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Etohisgoodimo wants to merge 7 commits into from
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R2 129 low battery alert!!!!! #51

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eb991f1
alarm???????????? yes!!!!!!!!!!!!!!!!!!!!!!!!!!
Feb 14, 2026
96deae9
spotlessApply thingy!!!!!!!!!!!!!!!!
Feb 14, 2026
81ed701
fixed a building issue blame brayden
Feb 14, 2026
5febc90
Merge branch 'main' into R2-129-low-battery-alert
Etohisgoodimo Feb 14, 2026
3f3898d
fixed more things
Feb 14, 2026
2c05162
Merge branch 'main' into R2-129-low-battery-alert
Etohisgoodimo Feb 14, 2026
76978fc
more silly changes that caused errors
Feb 14, 2026
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11 changes: 6 additions & 5 deletions src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -306,9 +306,10 @@ public class ShooterRotaryConstants {

public static final Angle TOLERANCE = Degrees.of(2.0);

public static final AngularVelocity CRUISE_VELOCITY = RadiansPerSecond.of(1);
public static final AngularAcceleration ACCELERATION = CRUISE_VELOCITY.div(0.1).per(Second);
public static final Velocity<AngularAccelerationUnit> JERK = ACCELERATION.per(Second);
// public static final AngularVelocity CRUISE_VELOCITY = Units.RadiansPerSecond.of(1);
// public static final AngularAcceleration ACCELERATION =
// CRUISE_VELOCITY.div(0.1).per(Units.Second);
// public static final Velocity<AngularAccelerationUnit> JERK = ACCELERATION.per(Second);

private static final double ROTOR_TO_SENSOR = (2.0 / 1.0);
private static final double SENSOR_TO_MECHANISM = (2.0 / 1.0);
Expand Down Expand Up @@ -370,10 +371,10 @@ public static TalonFXConfiguration getFXConfig() {
config.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive;

config.SoftwareLimitSwitch.ForwardSoftLimitEnable = false;
config.SoftwareLimitSwitch.ForwardSoftLimitThreshold = MAX_ANGLE.in(Rotations);
// config.SoftwareLimitSwitch.ForwardSoftLimitThreshold = MAX_ANGLE.in(Units.Rotaitons);

config.SoftwareLimitSwitch.ReverseSoftLimitEnable = false;
config.SoftwareLimitSwitch.ReverseSoftLimitThreshold = MIN_ANGLE.in(Rotations);
// config.SoftwareLimitSwitch.ReverseSoftLimitThreshold = MIN_ANGLE.in(Units.Rotations);

config.Feedback.RotorToSensorRatio = ROTOR_TO_SENSOR;
config.Feedback.SensorToMechanismRatio = SENSOR_TO_MECHANISM;
Expand Down
9 changes: 8 additions & 1 deletion src/main/java/frc/robot/Robot.java
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Expand Up @@ -16,6 +16,9 @@
import com.ctre.phoenix6.swerve.SwerveModuleConstants;
import com.ctre.phoenix6.swerve.SwerveModuleConstants.DriveMotorArrangement;
import com.ctre.phoenix6.swerve.SwerveModuleConstants.SteerMotorArrangement;
import edu.wpi.first.wpilibj.Alert;
import edu.wpi.first.wpilibj.Alert.AlertType;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import frc.robot.generated.TunerConstants;
Expand All @@ -35,6 +38,7 @@
public class Robot extends LoggedRobot {
private Command autonomousCommand;
private RobotContainer robotContainer;
private Alert lowBatteryAlert = new Alert("The robot is low on battery!", AlertType.kWarning);

public Robot() {
// Record metadata
Expand Down Expand Up @@ -114,7 +118,10 @@ public void robotPeriodic() {
// This must be called from the robot's periodic block in order for anything in
// the Command-based framework to work.
CommandScheduler.getInstance().run();

if (0.0 <= RobotController.getBatteryVoltage()
&& RobotController.getBatteryVoltage() <= 11.01) {
lowBatteryAlert.set(true);
}
// Return to non-RT thread priority (do not modify the first argument)
// Threads.setCurrentThreadPriority(false, 10);
}
Expand Down
32 changes: 2 additions & 30 deletions src/main/java/frc/robot/RobotContainer.java
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Expand Up @@ -22,24 +22,20 @@
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
import frc.lib.W8.io.absoluteencoder.AbsoluteEncoderIOCANCoder;
import frc.lib.W8.io.absoluteencoder.AbsoluteEncoderIOCANCoderSim;
import frc.lib.W8.io.motor.*;
import frc.lib.W8.mechanisms.flywheel.*;
import frc.lib.W8.mechanisms.linear.LinearMechanism;
import frc.lib.W8.mechanisms.linear.LinearMechanismReal;
import frc.lib.W8.mechanisms.linear.LinearMechanismSim;
import frc.lib.W8.mechanisms.rotary.RotaryMechanism;
import frc.lib.W8.mechanisms.rotary.RotaryMechanismReal;
import frc.lib.W8.mechanisms.rotary.RotaryMechanismSim;
import frc.robot.Constants.ClimberConstants;
import frc.robot.Constants.HopperConstants;
import frc.robot.Constants.IntakeConstants;
import frc.robot.Constants.Ports;
import frc.robot.Constants.ShooterFlywheelConstants;
import frc.robot.Constants.ShooterRotaryConstants;
import frc.robot.commands.DriveCommands;
import frc.robot.generated.TunerConstants;
import frc.robot.subsystems.Climber;
import frc.robot.subsystems.Hopper;
import frc.robot.subsystems.Intake;
import frc.robot.subsystems.Shooter;
Expand All @@ -63,7 +59,6 @@ public class RobotContainer {
private final Drive drive;
private final Hopper hopper;
private final Shooter shooter;
private final Climber climber;
private final Intake intake;

// Controller
Expand Down Expand Up @@ -110,14 +105,6 @@ public RobotContainer() {
Ports.ShooterRoller),
Constants.ShooterRotaryConstants.CONSTANTS,
java.util.Optional.empty()));
climber =
new Climber(
new LinearMechanismReal(
new MotorIOTalonFX(
ClimberConstants.MOTOR_NAME,
ClimberConstants.getFXConfig(),
Ports.ClimberLinearMechanism),
ClimberConstants.CHARACTERISTICS));

intake =
new Intake(
Expand All @@ -133,7 +120,7 @@ public RobotContainer() {
Ports.IntakeRoller),
IntakeConstants.CONSTANTS,
Optional.of(
new AbsoluteEncoderIOCANCoderSim(
new AbsoluteEncoderIOCANCoder(
Ports.IntakeRoller,
IntakeConstants.MOTOR_NAME + " Encoder",
IntakeConstants.getCANcoderConfig(false)))));
Expand Down Expand Up @@ -187,17 +174,6 @@ public RobotContainer() {
true,
ShooterRotaryConstants.CONSTANTS,
java.util.Optional.empty()));
climber =
new Climber(
new LinearMechanismSim(
new MotorIOTalonFXSim(
ClimberConstants.MOTOR_NAME,
ClimberConstants.getFXConfig(),
Ports.ClimberLinearMechanism),
ClimberConstants.DCMOTOR,
ClimberConstants.CARRIAGE_MASS,
ClimberConstants.CHARACTERISTICS,
true));

intake =
new Intake(
Expand Down Expand Up @@ -236,10 +212,6 @@ public RobotContainer() {
new ModuleIO() {});

hopper = new Hopper(new FlywheelMechanism() {});
climber =
new Climber(
new LinearMechanism(
ClimberConstants.MOTOR_NAME, ClimberConstants.CHARACTERISTICS) {});

shooter =
new Shooter(
Expand Down
34 changes: 9 additions & 25 deletions src/main/java/frc/robot/subsystems/Climber.java
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Original file line number Diff line number Diff line change
@@ -1,13 +1,9 @@
package frc.robot.subsystems;

import static edu.wpi.first.units.Units.Inches;
import static edu.wpi.first.units.Units.Meters;

import edu.wpi.first.units.Units;
import edu.wpi.first.units.measure.Distance;
import edu.wpi.first.units.measure.LinearVelocity;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.lib.W8.io.motor.MotorIO.PIDSlot;
import frc.lib.W8.mechanisms.linear.LinearMechanism;
import frc.robot.Constants.ClimberConstants;

Expand All @@ -19,28 +15,16 @@ public Climber(LinearMechanism io) {
io = _io;
}

public void Position(double position) {
// public void Position(double position) {

Distance positionInches = Inches.of(position);
_io.runPosition(
ClimberConstants.CONVERTER.toAngle(positionInches),
ClimberConstants.ANGULAR_VELOCITY,
ClimberConstants.ANGULAR_ACCELERATION,
null,
PIDSlot.SLOT_0);
}

public enum State {
IDLE(Units.MetersPerSecond.of(0.0)),
ASCENDING(Units.MetersPerSecond.of(ClimberConstants.CLIMB_SPEED)),
DESCENDING(Units.MetersPerSecond.of(-ClimberConstants.CLIMB_SPEED));

private final LinearVelocity velocity;

private State(LinearVelocity velocity) {
this.velocity = velocity;
}
}
// Distance positionInches = Inches.of(position);
// _io.runPosition(
// ClimberConstants.CONVERTER.toAngle(positionInches),
// ClimberConstants.ANGULAR_VELOCITY,
// ClimberConstants.ANGULAR_ACCELERATION,
// null,
// PIDSlot.SLOT_0);
// }

@Override
public void periodic() {}
Expand Down