Feat/actual claw (#37)

* added hardware files

* changed names of motors

* defined

* labeled buttons

* arm sw, hw, cpp, and IO

* changed file names

* renamed more files

* added swerve drive to branch

* changed hw, actua, and sen names

* it's being weird

* test commit

* functions added I think

* last changes for 1-21-23, added parameter,util

* I update the hardware and software interfaces

* I changed the software and hardware interfaces and I defined functions in the subsystems

* fleshed out claw subsystem

* IT WORKSSSS EVERYTHING WORKSSSSSSSSSSSSSSS

* fixed include error, added Reset() to claw

* The changes Justin asked for

* final changes i think

* fixed errors

* final changes hopefully

* changing the #include

* solving the case errors

* removed claw files for fix

* added files back

* change backwards slash to a forwards slash because maybe that's making it fail CI because linux v. windows

* fix backward->forward slash in ClawIO.cpp

---------

Co-authored-by: okcroboticsteam <okcroboticsteam@gmail.com>
Co-authored-by: AbbeySieg <abbeys2025@gmail.com>
Co-authored-by: X-EX3-X <ouranous64@gmail.org>
Co-authored-by: Daniel <56051347+danielbrownmsm@users.noreply.github.com>

Author: 5 people

src/main/cpp/Utils.cpp

@@ -19,3 +19,4 @@ namespace TeamOKC {
         return true;
     }
 } // namespace TeamOKC
+

src/main/cpp/io/ClawIO.cpp

@@ -0,0 +1,30 @@
+
+#include "io/ClawIO.h"
+
+void ClawIO::Periodic() {
+    // Process all the inputs and outputs to/from high level software.
+    VOKC_CALL(ProcessIO());
+}
+
+void ClawIO::SimulationPeriodic() {
+    // SimulationPeriodic
+}
+
+bool ClawIO::ProcessIO() {
+    OKC_CHECK(sw_interface_ != nullptr);
+    OKC_CHECK(hw_interface_ != nullptr);
+    OKC_CHECK(hw_interface_->claw_open_and_close_encoder != nullptr);
+
+    // Set the software outputs
+    // If the encoder should be reset, reset it
+    if (sw_interface_->reset_claw_open_and_close) {
+         hw_interface_->claw_open_and_close_encoder->SetPosition (0);
+        // Lower the encoder reset flag
+        sw_interface_->reset_claw_open_and_close = false;
+    }
+    hw_interface_->claw_open_and_close_motor->Set(sw_interface_->claw_open_and_close_power);
+    sw_interface_->encoder_reading = hw_interface_->claw_open_and_close_encoder->GetPosition();
+
+    return true;
+}
+

src/main/cpp/subsystems/Claw.cpp

@@ -0,0 +1,27 @@
+#include "subsystems/Claw.h"
+
+bool Claw::Init(){
+    return true;
+}
+
+bool Claw::ResetPositionEncoder(){
+    return true;
+}
+bool Claw::ResetPositionPID(){
+    return true;
+}
+bool Claw::SetPosition(){
+    // SetPosition (30); //cone
+    // SetPosition (0); //close
+    // SetPosition (50);//cube
+    return true;
+}
+bool Claw::Reset(){
+    return true;
+}
+void Claw::Periodic(){
+    return;
+}
+void Claw::SimulationPeriodic(){
+    return;
+}

src/main/include/Parameters.h

@@ -26,3 +26,4 @@ namespace RobotParams {
         return true;
     }
 } // namespace RobotParams
+

src/main/include/RobotContainer.h

@@ -45,7 +45,6 @@
 #include "commands/arm/ManualArmCommand.h"
 
 
-
 /**
  * This class is where the bulk of the robot should be declared.  Since
  * Command-based is a "declarative" paradigm, very little robot logic should

src/main/include/hardware/Actuators.h

@@ -2,6 +2,7 @@
 
 #include <memory>
 #include <rev/CANSparkMax.h>
+#include "frc/DigitalInput.h"
 
 
 
@@ -44,4 +45,8 @@ typedef struct actuators_t {
     std::unique_ptr<rev::CANSparkMax> arm_up_motor;
     std::unique_ptr<rev::CANSparkMax> arm_extend_motor;
 
+    // Claw things
+    std::unique_ptr<rev::CANSparkMax> claw_motor;
+    std::unique_ptr<frc::DigitalInput> claw_IR_sensor;
+
 } Actuators;

src/main/include/hardware/Hardware.h

@@ -1,6 +1,5 @@
 #pragma once
 
-
 #include <frc/motorcontrol/MotorControllerGroup.h>
 
 #include "hardware/Actuators.h"

src/main/include/hardware/Sensors.h

@@ -3,8 +3,16 @@
 #include <memory>
 
 #include "AHRS.h"
-#include "frc/AnalogEncoder.h"
+
+#include <frc/DigitalInput.h>
 #include <rev/RelativeEncoder.h>
+#include "frc/AnalogEncoder.h"
+
+// == sensor ports ==
+#define DEPLOY_LIMIT_SWITCH 2
+#define RETRACTED_LIMIT_SWITCH 3
+
+#define BALL_DETECTOR 9
 
 // == sensor ports ==
 #define LEFT_FRONT_STEER_ENCODER 0
@@ -16,6 +24,7 @@ typedef struct sensors_t {
     // navX IMU
     std::unique_ptr<AHRS> ahrs;
 
+
     // swerve drive drive encoders
     std::unique_ptr<rev::SparkMaxRelativeEncoder> left_front_drive_encoder;
     std::unique_ptr<rev::SparkMaxRelativeEncoder> left_back_drive_encoder;
@@ -37,4 +46,4 @@ typedef struct sensors_t {
     // arm encoders
     std::unique_ptr<rev::SparkMaxRelativeEncoder> arm_lift_encoder;
 
-} Sensors;
+} Sensors;

src/main/include/io/ClawIO.h

@@ -0,0 +1,52 @@
+#pragma once
+
+#include <memory>
+
+#include <frc/motorcontrol/MotorControllerGroup.h>
+#include <frc2/command/SubsystemBase.h>
+#include <frc/DigitalInput.h>
+#include <rev/CANSparkMax.h>
+
+#include "Utils.h"
+
+
+typedef struct claw_config_t {
+    
+} ClawConfig;
+
+typedef struct claw_hardware_interface_t {
+    rev::CANSparkMax *const claw_open_and_close_motor;
+    rev::SparkMaxRelativeEncoder *const claw_open_and_close_encoder;
+} ClawHardware;
+
+typedef struct claw_software_interface_t {
+    
+    // actuator outputs
+    double claw_open_and_close_power; 
+    double encoder_reading;
+    bool reset_claw_open_and_close;
+} ClawSoftware;
+
+class ClawIO : public frc2::SubsystemBase {
+public:
+    ClawIO(ClawHardware *hw_interface,
+                 ClawSoftware *sw_interface)
+        : hw_interface_(hw_interface), sw_interface_(sw_interface) {}
+
+    /**
+     * Will be called periodically whenever the CommandScheduler runs.
+     */
+    void Periodic() override;
+
+    /**
+     * Will be called periodically whenever the CommandScheduler runs during
+     * simulation.
+     */
+    void SimulationPeriodic() override;
+
+    bool ProcessIO();
+
+private:
+    ClawHardware *const hw_interface_;
+    ClawSoftware *const sw_interface_;
+};

src/main/include/subsystems/Claw.h

@@ -0,0 +1,39 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <frc2/command/SubsystemBase.h>
+
+class Claw : public frc2::SubsystemBase {
+ public:
+  Claw();
+  ~Claw();
+
+  bool Init();
+  
+  bool ResetPositionEncoder();
+  bool ResetPositionPID();
+
+  bool SetPosition();
+  bool Reset();
+  
+  /**
+   * Will be called periodically whenever the CommandScheduler runs.
+   */
+  void Periodic() override;
+
+  /**
+   * Will be called periodically whenever the CommandScheduler runs during
+   * simulation.
+   */
+  void SimulationPeriodic() override;
+
+ private:
+  // Components (e.g. motor controllers and sensors) should generally be
+  // declared private and exposed only through public methods.
+  
+};
+
+