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Turret #1

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bb8df8e
turret subsystem
NolanKnight Jan 5, 2026
a3ab206
turret controls
NolanKnight Jan 5, 2026
c9ac59f
debugged turret sim
NolanKnight Jan 7, 2026
cd5f036
imported robot assets
NolanKnight Jan 7, 2026
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30 changes: 30 additions & 0 deletions assets/Robot_Potato/config.json
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{
"name": "Potato",
"rotations": [
{
"axis": "x",
"degrees": 90
}
],
"position": [
0,
0,
0
],
"cameras": [],
"components": [
{
"zeroedRotations": [
{
"axis": "x",
"degrees": 90
}
],
"zeroedPositions": [
0,
0,
0
]
}
]
}
Binary file added assets/Robot_Potato/model.glb
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Binary file added assets/Robot_Potato/model_0.glb
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20 changes: 20 additions & 0 deletions src/main/java/com/team973/frc2025/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@
package com.team973.frc2025;

import com.team973.frc2025.subsystems.DriveController;
import com.team973.frc2025.subsystems.turret.TurretIO;
import com.team973.lib.devices.GreyPigeonIO;
import com.team973.lib.util.AllianceCache;
import com.team973.lib.util.Joystick;
Expand All @@ -21,25 +22,32 @@ public class Robot extends TimedRobot {

private final GreyPigeonIO m_pigeon = m_subsystemManager.getPigeon();
private final DriveController m_driveController = m_subsystemManager.getDriveController();
private final TurretIO m_turret = m_subsystemManager.getTurret();

private final Joystick m_driverStick =
new Joystick(0, Joystick.Type.XboxController, m_logger.subLogger("driverStick"));
private final Joystick m_coDriverStick =
new Joystick(1, Joystick.Type.XboxController, m_logger.subLogger("coDriverStick"));

private void syncSensors() {
m_driveController.syncSensors();
m_turret.syncSensors();
}

private void updateSubsystems() {
m_driveController.update();
m_turret.update();
}

private void resetSubsystems() {
m_driveController.reset();
m_turret.reset();
}

private void log() {
m_subsystemManager.log();
m_driveController.log();
m_turret.log();
}

private void updateJoysticks() {
Expand Down Expand Up @@ -95,6 +103,18 @@ public void teleopPeriodic() {
allianceScalar * m_driverStick.getLeftXAxis() * 0.7,
m_driverStick.getRightXAxis() * 0.8);

if (m_coDriverStick.getAButtonPressed()) {
m_turret.setTargetPreset(TurretIO.Preset.One);
} else if (m_coDriverStick.getBButtonPressed()) {
m_turret.setTargetPreset(TurretIO.Preset.Two);
} else if (m_coDriverStick.getXButtonPressed()) {
m_turret.setTargetPreset(TurretIO.Preset.Three);
} else if (m_coDriverStick.getYButtonPressed()) {
m_turret.setState(TurretIO.State.Manual);
}

m_turret.setManualInput(m_coDriverStick.getLeftYAxis());

updateSubsystems();
}

Expand Down
33 changes: 33 additions & 0 deletions src/main/java/com/team973/frc2025/shared/RobotInfo.java
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Expand Up @@ -18,6 +18,39 @@ public class RobotInfo {

public static final DriveInfo DRIVE_INFO = new DriveInfo();

public static final TurretInfo TURRET_INFO = new TurretInfo();

public static class TurretInfo {
public final int MOTOR_ID = 20;

public final double MOTOR_GEAR_RATIO = ((5.0 / 1.0) * (128.0 / 10.0));

public final double TURRET_KS = 0.0;
public final double TURRET_KV = 0.0;
public final double TURRET_KA = 0.0;
public final double TURRET_KP = 2.0;
public final double TURRET_KI = 0.0;
public final double TURRET_KD = 0.0;

public final double TURRET_MOTION_MAGIC_CRUISE_VELOCITY = 10.0;
public final double TURRET_MOTION_MAGIC_ACCELERATION = 10.0;
public final double TURRET_MOTION_MAGIC_JERK = 0.0;

public final double TURRET_VOLTAGE_CLOSED_LOOP_RAMP_PERIOD = 0.0;

public final double STATOR_CURRENT_LIMIT = 60.0;
public final double SUPPLY_CURRENT_LIMIT = 40.0;

public final double PEAK_FORWARD_VOLTAGE = 12.0;
public final double PEAK_REVERSE_VOLTAGE = -12.0;

public final double MANUAL_INPUT_TO_VOLTS = 12.0;

public final double PRESET_ONE = 0.0;
public final double PRESET_TWO = 90.0;
public final double PRESET_THREE = -150.0;
}

public static class DriveInfo {
public final int STATUS_SIGNAL_FREQUENCY = 200;

Expand Down
125 changes: 125 additions & 0 deletions src/main/java/com/team973/frc2025/subsystems/turret/Turret.java
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package com.team973.frc2025.subsystems.turret;

import com.ctre.phoenix6.configs.TalonFXConfiguration;
import com.ctre.phoenix6.signals.InvertedValue;
import com.ctre.phoenix6.signals.NeutralModeValue;
import com.team973.frc2025.shared.RobotInfo;
import com.team973.lib.devices.GreyTalonFX;
import com.team973.lib.util.Logger;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Translation3d;

public class Turret extends TurretIO {
protected static final RobotInfo.TurretInfo m_turretInfo = RobotInfo.TURRET_INFO;

private final Logger m_logger;

protected final GreyTalonFX m_motor;

private double m_targetPostionDeg;
private double m_manualInput;

public Turret(Logger logger) {
m_logger = logger;
m_motor =
new GreyTalonFX(
m_turretInfo.MOTOR_ID, RobotInfo.CANIVORE_CANBUS, m_logger.subLogger("motorRight"));

TalonFXConfiguration motorConfig = new TalonFXConfiguration();

motorConfig.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive;

motorConfig.Slot0.kS = m_turretInfo.TURRET_KS;
motorConfig.Slot0.kV = m_turretInfo.TURRET_KV;
motorConfig.Slot0.kA = m_turretInfo.TURRET_KA;
motorConfig.Slot0.kP = m_turretInfo.TURRET_KP;
motorConfig.Slot0.kI = m_turretInfo.TURRET_KI;
motorConfig.Slot0.kD = m_turretInfo.TURRET_KD;

motorConfig.MotionMagic.MotionMagicCruiseVelocity =
m_turretInfo.TURRET_MOTION_MAGIC_CRUISE_VELOCITY;
motorConfig.MotionMagic.MotionMagicAcceleration = m_turretInfo.TURRET_MOTION_MAGIC_ACCELERATION;
motorConfig.MotionMagic.MotionMagicJerk = m_turretInfo.TURRET_MOTION_MAGIC_JERK;

motorConfig.ClosedLoopRamps.VoltageClosedLoopRampPeriod =
m_turretInfo.TURRET_VOLTAGE_CLOSED_LOOP_RAMP_PERIOD;

motorConfig.MotorOutput.NeutralMode = NeutralModeValue.Brake;

motorConfig.CurrentLimits.StatorCurrentLimit = m_turretInfo.STATOR_CURRENT_LIMIT;
motorConfig.CurrentLimits.StatorCurrentLimitEnable = true;
motorConfig.CurrentLimits.SupplyCurrentLimit = m_turretInfo.SUPPLY_CURRENT_LIMIT;
motorConfig.CurrentLimits.SupplyCurrentLimitEnable = true;

motorConfig.Voltage.PeakForwardVoltage = m_turretInfo.PEAK_FORWARD_VOLTAGE;
motorConfig.Voltage.PeakReverseVoltage = m_turretInfo.PEAK_REVERSE_VOLTAGE;

m_motor.setConfig(motorConfig);
m_motor.setPosition(0.0);

m_targetPostionDeg = Preset.One.getPositionDeg();
m_manualInput = 0.0;
}

@Override
public Pose3d getPose() {
return new Pose3d(
new Translation3d(),
new Rotation3d(
0, 0, Math.toRadians(motorRotationsToDeg(m_motor.getPosition().getValueAsDouble()))));
}

@Override
public GreyTalonFX getMotor() {
return m_motor;
}

public double degToMotorRotations(double deg) {
return (deg / 360.0) * m_turretInfo.MOTOR_GEAR_RATIO;
}

private double motorRotationsToDeg(double motorPostion) {
return (motorPostion / m_turretInfo.MOTOR_GEAR_RATIO) * 360.0;
}

@Override
public void setTargetPreset(Preset preset) {
m_targetPostionDeg = preset.getPositionDeg();
setState(State.ClosedLoop);
}

@Override
public void setManualInput(double input) {
m_manualInput = input;
}

@Override
public double getTargetPositionMotorRot() {
return degToMotorRotations(m_targetPostionDeg);
}

@Override
public double getManualInput() {
return m_manualInput;
}

@Override
public void syncSensors() {}

@Override
public void log() {
double motorRot = m_motor.getPosition().getValueAsDouble();

m_motor.log();

m_logger.log("currentPostionDeg", motorRotationsToDeg(motorRot));
m_logger.log("targetPostionDeg", m_targetPostionDeg);
m_logger.log("manualInput", m_manualInput);

m_logger.log("state", getState().toString());
}

@Override
public void reset() {}
}
63 changes: 63 additions & 0 deletions src/main/java/com/team973/frc2025/subsystems/turret/TurretIO.java
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package com.team973.frc2025.subsystems.turret;

import com.team973.frc2025.shared.RobotInfo;
import com.team973.lib.devices.GreyTalonFX;
import com.team973.lib.util.StateMap;
import com.team973.lib.util.Subsystem;
import edu.wpi.first.math.geometry.Pose3d;

public abstract class TurretIO extends Subsystem<TurretIO.State> {
private final StateMap<State> m_stateMap;

protected static final RobotInfo.TurretInfo m_turretInfo = RobotInfo.TURRET_INFO;

public enum State {
ClosedLoop,
Manual,
Off
}

public enum Preset {
One(m_turretInfo.PRESET_ONE),
Two(m_turretInfo.PRESET_TWO),
Three(m_turretInfo.PRESET_THREE);

private final double m_positionDeg;

private Preset(double positionDeg) {
m_positionDeg = positionDeg;
}

public double getPositionDeg() {
return m_positionDeg;
}
}

@SuppressWarnings("unchecked")
public TurretIO() {
super(State.Off);

m_stateMap =
new StateMap<>(
State.class,
new StateMap.Entry<>(State.ClosedLoop, new TurretStates.ClosedLoop(this)),
new StateMap.Entry<>(State.Manual, new TurretStates.Manual(this)),
new StateMap.Entry<>(State.Off, new TurretStates.Off(this)));
}

public StateMap<State> getStateMap() {
return m_stateMap;
}

public abstract Pose3d getPose();

public abstract GreyTalonFX getMotor();

public abstract void setTargetPreset(Preset preset);

public abstract void setManualInput(double volts);

public abstract double getTargetPositionMotorRot();

public abstract double getManualInput();
}
62 changes: 62 additions & 0 deletions src/main/java/com/team973/frc2025/subsystems/turret/TurretSim.java
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package com.team973.frc2025.subsystems.turret;

import com.ctre.phoenix6.sim.TalonFXSimState;
import com.team973.lib.util.Logger;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim;

public class TurretSim extends Turret {
private final SingleJointedArmSim m_sim;
private final TalonFXSimState m_motorSimState;

private double m_lastPoseRad;

public TurretSim(Logger logger) {
super(logger);

m_sim =
new SingleJointedArmSim(
DCMotor.getKrakenX60(1),
m_turretInfo.MOTOR_GEAR_RATIO,
0.02,
0.0,
Math.toRadians(-165.0),
Math.toRadians(165.0),
false,
Math.toRadians(0.0));

m_motorSimState = m_motor.getSimState();
m_lastPoseRad = m_sim.getAngleRads();
}

@Override
public Pose3d getPose() {
return new Pose3d(new Translation3d(), new Rotation3d(0, 0, m_sim.getAngleRads()));
}

@Override
public void syncSensors() {
m_motorSimState.addRotorPosition(
(((m_sim.getAngleRads() - m_lastPoseRad) / (2 * Math.PI)) * m_turretInfo.MOTOR_GEAR_RATIO));
m_lastPoseRad = m_sim.getAngleRads();

m_motorSimState.setRotorVelocity(m_sim.getVelocityRadPerSec());

m_motorSimState.setSupplyVoltage(RobotController.getBatteryVoltage());

super.syncSensors();
}

@Override
public void update() {
super.update();

m_sim.setInputVoltage(m_motorSimState.getMotorVoltage());

m_sim.update(0.02);
}
}
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