Add elevator #10

aidnem · 2024-12-13T17:10:35Z

Adds:

Elevator subsystem (to be renamed later once the subsystem gains more functionality than just an elevator)
Elevator mechanism (for control/management of the elevator itself)
Elevator IOs for talonFX and then a sim IO that extends TalonFX and uses phoenix's sim
Tuning mode for elevator, can tune profile, PID, and FF.

Elevator uses units library in all places possible.

…osition

…sim to run, fix errors so that sim no longer crashes, add spotless. Sim updates not being updated properly it seems

…f spool

…m actually show expo capabilities

aidnem · 2024-12-13T17:22:09Z

Here's verification of it functioning in sim: I'm setting various setpoints and it's controlling to them (needs slight tuning, as it's off by <0.3 rotations).

Elevator1.mp4

jkleiber

First pass. Since this is functioning well I want to get the code as clean as possible and leverage coppercore so this can be an example for other subsystems

src/main/java/frc/robot/RobotContainer.java

jkleiber · 2024-12-13T18:39:09Z

src/main/java/frc/robot/constants/ElevatorConstants.java

+import edu.wpi.first.units.measure.Mass;
+import edu.wpi.first.units.measure.Per;
+
+public final class ElevatorConstants {


Can we use the coppercore JSON stuff here? I think it should be ready to try out

jkleiber · 2024-12-13T18:39:37Z

src/main/java/frc/robot/constants/FeatureFlags.java

@@ -0,0 +1,5 @@
+package frc.robot.constants;
+
+public final class FeatureFlags {


We definitely should use coppercore JSON parameter stuff here so we can turn features on/off without recompiling

jkleiber · 2024-12-13T18:55:54Z

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

+        } else {
+            System.out.println("ERROR: Couldn't find solution to seed elevator with CRT");
+        }


One thing Preston and I discussed after shop on Wednesday is if we should add a small voltage pulse train to push the system out of backlash if this happens. We should create a ticket for handling this case to mitigate the risk of the elevator not functioning correctly. We have the following mitigations available:

LEDs could display pre-match if CRT is seeded

Use the roboRIO user button or some other protected DIO to set that the elevator is at 0 (backup if CRT is always failing pre-match)

send a voltage pulsetrain to wiggle the elevator and get a solution from CRT when unseeded (helpful if code restarts mid match)

Want to gently nudge it down at .5 volts alternating on/off every like 0.5 seconds or something like that?
If so, where would you prefer to handle the scheduling for that? I've never done tiny scale time based control before. I could just check whether ((timestamp % 1) < 0.5) or something and then use that to decide whether or not to apply negative power.

Let's just defer it to a new ticket and discuss there if it becomes needed

jkleiber · 2024-12-13T18:56:43Z

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

+     */
+    public void setGoalHeight(Distance goalHeight) {
+        // TODO: 2025 coppercore solution for easy value clamping
+        // https://github.com/team401/coppercore/issues/64


this issue is closed so let's use the coppercore feature

jkleiber · 2024-12-13T18:58:23Z

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

+
+        Logger.recordOutput("elevator/goalHeight", goalHeight);
+
+        sendGoalHeightToIO();


Why are we doing this here if we are doing it in periodic? I think we should just be doing this in periodic since this function is a simple setter

jkleiber · 2024-12-13T18:58:50Z

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

+    public void updateClampedGoalHeight() {
+        if (goalHeight.lt(minHeight)) {
+            clampedGoalHeight.mut_replace(minHeight);
+        } else if (goalHeight.gt(maxHeight)) {
+            clampedGoalHeight.mut_replace(maxHeight);
+        } else if (!clampedGoalHeight.equals(goalHeight)) {
+            clampedGoalHeight.mut_replace(goalHeight);
+        }
+    }


Should we be using the value clamping from coppercore here as well?

@jkleiber I need to publish a release for this, should I make it 2025.0.1-beta? You mentioned re-publishing the same release but I wasn't sure in what context that would be the move.

jkleiber · 2024-12-13T18:59:46Z

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

+
+    public ElevatorSubsystem(ElevatorMechanism elevatorMechanism) {
+        this.elevatorMechanism = elevatorMechanism;
+        // elevatorMechanism.setGoalHeight(Meters.of(0.75));


We can get rid of this - it would be good to add a command that demonstrates going to various preset setpoints though

…levatorConstants.Sim

aidnem added 18 commits November 26, 2024 11:39

Add advantage kit dependency

4765d59

Add elevator subsystem boilerplate and base elevator IO

3dc38ab

Break constants into their own files and add basic talon FX configs

e0f26d4

Refactor TalonFX configs to use units library properly

655e89e

Add chinese remainder theorem code

07a7340

Make elevator inputs and outputs mutable

a8ab451

Move Chinese Remainder Theorem out of the IO and into Elevator Mechanism

e757954

Implement the rest of ElevatorIOTalonFX except for controlling to a p…

d4a46c2

…osition

Generalize elevator gear ratios instead of hardcoding

c905421

Make elevator IO apply requests to control to position

de2d46f

Add conversion from goal height to goal rotations in ElevatorMechanism

661853d

Fix small encoder ticks being hardcoded in loop bounds for CRT math

89c7cb9

WIP - Untested - Add basic phoenix6 based elevator sim

12e89f5

WIP - Add featureflags and enough boilerplate to robot container for …

5d1a3bd

…sim to run, fix errors so that sim no longer crashes, add spotless. Sim updates not being updated properly it seems

Everything moves very slowly but sim appears to work now

eab0b66

Fix gear ratios and move to control in large CANCoder space instead o…

0079a95

…f spool

Add gravity back to elevator sim and update expo constants to make si…

072e196

…m actually show expo capabilities

Add tuning mode with LoggedTunableNumber to elevator mechanism

6d16194

aidnem linked an issue Dec 13, 2024 that may be closed by this pull request

Add elevator #4

Open

5 tasks

aidnem requested a review from jkleiber December 13, 2024 17:15

jkleiber reviewed Dec 13, 2024

View reviewed changes

aidnem added 3 commits December 13, 2024 17:01

Remove ExampleSubsystem and auto

e6d193d

Add InitSubsystems.java and move elevator init there

6780aa4

Cleanup ElevatorIOSim and break constants out into SimConstants and E…

2200665

…levatorConstants.Sim

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Add elevator #10

Add elevator #10

aidnem commented Dec 13, 2024

aidnem commented Dec 13, 2024

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aidnem Dec 15, 2024

jkleiber Dec 13, 2024

		@@ -0,0 +1,5 @@
		package frc.robot.constants;

		public final class FeatureFlags {


		Logger.recordOutput("elevator/goalHeight", goalHeight);

		sendGoalHeightToIO();

Add elevator #10

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aidnem commented Dec 13, 2024

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