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(#81) Setup of TransferRoller subsystem #83

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Merged
thetaback merged 16 commits into from
Mar 7, 2026
Merged

(#81) Setup of TransferRoller subsystem #83

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c3e0830
(#81) Setup of TransferRoller subsystem
Feb 28, 2026
436bf24
(#81) Fixed python script that checks constants
Mar 1, 2026
a0886a1
(#81) Added a dejam velocity constant
Mar 1, 2026
500aa53
(#81) Hopefully fixed json so that it builds
Mar 1, 2026
6955f65
(#81) Review changes
Mar 2, 2026
dc938a0
(#81) Changed canbus assignment and name of method
Mar 4, 2026
d2a3551
(#81) Changed IdleState to make the motor coast
Mar 4, 2026
8bc3132
Merge branch 'main' into 81-add-intake-roller
godmar Mar 6, 2026
ab119bb
(#81) corrected earlier merge mistake
godmar Mar 6, 2026
f4c0434
(#81) renamed transferRoller package to be transferroller
godmar Mar 6, 2026
1c67991
(#81) Added Lazy for transfer roller testing mode
Mar 6, 2026
500a95f
Merge branch 'main' into 81-add-intake-roller
Mar 7, 2026
7982231
(#81) Integration tuning and fixed coasting
Mar 7, 2026
21ed676
(#81) Added velocity filter time and removed unneeded constant
Mar 7, 2026
2026462
(#81) Fixed method type and json constant
Mar 7, 2026
33bed79
(#81) Fixed transfer roller to use refresh rates
Mar 7, 2026
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1 change: 1 addition & 0 deletions ci-scripts/check_constants.py
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Expand Up @@ -25,6 +25,7 @@
"ShooterConstants.json": "frc.robot.constants.ShooterConstants",
"HoodConstants.json": "frc.robot.constants.HoodConstants",
"ClimberConstants.json": "frc.robot.constants.ClimberConstants",
"TransferRollerConstants.json": "frc.robot.constants.TransferRollerConstants",
"ShotMaps.json": "frc.robot.constants.ShotMaps",
"RedFieldLocations.json": "frc.robot.constants.FieldLocationInstance",
"BlueFieldLocations.json": "frc.robot.constants.FieldLocationInstance",
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284 changes: 284 additions & 0 deletions elastic_layouts/tuning.json
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Expand Up @@ -2380,6 +2380,290 @@
}
]
}
},
{
"name": "Transfer Roller Tuning",
"grid_layout": {
"layouts": [
{
"title": "PIDGains",
"x": 0.0,
"y": 0.0,
"width": 256.0,
"height": 256.0,
"type": "List Layout",
"properties": {
"label_position": "LEFT"
},
"children": [
{
"title": "kP",
"x": 0.0,
"y": 0.0,
"width": 128.0,
"height": 128.0,
"type": "Text Display",
"properties": {
"topic": "TunableNumbers/TransferRoller/MotorTuning/PIDGains/kP",
"period": 0.06,
"data_type": "double",
"show_submit_button": true
}
},
{
"title": "kI",
"x": 0.0,
"y": 0.0,
"width": 128.0,
"height": 128.0,
"type": "Text Display",
"properties": {
"topic": "TunableNumbers/TransferRoller/MotorTuning/PIDGains/kI",
"period": 0.06,
"data_type": "double",
"show_submit_button": true
}
},
{
"title": "kD",
"x": 0.0,
"y": 0.0,
"width": 128.0,
"height": 128.0,
"type": "Text Display",
"properties": {
"topic": "TunableNumbers/TransferRoller/MotorTuning/PIDGains/kD",
"period": 0.06,
"data_type": "double",
"show_submit_button": true
}
}
]
},
{
"title": "FeedForwardGains",
"x": 256.0,
"y": 0.0,
"width": 256.0,
"height": 256.0,
"type": "List Layout",
"properties": {
"label_position": "LEFT"
},
"children": [
{
"title": "kA",
"x": 0.0,
"y": 0.0,
"width": 128.0,
"height": 128.0,
"type": "Text Display",
"properties": {
"topic": "TunableNumbers/TransferRoller/MotorTuning/PIDGains/kA",
"period": 0.06,
"data_type": "double",
"show_submit_button": true
}
},
{
"title": "kG",
"x": 0.0,
"y": 0.0,
"width": 128.0,
"height": 128.0,
"type": "Text Display",
"properties": {
"topic": "TunableNumbers/TransferRoller/MotorTuning/PIDGains/kG",
"period": 0.06,
"data_type": "double",
"show_submit_button": true
}
},
{
"title": "kS",
"x": 0.0,
"y": 0.0,
"width": 128.0,
"height": 128.0,
"type": "Text Display",
"properties": {
"topic": "TunableNumbers/TransferRoller/MotorTuning/PIDGains/kS",
"period": 0.06,
"data_type": "double",
"show_submit_button": true
}
},
{
"title": "kV",
"x": 0.0,
"y": 0.0,
"width": 128.0,
"height": 128.0,
"type": "Text Display",
"properties": {
"topic": "TunableNumbers/TransferRoller/MotorTuning/PIDGains/kV",
"period": 0.06,
"data_type": "double",
"show_submit_button": true
}
}
]
},
{
"title": "MotionProfile",
"x": 896.0,
"y": 0.0,
"width": 384.0,
"height": 384.0,
"type": "List Layout",
"properties": {
"label_position": "TOP"
},
"children": [
{
"title": "MaxAcceleration_Rotation per Second per Second",
"x": 0.0,
"y": 0.0,
"width": 128.0,
"height": 128.0,
"type": "Text Display",
"properties": {
"topic": "TunableNumbers/TransferRoller/MotorTuning/MotionProfile/MaxAcceleration_Rotation per Second per Second",
"period": 0.06,
"data_type": "double",
"show_submit_button": true
}
},
{
"title": "MaxJerk_Rotation per Second per Second per Second",
"x": 0.0,
"y": 0.0,
"width": 128.0,
"height": 128.0,
"type": "Text Display",
"properties": {
"topic": "TunableNumbers/TransferRoller/MotorTuning/MotionProfile/MaxJerk_Rotation per Second per Second per Second",
"period": 0.06,
"data_type": "double",
"show_submit_button": true
}
},
{
"title": "MaxVelocity_Rotation per Second",
"x": 0.0,
"y": 0.0,
"width": 128.0,
"height": 128.0,
"type": "Text Display",
"properties": {
"topic": "TunableNumbers/TransferRoller/MotorTuning/MotionProfile/MaxVelocity_Rotation per Second",
"period": 0.06,
"data_type": "double",
"show_submit_button": true
}
},
{
"title": "expoKA_Volt per Rotation per Second per Second",
"x": 0.0,
"y": 0.0,
"width": 128.0,
"height": 128.0,
"type": "Text Display",
"properties": {
"topic": "TunableNumbers/TransferRoller/MotorTuning/MotionProfile/expoKA_Volt per Rotation per Second per Second",
"period": 0.06,
"data_type": "double",
"show_submit_button": true
}
},
{
"title": "expoKV_Volt per Rotation per Second",
"x": 0.0,
"y": 0.0,
"width": 128.0,
"height": 128.0,
"type": "Text Display",
"properties": {
"topic": "TunableNumbers/TransferRoller/MotorTuning/MotionProfile/expoKV_Volt per Rotation per Second",
"period": 0.06,
"data_type": "double",
"show_submit_button": true
}
}
]
},
{
"title": "MotorTuning",
"x": 512.0,
"y": 0.0,
"width": 384.0,
"height": 256.0,
"type": "List Layout",
"properties": {
"label_position": "TOP"
},
"children": [
{
"title": "CurrentTuning_Amp",
"x": 0.0,
"y": 0.0,
"width": 128.0,
"height": 128.0,
"type": "Text Display",
"properties": {
"topic": "TunableNumbers/TransferRoller/MotorTuning/CurrentTuning_Amp",
"period": 0.06,
"data_type": "double",
"show_submit_button": true
}
},
{
"title": "VelocityTarget_Rotation per Minute",
"x": 0.0,
"y": 0.0,
"width": 128.0,
"height": 128.0,
"type": "Text Display",
"properties": {
"topic": "TunableNumbers/TransferRoller/MotorTuning/VelocityTarget_Rotation per Minute",
"period": 0.06,
"data_type": "double",
"show_submit_button": true
}
},
{
"title": "VoltageTuning_Volt",
"x": 0.0,
"y": 0.0,
"width": 128.0,
"height": 128.0,
"type": "Text Display",
"properties": {
"topic": "TunableNumbers/TransferRoller/MotorTuning/VoltageTuning_Volt",
"period": 0.06,
"data_type": "double",
"show_submit_button": true
}
}
]
}
],
"containers": [
{
"title": "TransferRoller Test Mode Selector",
"x": 0.0,
"y": 256.0,
"width": 896.0,
"height": 128.0,
"type": "ComboBox Chooser",
"properties": {
"topic": "/SmartDashboard/TransferRoller Test Mode Selector",
"period": 0.06,
"sort_options": false
}
}
]
}
}
]
}
3 changes: 2 additions & 1 deletion src/main/deploy/constants/comp/CANBusAssignment.json
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Expand Up @@ -22,5 +22,6 @@
"intakeRollersFollowerMotorId": 21,
"shooterLeaderId": 22,
"shooterFollowerId": 23,
"climberKrakenId": 24
"climberKrakenId": 24,
"transferRollerKrakenId": 25
}
1 change: 1 addition & 0 deletions src/main/deploy/constants/comp/FeatureFlags.json
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Expand Up @@ -9,6 +9,7 @@
"runIntake": true,
"runHood": true,
"runClimber": true,
"runTransferRoller": true,
"useHomingSwitch": false,
"useTuningServer": true,
"pretendCamerasAreMobile": false
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72 changes: 72 additions & 0 deletions src/main/deploy/constants/comp/TransferRollerConstants.json
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@@ -0,0 +1,72 @@
{
"transferRollerReduction": 1.0,
"velocityFilterTime": {
"value": 0.05,
"unit": "Seconds"
},
"transferRollerGains": {
"kP": 10.0,
"kI": 7.0,
"kD": 0.0,
"kS": 2.0,
"kG": 0.0,
"kV": 0.1,
"kA": 0.0
},
"transferRollerMotionProfileConfig": {
"isMutable": false,
"maxVelocity": {
"value": 0.0,
"unit": "Rotation per Second"
},
"maxAcceleration": {
"value": 3000.0,
"unit": "Rotation per Second per Second"
},
"maxJerk": {
"value": 0.0,
"unit": "Rotation per Second per Second per Second"
},
"expoKV": {
"dividend": {
"value": 0.0,
"unit": "Volt"
},
"divisor": {
"value": 1.0,
"unit": "Rotation per Second"
}
},
"expoKA": {
"dividend": {
"value": 0.0,
"unit": "Volt"
},
"divisor": {
"value": 1.0,
"unit": "Rotation per Second per Second"
}
}
},
"transferRollerSupplyCurrentLimit": {
"value": 60.0,
"unit": "Amp"
},
"transferRollerStatorCurrentLimit": {
"value": 40.0,
"unit": "Amp"
},
"simTransferRollerMOI": {
"value": 2.5E-4,
"unit": "Kilogram-Meter per Second-Meter per Radian per Second"
},
"transferRollerSpinningVelocity": {
"value": 2000.0,
"unit": "Rotation per Minute"
},
"transferRollerDeJamVelocity": {
"value": -2000.0,
"unit": "Rotation per Minute"
},
"transferRollerMotorDirection": "CounterClockwise_Positive"
}
3 changes: 2 additions & 1 deletion src/main/deploy/constants/test_drivebase/CANBusAssignment.json
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Expand Up @@ -22,5 +22,6 @@
"intakeRollersFollowerMotorId": 21,
"shooterLeaderId": 22,
"shooterFollowerId": 23,
"climberKrakenId": 24
"climberKrakenId": 24,
"transferRollerKrakenId": 25
}
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