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Added manual control of the turret #148

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Added manual control of the turret #148

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5091ad9
Added manual control of the turret
JAMthepersonj May 16, 2026
90645b8
Merge branch 'main' of https://github.com/FRC4048/Java_2026 into JW-a…
JAMthepersonj May 16, 2026
1fa3a9c
Fixed weird branch error
JAMthepersonj May 16, 2026
be6d001
Fliped direction of movement
JAMthepersonj May 17, 2026
919064e
Commited to stash changes
JAMthepersonj May 18, 2026
5fe3c21
Added upper and lower bounds to the turret manual control
JAMthepersonj May 18, 2026
b2abaf1
Added correct upper and lower bounds checks
JAMthepersonj May 19, 2026
a55d559
Merge branch 'JW-added-manual-turret-control' of https://github.com/F…
JAMthepersonj May 20, 2026
b2463f4
Changed constants
JAMthepersonj May 21, 2026
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4 changes: 3 additions & 1 deletion src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -53,6 +53,7 @@
import frc.robot.commands.shooter.SpinShooter;
import frc.robot.commands.testing.RunDashboardShotTest;
import frc.robot.commands.turret.DefaultTurretControl;
import frc.robot.commands.turret.ManualTurretMove;
import frc.robot.commands.turret.RunTurretToFwdLimit;
import frc.robot.commands.turret.RunTurretToRevLimit;
import frc.robot.commands.turret.SetTurretAngle;
Expand Down Expand Up @@ -297,6 +298,7 @@ private void configureBindings() {
controller.b().onTrue(new SetDeploymentState(intakeDeployer, DeploymentState.STOPPED));
controller.x().onTrue(new ForceDeployDown(intakeDeployer, shootState));
controller.y().onTrue(new ToggleAdjustedPosition(controllerSubsystem));
controller.leftStick().whileTrue(new ManualTurretMove(turretSubsystem, controller::getLeftX));
controller.povUp().onTrue(new SetShootingState(shootState, ShootState.FIXED));
controller.povRight().onTrue(new SetShootingState(shootState, ShootState.STOPPED));
controller.povDown().onTrue(new SetShootingState(shootState, ShootState.SHOOTING_HUB));
Expand All @@ -320,7 +322,7 @@ private void configureBindings() {
intakeDeployer.setDefaultCommand(new RunDeployer(intakeDeployer));
anglerSubsystem.setDefaultCommand(new DefaultAnglerControl(anglerSubsystem, controllerSubsystem));
shooterSubsystem.setDefaultCommand(new DefaultShooterControl(shooterSubsystem, controllerSubsystem));
turretSubsystem.setDefaultCommand(new DefaultTurretControl(turretSubsystem, controllerSubsystem));
//turretSubsystem.setDefaultCommand(new DefaultTurretControl(turretSubsystem, controllerSubsystem));
hopperSubsystem.setDefaultCommand(new DefaultSpinHopper(hopperSubsystem, controllerSubsystem, shootState));
feederSubsystem.setDefaultCommand(new DefaultSpinFeeder(feederSubsystem, controllerSubsystem));
}
Expand Down
37 changes: 37 additions & 0 deletions src/main/java/frc/robot/commands/turret/ManualTurretMove.java
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Original file line number Diff line number Diff line change
@@ -0,0 +1,37 @@
package frc.robot.commands.turret;

import java.util.function.DoubleSupplier;

import frc.robot.constants.Constants;
import frc.robot.subsystems.TurretSubsystem;
import frc.robot.utils.logging.commands.LoggableCommand;

public class ManualTurretMove extends LoggableCommand {
private final TurretSubsystem subsystem;
private final DoubleSupplier input;


public ManualTurretMove(TurretSubsystem subsystem, DoubleSupplier input) {
this.subsystem = subsystem;
this.input = input;
addRequirements(subsystem);
}

@Override
public void initialize() {
}

@Override
public void execute() {
subsystem.manualMove(-input.getAsDouble()*Constants.MANUAL_MOVE_SCALING_FACTOR);

}

@Override
public void end(boolean interrupted) {}

@Override
public boolean isFinished() {
return false;
}
}
6 changes: 4 additions & 2 deletions src/main/java/frc/robot/constants/GameConstants.java
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Expand Up @@ -121,8 +121,8 @@ public enum Mode {
public static final double TURRET_LONG_RANGE_I = 0.000000;
public static final double TURRET_LONG_RANGE_D = 0.0;
public static final double TURRET_LONG_RANGE_FF = 0.0;
public static final double TURRET_ENCODER_MIN = 0; //Lowest encoder position of Turret
public static final double TURRET_ENCODER_MAX = 77; //Highest encoder position of Turret
public static final double TURRET_ENCODER_MIN = -10; //Lowest encoder position of Turret
public static final double TURRET_ENCODER_MAX = 10; //Highest encoder position of Turret
public static final double TURRET_HOME_ANGLE = 0.0; //Turret facing forward
public static final double TURRET_MIN_ANGLE = -96;
public static final double TURRET_MAX_ANGLE = 96;
Expand Down Expand Up @@ -186,4 +186,6 @@ public enum Mode {
public static final double SHUTTLING_TARGET_HIGHER_Y_POSITION = 5.5;
public static final int TCP_SERVER_PORT1 = 5806;
public static final int TCP_SERVER_PORT2 = 5807;

public static final double MANUAL_MOVE_SCALING_FACTOR = 0.1;
}
8 changes: 7 additions & 1 deletion src/main/java/frc/robot/subsystems/TurretSubsystem.java
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Expand Up @@ -27,7 +27,7 @@ public class TurretSubsystem extends SubsystemBase {
private final SparkMaxPidMotorIo io;
private final TunablePIDManager pidManager;
private double lastAngle = 999;

private double currentSetPosition = 0;
public TurretSubsystem(SparkMaxPidMotorIo io) {
this.io = io;
this.pidManager = new TunablePIDManager(LOGGING_NAME, io, createPidConfig0());
Expand Down Expand Up @@ -71,6 +71,12 @@ public void setAngle(double targetAngle) {
lastAngle = targetAngle;
}
}
public void manualMove(double input){
if(((input > 0 && !isAtForwardLimit())||(input < 0 && !isAtReverseLimit())) && (currentSetPosition+input < Constants.TURRET_ENCODER_MAX) && (currentSetPosition+input > Constants.TURRET_ENCODER_MIN)){
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@batchen1 batchen1 May 22, 2026

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I think this condition is incorrect and that if the switch is not connected, the turret will not move at all. I think an easier way to handle the manual turret control would be to move it at a constant speed in the right direction instead of changing the set point, then there's no need to worry about limit switches or min/max values.

currentSetPosition += input;
}
setPosition(currentSetPosition);
}

//Range translate code with a clamp
public static double calculateRotationsForAngle(
Expand Down