Skip to content

Add support for Candi #12

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
AniKashyap merged 9 commits into from
Jan 4, 2026
Merged

Add support for Candi #12

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
9 commits
Select commit Hold shift + click to select a range
3a510e9
candi io first commit
Nov 20, 2025
03af529
verified. allow for multiple i/o objects referencing one candi
Nov 21, 2025
5ab988f
fix typo
Nov 23, 2025
81c6bd7
invert values
maceolsweeney Dec 10, 2025
95a2ccb
suggested changes
maceolsweeney Dec 10, 2025
d428c26
revisions
maceolsweeney Jan 3, 2026
6f70658
more revisions
maceolsweeney Jan 3, 2026
9b8dda7
remove unnessecary indentation
maceolsweeney Jan 3, 2026
5f04c8e
final few changes
maceolsweeney Jan 4, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
56 changes: 56 additions & 0 deletions src/main/java/frc/lib/io/BeamBreakIOCANdi.java
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,56 @@
package frc.lib.io;

import com.ctre.phoenix6.configs.CANdiConfiguration;
import com.ctre.phoenix6.hardware.CANdi;
import com.ctre.phoenix6.signals.S1CloseStateValue;
import com.ctre.phoenix6.signals.S1FloatStateValue;
import com.ctre.phoenix6.signals.S2CloseStateValue;
import com.ctre.phoenix6.signals.S2FloatStateValue;

import edu.wpi.first.units.measure.Time;

public class BeamBreakIOCANdi extends BeamBreakIO {
private final CANdi mCANdi;
private final int channel;

public static BeamBreakIOCANdi makeInverted(int channel, Time debounce, String name, CANdi candi) {
return new BeamBreakIOCANdi(channel, debounce, name, candi) {
@Override
public boolean get() {
return !super.get();
}
};
}

public BeamBreakIOCANdi(int channel, Time debounce, String name, CANdi candi) {
super(debounce, name);

assert channel == 1 || channel == 2; //Check to make sure that the channel # is valid

this.mCANdi = candi;

this.channel = channel;

Copy link
Member

@JaydenHuang555 JaydenHuang555 Dec 10, 2025

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

The caller should pass the config in since the config might not be the same for all candi beambreaks

CANdiConfiguration candiConfiguration = new CANdiConfiguration();

candiConfiguration.DigitalInputs.S1CloseState = S1CloseStateValue.CloseWhenNotHigh;
candiConfiguration.DigitalInputs.S1FloatState = S1FloatStateValue.PullLow;
candiConfiguration.DigitalInputs.S2CloseState = S2CloseStateValue.CloseWhenNotHigh;
candiConfiguration.DigitalInputs.S2FloatState = S2FloatStateValue.PullLow;

mCANdi.getConfigurator().apply(candiConfiguration);
}

public boolean getSignalInput1() {
return mCANdi.getS1Closed().getValue();
}

public boolean getSignalInput2() {
return mCANdi.getS2Closed().getValue();
};

@Override
public boolean get() {
return channel == 1 ? getSignalInput1() : getSignalInput2();
}
}
9 changes: 6 additions & 3 deletions src/main/java/frc/robot/Ports.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -16,11 +16,14 @@ public enum Ports {
PIVOT(16, "canivore1"),
CLIMBER(17, "canivore1"),
CLIMBER_ROLLERS(18, "canivore1"),
CANDLE(21, "canivore1"),
CANDLE(23, "canivore1"),

END_EFFECTOR_CORAL_BREAMBREAK(RobotConstants.isComp ? 1 : 5, "RioDigitalIn"),
END_EFFECTOR_ALGAE_BEAMBREAK(RobotConstants.isComp ? 0 : 0, "RioDigitalIn"),
// END_EFFECTOR_CORAL_BREAMBREAK(RobotConstants.isComp ? 1 : 5, "RioDigitalIn"),
// END_EFFECTOR_ALGAE_BEAMBREAK(RobotConstants.isComp ? 0 : 0, "RioDigitalIn"),
CANDI(21,"canivore1"),
INDEXER_BEAMBREAK(RobotConstants.isComp ? 8 : 4, "RioDigitalIn"),
EE_CORAL_BEAMBREAK(1, "CANdi"), //Slot 1 or 2 on the CANdi
EE_ALGAE_BEAMBREAK(2, "CANdi"),

ENCODER_41T(4, "canivore1"),
ENCODER_39T(5, "canivore1"),
Expand Down
2 changes: 1 addition & 1 deletion src/main/java/frc/robot/controlboard/ControlBoard.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -407,7 +407,7 @@ private void debugControls() {
// operator.pov(POVDirection.Up).onTrue(ClimberRollers.mInstance.setpointCommand(ClimberRollers.INTAKE));

// operator.pov(POVDirection.Down).onTrue(ClimberRollers.mInstance.setpointCommand(ClimberRollers.IDLE));

operator.leftBumper()
.onTrue(new InstantCommand(() -> Pivot.mInstance.setCurrentPosition(
Pivot.mInstance.directCancoder.getPosition().getValue()))
Expand Down
11 changes: 9 additions & 2 deletions src/main/java/frc/robot/subsystems/superstructure/Superstructure.java
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
package frc.robot.subsystems.superstructure;

import com.ctre.phoenix6.hardware.CANdi;
import com.ctre.phoenix6.swerve.SwerveDrivetrain.SwerveDriveState;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
Expand All @@ -24,6 +25,7 @@
import frc.lib.util.FieldLayout.Branch.Face;
import frc.lib.util.FieldLayout.Level;
import frc.lib.util.Util;
import frc.robot.Ports;
import frc.robot.RobotConstants;
import frc.robot.controlboard.ControlBoard;
import frc.robot.planners.MotionPlanner;
Expand Down Expand Up @@ -58,8 +60,11 @@
public class Superstructure extends SubsystemBase {
public static final Superstructure mInstance = new Superstructure();

public static BeamBreakIO endEffectorCoralBreak = BeamBreakConstants.getEndEffectorCoralBeamBreak();
private static BeamBreakIO endEffectorAlgaeBreak = BeamBreakConstants.getEndEffectorAlgaeBeamBreak();
public static final CANdi mEECANdi = new CANdi(Ports.CANDI.id, Ports.CANDI.bus);

public static BeamBreakIO endEffectorCoralBreak = BeamBreakConstants.getEndEffectorCoralBeamBreak(mEECANdi);
private static BeamBreakIO endEffectorAlgaeBreak = BeamBreakConstants.getEndEffectorAlgaeBeamBreak(mEECANdi);

public static BeamBreakIO endEffectorVelocityDip = BeamBreakConstants.getEndEffectorVelocityDip();
public static BeamBreakIO coralRollersCurrentSpike = BeamBreakConstants.getCoralRollersCurrentSpike();
public static BeamBreakIO coralRollersVelocityDip = BeamBreakConstants.getCoralRollersVelocityDip();
Expand All @@ -68,6 +73,8 @@ public class Superstructure extends SubsystemBase {
public static BeamBreakIO pivotVelocityLow = BeamBreakConstants.getPivotVelocityLow();
public static BeamBreakIO closeCoral = BeamBreakConstants.getCoralClose();



public static BeamBreakIO allAlgae = new BeamBreakIOSim(
() -> endEffectorVelocityDip.getDebounced() || endEffectorAlgaeBreak.getDebounced(),
Units.Seconds.of(0.0),
Expand Down
21 changes: 13 additions & 8 deletions src/main/java/frc/robot/subsystems/superstructure/SuperstructureConstants.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,7 @@
import edu.wpi.first.units.measure.Time;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import frc.lib.io.BeamBreakIO;
import frc.lib.io.BeamBreakIOCANdi;
import frc.lib.io.BeamBreakIODigitalIn;
import frc.lib.io.BeamBreakIOSim;
import frc.lib.util.FieldLayout.Level;
Expand All @@ -22,16 +23,18 @@
import frc.robot.subsystems.pivot.Pivot;

import java.util.function.BooleanSupplier;
import com.ctre.phoenix6.hardware.CANdi;

public final class SuperstructureConstants {
public static class BeamBreakConstants {
public static BeamBreakIO getEndEffectorCoralBeamBreak() {
public static BeamBreakIO getEndEffectorCoralBeamBreak(CANdi candi) {
if (Robot.isReal()) {
try {
return new BeamBreakIODigitalIn(
Ports.END_EFFECTOR_CORAL_BREAMBREAK.id,
return BeamBreakIOCANdi.makeInverted(
Ports.EE_CORAL_BEAMBREAK.id,
SuperstructureConstants.kEndEffectorCoralDebounce,
"Coral End Effector Break");
"Coral End Effector Break",
candi);
} catch (Exception e) {
SmartDashboard.putString("End Effector Beam Break", "Failed");
return new BeamBreakIOSim(
Expand All @@ -57,13 +60,15 @@ public static BeamBreakIO getEndEffectorVelocityDip() {
}
}

public static BeamBreakIO getEndEffectorAlgaeBeamBreak() {
public static BeamBreakIO getEndEffectorAlgaeBeamBreak(CANdi candi) {
if (Robot.isReal()) {
try {
return new BeamBreakIODigitalIn(
Ports.END_EFFECTOR_ALGAE_BEAMBREAK.id,
return BeamBreakIOCANdi.makeInverted(
Ports.EE_ALGAE_BEAMBREAK.id,
SuperstructureConstants.kEndEffectorAlgaeDebounce,
"Algae End Effector Break");
"Algae End Effector Break",
candi
);
} catch (Exception e) {
SmartDashboard.putString("End Effector Beam Break", "Failed");
return new BeamBreakIOSim(
Expand Down