginings of pid

* fixing SwerveControllerCommand

* buttons work now

* added commands and update incase we aren't quick enough when building to not relie sololy on pid

* fixed isse with crashing when pressinng button

* updating pipenv to be congruent with main

* fixing black formating

* adding the limit switches to the intake to allow intake only when its not

* put intake on network tables

* add pyproject.toml

* fix conversion factor

* add debug statements to intakesuck command

* run the command correctly >:(

* typing in intake suck @\kredcool

* log intake limit switch

* make intake invert correctly and move correctly

* intake works well****

* moving the intake works

* Update rio/constants.py

Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>

* Update rio/subsystems/intake.py

Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>

* Update rio/subsystems/intake.py

Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>

* updating makefile to not have skips

---------

Co-authored-by: kredcool <[email protected]>
Co-authored-by: dublUayaychtee <[email protected]>
Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>

rio/Makefile

@@ -14,7 +14,7 @@ sim:	## Run the simulator
 	python -m robotpy sim
 
 deploy:	## Deploy to the robot (with netconsole)
-	python -m robotpy deploy --nc 
+	python -m robotpy deploy --nc
 
 push:	## Deploy to the robot (push only, no netconsole)
 	python -m robotpy deploy

rio/commands/intakeRotationMAN.py

@@ -0,0 +1,27 @@
+import commands2
+
+from subsystems.intake import IntakeSubsystem
+
+
+class IntakeRotationMAN(commands2.Command):
+    def __init__(self, angle: float, subsystem):
+        """
+        allows people to rotate the intake
+        """
+        super().__init__()
+
+        # local subsystem instance
+        self.intakeSubsystem = subsystem
+
+        # requested speed
+        self.angle = angle
+
+        # TODO change current limit later in amps
+        self.intakeSubsystem.liftCurrentLimit(1)
+
+    def execute(self):
+        self.intakeSubsystem.manualLift(self.angle)
+
+    def end(self, interrupted: bool):
+        self.intakeSubsystem.manualLift(0)
+        return True

rio/commands/intakeRotationPID.py

@@ -0,0 +1,29 @@
+import commands2
+
+from subsystems.intake import IntakeSubsystem
+
+
+class IntakeRotationPID(commands2.Command):
+    def __init__(self, angle, subsystem):
+        """
+        rotates the intake
+        supposed to be used with
+        presets
+        """
+        super().__init__()
+
+        # local subsystem instance
+        self.intakeSubsystem = subsystem
+
+        # requested speed
+        self.angle = angle
+
+        # TODO change current limit later in amps
+        self.intakeSubsystem.liftCurrentLimit(1)
+
+    def initialize(self):
+        self.intakeSubsystem.lift(self.angle)
+
+    def end(self, interrupted: bool):
+        self.intakeSubsystem.lift(0)
+        return True

rio/commands/intakeSuck.py

@@ -0,0 +1,27 @@
+import commands2
+
+from subsystems.intake import IntakeSubsystem
+
+
+class IntakeSuck(commands2.Command):
+    def __init__(self, speed: float, subsystem: IntakeSubsystem):
+        """
+        takes in the rings
+        """
+        super().__init__()
+
+        # local subsystem instance
+        self.intakeSubsystem = subsystem
+
+        # requested speed
+        self.speed = speed
+
+        # TODO change current limit later in amps
+        self.intakeSubsystem.intakeCurrentLimit(30)
+
+    def execute(self):
+        self.intakeSubsystem.intake(self.speed)
+
+    def end(self, interrupted: bool):
+        self.intakeSubsystem.intake(0)
+        return True

rio/constants.py

@@ -121,9 +121,14 @@ class ModuleConstants:
 
 
 class OIConstants:
+    # driver controller
     kDriverControllerPort = 0
     kDriveDeadband = 0.075
 
+    # operator controller
+    kOpControllerPort = 1
+    kIntakeButton = 1
+
 
 class AutoConstants:
     kMaxSpeedMetersPerSecond = 3
@@ -139,3 +144,22 @@ class AutoConstants:
     kThetaControllerConstraints = TrapezoidProfileRadians.Constraints(
         kMaxAngularSpeedRadiansPerSecond, kMaxAngularSpeedRadiansPerSecondSquared
     )
+
+
+class IntakeConstants:
+    # CANSparkMax ports
+    kliftCanId = 9
+    kIntakeCanId = 10
+
+    # inversion
+    kLiftInversion = False
+    kIntakeInversion = False
+
+    # conversion factor
+    kLiftConversion = 1  # Configured feb 12 by joe
+
+    # lift pid
+    kLiftP = 0
+    kLiftI = 0
+    kLiftD = 0
+    kLiftFF = 0

rio/pyproject.toml

@@ -0,0 +1,30 @@
+#
+# Use this configuration file to control what RobotPy packages are installed
+# on your RoboRIO
+#
+
+[tool.robotpy]
+
+# Version of robotpy this project depends on
+robotpy_version = "2024.2.1.1"
+
+# Which extra RobotPy components should be installed
+# -> equivalent to `pip install robotpy[extra1, ...]
+robotpy_extras = [
+    # "all",
+    # "apriltag",
+    "commands2",
+    "cscore",
+    "navx",
+    # "pathplannerlib",
+    # "phoenix5",
+    # "phoenix6",
+    # "playingwithfusion",
+    "rev",
+    # "romi",
+    # "sim",
+    # "xrp",
+]
+
+# Other pip packages to install
+requires = []

rio/robotcontainer.py

@@ -1,9 +1,9 @@
 import math
 
-import commands2
-import wpimath
+# vendor libs
 import wpilib
 
+import wpimath
 from commands2 import cmd
 from commands2.button import CommandJoystick
 
@@ -15,8 +15,19 @@
 from wpimath.geometry import Pose2d, Rotation2d, Translation2d
 from wpimath.trajectory import TrajectoryConfig, TrajectoryGenerator
 
+import commands2
+
+from commands2 import cmd
+from commands2.button import CommandJoystick, CommandXboxController
+
 from constants import AutoConstants, DriveConstants, OIConstants
+
 from subsystems.drivesubsystem import DriveSubsystem
+from subsystems.intake import IntakeSubsystem
+
+from commands.intakeSuck import IntakeSuck
+from commands.intakeRotationPID import IntakeRotationPID
+from commands.intakeRotationMAN import IntakeRotationMAN
 
 
 class RobotContainer:
@@ -30,10 +41,14 @@ class RobotContainer:
     def __init__(self) -> None:
         # The robot's subsystems
         self.robotDrive = DriveSubsystem()
+        self.intake = IntakeSubsystem()
 
         # The driver's controller
         self.driverController = CommandJoystick(0)
 
+        # the operators controller
+        self.opController = CommandXboxController(OIConstants.kOpControllerPort)
+
         # Configure the button bindings
         self.configureButtonBindings()
 
@@ -51,7 +66,7 @@ def __init__(self) -> None:
                         OIConstants.kDriveDeadband,  # TODO: Use constants to set these controls
                     )
                     * 0.3,
-                    wpimath.applyDeadband(
+                    -wpimath.applyDeadband(
                         self.driverController.getRawAxis(0),
                         OIConstants.kDriveDeadband,  # TODO: Use constants to set these controls
                     )
@@ -74,6 +89,13 @@ def configureButtonBindings(self) -> None:
         instantiating a :GenericHID or one of its subclasses (Joystick or XboxController),
         and then passing it to a JoystickButton.
         """
+        # intaking
+        self.opController.x().whileTrue(IntakeSuck(0.4, self.intake))
+        self.opController.y().whileTrue(IntakeSuck(-0.4, self.intake))
+
+        # moving intake
+        self.opController.pov(0).whileTrue(IntakeRotationMAN(1, self.intake))  # out
+        self.opController.pov(180).whileTrue(IntakeRotationMAN(-1, self.intake))  # in
 
     def disablePIDSubsystems(self) -> None:
         """Disables all ProfiledPIDSubsystem and PIDSubsystem instances.

rio/simgui-ds.json

@@ -63,6 +63,10 @@
     {
       "guid": "Keyboard0",
       "name": "Driver Joystick"
+    },
+    {
+      "guid": "030000006d0400001dc2000014400000",
+      "useGamepad": true
     }
   ]
 }

rio/simgui-window.json

@@ -5,25 +5,25 @@
   "MainWindow": {
     "GLOBAL": {
       "fps": "120",
-      "height": "720",
-      "maximized": "0",
+      "height": "1033",
+      "maximized": "1",
       "style": "0",
       "userScale": "2",
-      "width": "1280",
-      "xpos": "447",
-      "ypos": "289"
+      "width": "1920",
+      "xpos": "0",
+      "ypos": "20"
     }
   },
   "Window": {
     "###FMS": {
       "Collapsed": "0",
       "Pos": "5,540",
-      "Size": "283,146"
+      "Size": "283,140"
     },
     "###Joysticks": {
       "Collapsed": "0",
       "Pos": "291,574",
-      "Size": "796,138"
+      "Size": "796,240"
     },
     "###NetworkTables": {
       "Collapsed": "0",
@@ -58,7 +58,7 @@
     "Robot State": {
       "Collapsed": "0",
       "Pos": "5,20",
-      "Size": "92,99"
+      "Size": "92,116"
     }
   }
 }