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Updated subsystem comments.

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Made Elevator 2-motor.
This commit is contained in:
Titan Robotics Club
2025-05-04 20:58:27 -07:00
parent 8a0129c2a5
commit 58333357c6
7 changed files with 37 additions and 17 deletions
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4
TeamCode/src/main/java/teamcode/subsystems/Arm.java
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@ -30,9 +30,11 @@ import trclib.robotcore.TrcEvent;
import trclib.subsystem.TrcSubsystem;
/**
* This class implements an Arm Subsystem. The Arm subsystem consists of a motor with built-in encoder. It does not
* This class implements an Arm Subsystem. This implementation consists of a motor with built-in encoder. It does not
* have any limit switches, so it is using motor stall detection to zero calibrate the built-in relative encoder. It
* supports gravity compensation by computing the power required to hold the arm at its current angle.
* There are many possible implementations by setting different parameters.
* Please refer to the TrcLib documentation (<a href="https://trc492.github.io">...</a>) for details.
*/
public class Arm extends TrcSubsystem
{

4
TeamCode/src/main/java/teamcode/subsystems/Claw.java
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@ -34,9 +34,11 @@ import trclib.subsystem.TrcServoClaw;
import trclib.subsystem.TrcSubsystem;
/**
* This class implements a Claw Subsystem. The Claw subsystem consists of two servos and a sensor to detect the
* This class implements a Claw Subsystem. This implementation consists of two servos and a sensor to detect the
* presence of an object and can auto grab it. The sensor can be either a digital sensor such as touch sensor or beam
* break sensor) or an analog sensor such as a distance sensor.
* There are many possible implementations by setting different parameters.
* Please refer to the TrcLib documentation (<a href="https://trc492.github.io">...</a>) for details.
*/
public class Claw extends TrcSubsystem
{

14
TeamCode/src/main/java/teamcode/subsystems/DiffyServoWrist.java
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@ -29,12 +29,14 @@ import trclib.subsystem.TrcDifferentialServoWrist;
import trclib.subsystem.TrcSubsystem;
/**
* This class creates the Differential Servo Wrist subsystem. The Differential Servo Wrist subsystem is a 2-DOF
* system that consists of two servos. When the two servos rotate in the same direction, the wrist will tilt up and
* down. When the two servos rotate in opposite direction, the wrist will rotate. Regular servos have a limited
* range of movement. Because of this, the tilt and rotation of the wrist will limit each other's range of motion.
* For example, if the wrist is tilted to one extreme end, the wrist cannot rotate. If the wrist is in the middle
* tilt position, it will have maximum rotation range and vice versa.
* This class creates the Differential Servo Wrist subsystem. This implementation is a 2-DOF system that consists of
* two servos. When the two servos rotate in the same direction, the wrist will tilt up and down. When the two servos
* rotate in opposite direction, the wrist will rotate. Regular servos have a limited range of movement. Because of
* this, the tilt and rotation of the wrist will limit each other's range of motion. For example, if the wrist is
* tilted to one extreme end, the wrist cannot rotate. If the wrist is in the middle tilt position, it will have
* maximum rotation range and vice versa.
* There are many possible implementations by setting different parameters.
* Please refer to the TrcLib documentation (<a href="https://trc492.github.io">...</a>) for details.
*/
public class DiffyServoWrist extends TrcSubsystem
{

19
TeamCode/src/main/java/teamcode/subsystems/Elevator.java
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@ -30,9 +30,11 @@ import trclib.robotcore.TrcEvent;
import trclib.subsystem.TrcSubsystem;
/**
* This class implements an Elevator Subsystem. The Elevator subsystem consists of a motor with built-in encoder and
* This class implements an Elevator Subsystem. This implementation consists of two motors with built-in encoders and
* a lower limit switch for zero calibrating the relative encoder. It supports gravity compensation. In the case of
* an elevator, gravity compensation power is the constant power required to hold the elevator at any position.
* There are many possible implementations by setting different parameters.
* Please refer to the TrcLib documentation (<a href="https://trc492.github.io">...</a>) for details.
*/
public class Elevator extends TrcSubsystem
{
@ -41,9 +43,15 @@ public class Elevator extends TrcSubsystem
public static final String SUBSYSTEM_NAME = "Elevator";
public static final boolean NEED_ZERO_CAL = true;
public static final String MOTOR_NAME = SUBSYSTEM_NAME + ".motor";
public static final FtcMotorActuator.MotorType MOTOR_TYPE= FtcMotorActuator.MotorType.DcMotor;
public static final boolean MOTOR_INVERTED = true;
public static final String PRIMARY_MOTOR_NAME = SUBSYSTEM_NAME + ".primary";
public static final FtcMotorActuator.MotorType PRIMARY_MOTOR_TYPE =
FtcMotorActuator.MotorType.DcMotor;
public static final boolean PRIMARY_MOTOR_INVERTED = true;
public static final String FOLLOWER_MOTOR_NAME = SUBSYSTEM_NAME + ".follower";
public static final FtcMotorActuator.MotorType FOLLOWER_MOTOR_TYPE =
FtcMotorActuator.MotorType.DcMotor;
public static final boolean FOLLOWER_MOTOR_INVERTED = true;
public static final String LOWER_LIMITSW_NAME = SUBSYSTEM_NAME + ".lowerLimitSw";
public static final boolean LOWER_LIMITSW_INVERTED = false;
@ -79,7 +87,8 @@ public class Elevator extends TrcSubsystem
dashboard = FtcDashboard.getInstance();
FtcMotorActuator.Params motorParams = new FtcMotorActuator.Params()
.setPrimaryMotor(Params.MOTOR_NAME, Params.MOTOR_TYPE, Params.MOTOR_INVERTED)
.setPrimaryMotor(Params.PRIMARY_MOTOR_NAME, Params.PRIMARY_MOTOR_TYPE, Params.PRIMARY_MOTOR_INVERTED)
.setFollowerMotor(Params.FOLLOWER_MOTOR_NAME, Params.FOLLOWER_MOTOR_TYPE, Params.FOLLOWER_MOTOR_INVERTED)
.setLowerLimitSwitch(Params.LOWER_LIMITSW_NAME, Params.LOWER_LIMITSW_INVERTED)
.setPositionScaleAndOffset(Params.INCHES_PER_COUNT, Params.POS_OFFSET)
.setPositionPresets(Params.POS_PRESET_TOLERANCE, Params.posPresets);

5
TeamCode/src/main/java/teamcode/subsystems/ServoWrist.java
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@ -29,9 +29,11 @@ import trclib.robotcore.TrcEvent;
import trclib.subsystem.TrcSubsystem;
/**
* This class creates the Servo Wrist subsystem. The Servo Wrist subsystem is a 1-DOF system that consists of a servo.
* This class creates the Servo Wrist subsystem. This implementation is a 1-DOF system that consists of a servo.
* It allows the wrist to tilt up and down. Regular servos have a limited * range of movement. Therefore, it limits
* the tilting range of the wrist.
* There are many possible implementations by setting different parameters.
* Please refer to the TrcLib documentation (<a href="https://trc492.github.io">...</a>) for details.
*/
public class ServoWrist extends TrcSubsystem
{
@ -50,7 +52,6 @@ public class ServoWrist extends TrcSubsystem
public static final double POS_PRESET_TOLERANCE = 1.0; // in degrees
public static final double[] tiltPosPresets = {-110, -90.0, -45.0, 0.0, 45.0, 90.0, 110};
public static final double[] rotatePosPresets = {-90.0, -45.0, 0.0, 45.0, 90.0};
} //class Params
private final FtcDashboard dashboard;

4
TeamCode/src/main/java/teamcode/subsystems/Shooter.java
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@ -32,13 +32,15 @@ import trclib.subsystem.TrcShooter;
import trclib.subsystem.TrcSubsystem;
/**
* This class implements an Shooter Subsystem. The shooter subsystem consists of one or two shooter motors. For
* This class implements an Shooter Subsystem. This implementation consists of one or two shooter motors. For
* two-motor shooter, the two motors can be arranged to spin in the same direction (2-stage shooting) or in opposite
* directions. For opposite spinning motor arrangement, one can spin the motors at different speed to create back spin
* when shooting the object. In the two-motor configuration, because the two motors may not be identical (even if they
* are the same model), the subsystem allows you to tune different PID coefficients for each motor. The shooter
* subsystem also supports optionally mounting on a pan and tilt platform. This allows for aiming the shooter at
* the shooting target.
* There are many possible implementations by setting different parameters.
* Please refer to the TrcLib documentation (<a href="https://trc492.github.io">...</a>) for details.
*/
public class Shooter extends TrcSubsystem
{

4
TeamCode/src/main/java/teamcode/subsystems/Turret.java
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@ -30,11 +30,13 @@ import trclib.robotcore.TrcEvent;
import trclib.subsystem.TrcSubsystem;
/**
* This class implements a Turret Subsystem. The Turret subsystem consists of a motor with built-in encoder. It has
* This class implements a Turret Subsystem. This implementation consists of a motor with built-in encoder. It has
* a lower limit switch for zero calibrating the built-in relative encoder. Since Turret is circular in nature, it
* is recommended to implement a hard stop to prevent the Turret from overrunning the upper limit causing the wiring
* harness to be twisted. Even though we do implement soft limits on the Turret, hard stop would prevent folks from
* spinning the turret round and round twisting the wiring harness when the robot is off.
* There are many possible implementations by setting different parameters.
* Please refer to the TrcLib documentation (<a href="https://trc492.github.io">...</a>) for details.
*/
public class Turret extends TrcSubsystem
{