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Add support for NEO Flex and Vortex to fix #65 and fix #66.
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@brettle
brettle committed Jul 20, 2024
1 parent 71342b9 commit e4a7b80
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Showing 9 changed files with 90 additions and 31 deletions.
7 changes: 3 additions & 4 deletions plugin/controller/src/main/java/org/carlmontrobotics/deepbluesim/WebotsSupervisor.java
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Expand Up @@ -165,10 +165,9 @@ public void run() {
name, defPath);
var node = robot.getFromDef(defPath);
if (node == null) {
LOG.log(Level.ERROR,
"Could not find node for the following DEF path: {0}",
defPath);
return;
throw new RuntimeException(
"Could not find node for the following DEF path: %s"
.formatted(defPath));
}
switch (name) {
case NTConstants.POSITION_TOPIC_NAME:
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2 changes: 1 addition & 1 deletion plugin/controller/src/webotsFolder/dist/protos/deepbluesim/DBSRotationalMotorBase.proto
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Expand Up @@ -5,7 +5,7 @@
# A Motor with the properties necessary to interface with DeepBlueSim

PROTO DBSRotationalMotorBase [
unconnectedField SFString{"Spark Max", "Talon SRX", "Victor SPX", "PWM"} controllerType "Spark Max"
unconnectedField SFString{"Spark Max", "Spark Flex", "Talon SRX", "Victor SPX", "PWM"} controllerType "Spark Max"
unconnectedField SFInt32 port 0
field SFFloat gearing 1
unconnectedField SFBool inverted FALSE
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10 changes: 6 additions & 4 deletions plugin/controller/src/webotsFolder/dist/protos/deepbluesim/PreconfiguredDBSLinearMotor.proto
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Expand Up @@ -7,8 +7,8 @@
EXTERNPROTO "DBSLinearMotorBase.proto"

PROTO PreconfiguredDBSLinearMotor [
unconnectedField SFString{"AndyMark9015", "AndyMarkRs775_125", "Bag", "BanebotsRs550", "BanebotsRs775", "CIM", "Falcon500", "MiniCIM", "NEO", "NEO550", "RomiBuiltin", "Vex775Pro"} motorType "NEO"
field SFString{"Spark Max", "Talon SRX", "Victor SPX", "PWM"} controllerType "Spark Max"
unconnectedField SFString{"AndyMark9015", "AndyMarkRs775_125", "Bag", "BanebotsRs550", "BanebotsRs775", "CIM", "Falcon500", "MiniCIM", "NEO", "NEO550", "NEOVortex", "RomiBuiltin", "Vex775Pro"} motorType "NEO"
field SFString{"Spark Max", "Spark Flex", "Talon SRX", "Victor SPX", "PWM"} controllerType "Spark Max"
field SFInt32 port 0
field SFFloat gearing 1
field SFFloat outputRadiusMeters 0.0254 # 2in diameter
Expand All @@ -18,8 +18,10 @@ PROTO PreconfiguredDBSLinearMotor [
{
%<
import {assert} from 'wbutility.js';
assert(!fields.motorType.value.startsWith("NEO") || ["Spark Max", "PWM"].includes(fields.controllerType.value),
`PreconfiguredDCDBSMotor: Brushless motor "${fields.motorType.value}" cannot be driven by brushed motor controller "${fields.controllerType.value}"!`)
assert(!fields.motorType.value.startsWith("NEO") || ["Spark Max", "Spark Flex", "PWM"].includes(fields.controllerType.value),
`PreconfiguredDCDBSMotor: Brushless motor "${fields.motorType.value}" cannot be driven by brushed motor controller "${fields.controllerType.value}"!`);
assert(fields.controllerType.value !== "NEO Vortex" || ["NEOVortex"].includes(fields.motorType.value),
`PreconfiguredDCDBSMotor: NEO Vortex controller can not drive a "${fields.motorType.value}"!`);
let motor = eval(wbfile.readTextFile(`${context.project_path}protos/deepbluesim/dbsmotor.js`));
>%
DBSLinearMotorBase {
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10 changes: 6 additions & 4 deletions ...controller/src/webotsFolder/dist/protos/deepbluesim/PreconfiguredDBSRotationalMotor.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -7,8 +7,8 @@
EXTERNPROTO "DBSRotationalMotorBase.proto"

PROTO PreconfiguredDBSRotationalMotor [
unconnectedField SFString{"AndyMark9015", "AndyMarkRs775_125", "Bag", "BanebotsRs550", "BanebotsRs775", "CIM", "Falcon500", "MiniCIM", "NEO", "NEO550", "RomiBuiltin", "Vex775Pro"} motorType "NEO"
field SFString{"Spark Max", "Talon SRX", "Victor SPX", "PWM"} controllerType "Spark Max"
unconnectedField SFString{"AndyMark9015", "AndyMarkRs775_125", "Bag", "BanebotsRs550", "BanebotsRs775", "CIM", "Falcon500", "MiniCIM", "NEO", "NEO550", "NEOVortex", "RomiBuiltin", "Vex775Pro"} motorType "NEO"
field SFString{"Spark Max", "Spark Flex", "Talon SRX", "Victor SPX", "PWM"} controllerType "Spark Max"
field SFInt32 port 0
field SFFloat gearing 1
field SFBool inverted FALSE
Expand All @@ -17,8 +17,10 @@ PROTO PreconfiguredDBSRotationalMotor [
{
%<
import {assert} from 'wbutility.js';
assert(!fields.motorType.value.startsWith("NEO") || ["Spark Max", "PWM"].includes(fields.controllerType.value),
`PreconfiguredDBSRotationalMotor: Brushless motor "${fields.motorType.value}" cannot be driven by brushed motor controller "${fields.controllerType.value}"!`)
assert(!fields.motorType.value.startsWith("NEO") || ["Spark Max", "Spark Flex", "PWM"].includes(fields.controllerType.value),
`PreconfiguredDCDBSMotor: Brushless motor "${fields.motorType.value}" cannot be driven by brushed motor controller "${fields.controllerType.value}"!`);
assert(fields.controllerType.value !== "NEO Vortex" || ["NEOVortex"].includes(fields.motorType.value),
`PreconfiguredDCDBSMotor: NEO Vortex controller can not drive a "${fields.motorType.value}"!`);
let motor = eval(wbfile.readTextFile(`${context.project_path}protos/deepbluesim/dbsmotor.js`));
>%
DBSRotationalMotorBase {
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7 changes: 7 additions & 0 deletions plugin/controller/src/webotsFolder/dist/protos/deepbluesim/dbsmotor.js
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Original file line number Diff line number Diff line change
Expand Up @@ -86,6 +86,13 @@
freeCurrentAmps: 1.4,
freeSpeedRPM: 11000
},
NEOVortex: {
nominalVoltageVolts: 12,
stallTorqueNewtonMeters: 3.60,
stallCurrentAmps: 211,
freeCurrentAmps: 3.6,
freeSpeedRPM: 6784
},
RomiBuiltin: {
nominalVoltageVolts: 4.5,
stallTorqueNewtonMeters: 0.1765,
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Binary file modified plugin/controller/src/webotsFolder/dist/worlds/.MotorController.jpg
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48 changes: 44 additions & 4 deletions plugin/controller/src/webotsFolder/dist/worlds/MotorController.wbt
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Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,7 @@ RectangleArena {
DEF ROBOT Robot {
translation 0 0 0.06
children [
DEF PWM_BASE Solid {
DEF MINICIM_BASE Solid {
children [
PoweredHingeJoint {
devices [
Expand All @@ -37,7 +37,7 @@ DEF ROBOT Robot {
gearing 97.3333
}
]
endPoint DEF PWM_SHAFT Solid {
endPoint DEF MINICIM_SHAFT Solid {
children [
Shape {
appearance PBRAppearance {
Expand All @@ -60,7 +60,7 @@ DEF ROBOT Robot {
}
]
}
DEF CAN_BASE Solid {
DEF NEO_BASE Solid {
translation 0 2 0
children [
PoweredHingeJoint {
Expand All @@ -74,7 +74,7 @@ DEF ROBOT Robot {
gearing 94.6
}
]
endPoint DEF CAN_SHAFT Solid {
endPoint DEF NEO_SHAFT Solid {
children [
Shape {
appearance PBRAppearance {
Expand All @@ -98,6 +98,46 @@ DEF ROBOT Robot {
]
name "solid(1)"
}
DEF VORTEX_BASE Solid {
translation 2 2 0
children [
PoweredHingeJoint {
devices [
REVBuiltinEncoder {
}
DBSBrake {
}
PreconfiguredDBSRotationalMotor {
motorType "NEOVortex"
controllerType "Spark Flex"
port 3
gearing 113.067
}
]
endPoint DEF VORTEX_SHAFT Solid {
children [
Shape {
appearance PBRAppearance {
}
geometry Box {
size 1 1 0.648614
}
}
]
boundingObject Cylinder {
height 0.648614
radius 0.5
}
physics Physics {
}
}
jointParameters HingeJointParameters {
axis 0 0 1
}
}
]
name "solid(2)"
}
]
controller "DeepBlueSim"
supervisor TRUE
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32 changes: 20 additions & 12 deletions tests/src/main/java/frc/robot/MotorControllerRobot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -17,24 +17,28 @@
import org.carlmontrobotics.lib199.MotorControllerFactory;
import org.carlmontrobotics.lib199.MotorConfig;

import com.revrobotics.CANSparkFlex;
import com.revrobotics.CANSparkMax;

public class MotorControllerRobot extends TimedRobot {

private final Joystick m_stick = new Joystick(0);
private final Timer m_timer = new Timer();
private PWMMotorController m_motorController;
private CANSparkMax m_canMotorController;
private PWMMotorController m_pwmMotorController;
private CANSparkMax m_sparkMaxMotorController;
private CANSparkFlex m_sparkFlexMotorController;

/**
* This function is run when the robot is first started up and should be used for any
* initialization code.
*/
@Override
public void robotInit() {
m_motorController = new PWMVictorSPX(1);
m_canMotorController =
m_pwmMotorController = new PWMVictorSPX(1);
m_sparkMaxMotorController =
MotorControllerFactory.createSparkMax(2, MotorConfig.NEO);
m_sparkFlexMotorController = MotorControllerFactory.createSparkFlex(3,
MotorConfig.NEO_VORTEX);
}

@Override
Expand All @@ -44,8 +48,9 @@ public void robotPeriodic() {

public void close() {
System.out.println("Closing motors in Robot.close()");
m_motorController.close();
m_canMotorController.close();
m_pwmMotorController.close();
m_sparkMaxMotorController.close();
m_sparkFlexMotorController.close();
}

/**
Expand All @@ -64,11 +69,13 @@ public void autonomousInit() {
public void autonomousPeriodic() {
// Run the motor at 50% for 2 seconds.
if (m_timer.get() < 2.0) {
m_motorController.set(0.5);
m_canMotorController.set(0.5);
m_pwmMotorController.set(0.5);
m_sparkMaxMotorController.set(0.5);
m_sparkFlexMotorController.set(0.5);
} else {
m_motorController.stopMotor();
m_canMotorController.stopMotor();
m_pwmMotorController.stopMotor();
m_sparkMaxMotorController.stopMotor();
m_sparkFlexMotorController.stopMotor();
}
}

Expand All @@ -77,8 +84,9 @@ public void autonomousPeriodic() {
*/
@Override
public void teleopPeriodic() {
m_motorController.set(m_stick.getX());
m_canMotorController.set(m_stick.getX());
m_pwmMotorController.set(m_stick.getX());
m_sparkMaxMotorController.set(m_stick.getX());
m_sparkFlexMotorController.set(m_stick.getX());
}

}
5 changes: 3 additions & 2 deletions tests/src/systemTest/java/frc/robot/MotorControllerTest.java
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Original file line number Diff line number Diff line change
Expand Up @@ -310,8 +310,9 @@ private Consumer<SimulationState> stateChecker(
// @RepeatedTest(value = 20, failureThreshold = 1)
@RepeatedTest(1)
void testCorrectRotationInAutonomous() throws Exception {
models.add(new Model("NEO", "CAN_SHAFT", 94.6, 0.392));
models.add(new Model("MiniCIM", "PWM_SHAFT", 97.3333, 0.215));
models.add(new Model("NeoVortex", "VORTEX_SHAFT", 113.067, 0.648614));
models.add(new Model("NEO", "NEO_SHAFT", 94.6, 0.392));
models.add(new Model("MiniCIM", "MINICIM_SHAFT", 97.3333, 0.215));

try (var manager = new WebotsSimulator(
"../plugin/controller/src/webotsFolder/dist/worlds/MotorController.wbt",
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