update funnel simulation

FRC7660 · Feb 1, 2025 · 8b5bac0 · 8b5bac0
1 parent d96a3e9
commit 8b5bac0
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Showing 4 changed files with 13 additions and 8 deletions.
diff --git a/simgui-ds.json b/simgui-ds.json
@@ -88,5 +88,11 @@
       "buttonCount": 0,
       "povCount": 0
     }
+  ],
+  "robotJoysticks": [
+    {
+      "guid": "78696e70757401000000000000000000",
+      "useGamepad": true
+    }
   ]
 }
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -40,6 +40,6 @@ public static enum Mode {
   public static class Funnel {
     public static int winchID = 51;
     public static double winchSpeed = 0.50; // Clockwise = positive, holds funnel down in position
-    public static int limit = 10;
+    public static double limit = 1;
   }
 }
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -15,8 +15,6 @@
 
 import static frc.robot.subsystems.vision.VisionConstants.*;
 
-import java.sql.Driver;
-
 import com.pathplanner.lib.auto.AutoBuilder;
 import com.pathplanner.lib.auto.NamedCommands;
 import edu.wpi.first.math.geometry.Pose2d;
@@ -173,7 +171,7 @@ private void configureButtonBindings() {
     // Lock to 0° when A button is held
 
     JoystickButton a = new JoystickButton(driver, XboxController.Button.kA.value);
-    a.whileTrue(new LiftFunnel(funnel));
+    a.onTrue(new LiftFunnel(funnel));
 
     controller
         .a()

diff --git a/src/main/java/frc/robot/subsystems/Funnel.java b/src/main/java/frc/robot/subsystems/Funnel.java
@@ -12,7 +12,6 @@
 import com.revrobotics.spark.SparkMax;
 import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
 import com.revrobotics.spark.config.SparkMaxConfig;
-
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.wpilibj.simulation.RoboRioSim;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -29,7 +28,7 @@ public class Funnel extends SubsystemBase {
   private SparkMaxSim motorWinchSim;
 
   public Funnel() {
-    if(Constants.currentMode == Constants.Mode.SIM){
+    if (Constants.currentMode == Constants.Mode.SIM) {
       motorWinchSim = new SparkMaxSim(motorWinch, DCMotor.getNEO(1));
     }
     encoderWinch = motorWinch.getEncoder();
@@ -38,7 +37,6 @@ public Funnel() {
     motorWinch.configure(
         configWinch, ResetMode.kResetSafeParameters, PersistMode.kNoPersistParameters);
     encoderWinch.setPosition(0); // improve later if time, possibly set when enabled
-
   }
 
   public void wind() {
@@ -55,9 +53,12 @@ public void stop() {
 
   public Boolean limitReached() {
     double position = encoderWinch.getPosition();
+    System.out.println("Value:" + position);
     if (position > Constants.Funnel.limit) {
+      System.out.println("Limit Reached");
       return true;
     } else if (position < -Constants.Funnel.limit) {
+      System.out.println("Limit Reached");
       return true;
     }
     return false;
@@ -73,7 +74,7 @@ public void periodic() {
     SmartDashboard.putNumber("Funnel-Pos", encoderWinch.getPosition());
   }
 
-  public void simulationPeriodic(){
+  public void simulationPeriodic() {
     double velo = motorWinch.get() * 1.0;
     double voltage = RoboRioSim.getVInVoltage();
     motorWinchSim.iterate(velo, voltage, Constants.simCycleTime);