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wrist: Plug absolute encoder into motor controller #479

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wrist: Plug absolute encoder into motor controller #479

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21 changes: 8 additions & 13 deletions components/wrist.py
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Original file line number Diff line number Diff line change
Expand Up @@ -7,21 +7,19 @@
SparkMax,
SparkMaxConfig,
)
from wpilib import DutyCycleEncoder
from wpimath.controller import ArmFeedforward, PIDController
from wpimath.trajectory import TrapezoidProfile

from ids import DioChannel, SparkId
from ids import SparkId
from utilities.functions import clamp
from utilities.rev import (
configure_spark_ephemeral,
configure_spark_reset_and_persist,
configure_through_bore_encoder,
)


class WristComponent:
ENCODER_ZERO_OFFSET = 3.46463832679
ENCODER_ZERO_OFFSET = 3.46463832679 / math.tau
COM_DIFFERENCE = 0.54722467321
MAXIMUM_DEPRESSION = math.radians(-112.0) + COM_DIFFERENCE
MAXIMUM_ELEVATION = math.radians(0) + COM_DIFFERENCE
Expand All @@ -42,10 +40,6 @@ def __init__(self, mech_root: wpilib.MechanismRoot2d):
"wrist_COM", length=0.5, angle=0, color=wpilib.Color8Bit(wpilib.Color.kBlue)
)

self.wrist_encoder = DutyCycleEncoder(DioChannel.WRIST_ENCODER, math.tau, 0)
configure_through_bore_encoder(self.wrist_encoder)
self.wrist_encoder.setInverted(False)

self.motor = SparkMax(SparkId.WRIST, SparkMax.MotorType.kBrushless)

self.idle_mode = SparkMaxConfig.IdleMode.kBrake
Expand All @@ -72,10 +66,15 @@ def __init__(self, mech_root: wpilib.MechanismRoot2d):
wrist_config.encoder.velocityConversionFactor(
(1 / 60) * math.tau * (1 / self.wrist_gear_ratio)
)
wrist_config.absoluteEncoder.positionConversionFactor(math.tau)
wrist_config.absoluteEncoder.velocityConversionFactor(math.tau * (1 / 60))
wrist_config.absoluteEncoder.zeroOffset(self.ENCODER_ZERO_OFFSET)
wrist_config.absoluteEncoder.inverted(False)

configure_spark_reset_and_persist(self.motor, wrist_config)

self.motor_encoder = self.motor.getEncoder()
self.wrist_encoder = self.motor.getAbsoluteEncoder()

self.desired_state = TrapezoidProfile.State(WristComponent.NEUTRAL_ANGLE, 0.0)
self.tracked_state = self.desired_state
Expand Down Expand Up @@ -111,13 +110,9 @@ def toggle_neutral_mode(self) -> None:

configure_spark_ephemeral(self.motor, wrist_config)

@feedback
def raw_encoder(self) -> float:
return self.wrist_encoder.get()

@feedback
def inclination(self) -> float:
return self.wrist_encoder.get() - self.ENCODER_ZERO_OFFSET
return self.wrist_encoder.getPosition()

@feedback
def inclination_deg(self) -> float:
Expand Down
6 changes: 2 additions & 4 deletions physics.py
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Original file line number Diff line number Diff line change
Expand Up @@ -195,7 +195,7 @@ def __init__(self, physics_controller: PhysicsInterface, robot: MyRobot):

wrist_gearbox = DCMotor.NEO(1)
wrist_motor = rev.SparkMaxSim(robot.wrist.motor, wrist_gearbox)
self.wrist_encoder_sim = DutyCycleEncoderSim(robot.wrist.wrist_encoder)
self.wrist_encoder_sim = rev.SparkAbsoluteEncoderSim(robot.wrist.motor)

wrist_sim = SingleJointedArmSim(
wrist_gearbox,
Expand Down Expand Up @@ -329,9 +329,7 @@ def update_sim(self, now: float, tm_diff: float) -> None:

# Update wrist simulation
self.wrist.update(tm_diff)
self.wrist_encoder_sim.set(
self.wrist.mech_sim.getAngle() + WristComponent.ENCODER_ZERO_OFFSET
)
self.wrist_encoder_sim.setPosition(self.wrist.mech_sim.getAngle())

# Simulate algae pick up
if self.floor_intake.current_state == "intaking":
Expand Down