Class HoodHoming

java.lang.Object

frc.robot.subsystems.hood.HoodHoming

public final class HoodHoming
extends Object

Finds the hood's bottom stop, so its angle does not depend on where it rested at power-on. Pure logic: Hood fills an HoodHoming.Inputs from logged inputs each loop and applies the HoodHoming.Output, so homing replays and is unit tested.

Homing drives the hood down at HoodHoming.Params.volts until its speed stays under HoodHoming.Params.stallDegPerSec for HoodHoming.Params.stallSeconds, then sets the position to the stop. It runs at auto start, at teleop start unless already zeroed, and each time the hood is sent home and gets within HoodHoming.Params.nearHomeDeg of the stop (1678's re-home on stow). Until the first success the hood refuses closed-loop setpoints and holds in brake. A reboot of the hood motor restarts its position, so it un-zeroes the hood and re-homes it at once if enabled.

No attempt runs while the hood's tracking stop holds it: a jammed hood stalls, and homing would take the jam for the stop and zero there. An attempt due meanwhile waits for the operator's clear; disabling drops it, and the next mode start asks again.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	HoodHoming.Action
static final record	HoodHoming.Inputs	One loop's view of the hood, every field from a logged input.
static final class	HoodHoming.LogMarker	Logged as an input under Hood/Homing, true on every robot and sim run, so a log says whether it was recorded with homing.
static final record	HoodHoming.Output	The homing answer for one loop.
static final record	HoodHoming.Params	Homing constants.
static enum	HoodHoming.State	Logged as Hood/HomingState.

Constructor Summary

Constructors

Constructor	Description
HoodHoming(HoodHoming.Params params)

Method Summary

Modifier and Type	Method	Description
static HoodHoming.Output	assumedZeroed()	The output while assumeZeroedForReplay(boolean, boolean): zeroed, closed loop, no zero written.
static boolean	assumeZeroedForReplay(boolean replay, boolean recordedWithHoming)	Whether to skip homing and treat the hood as zeroed: only when replaying a log recorded before homing existed.
HoodHoming.Params	getParams()
boolean	isZeroed()
HoodHoming.Output	update(HoodHoming.Inputs in)	Advances homing one loop.

Methods inherited from class Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

HoodHoming

public HoodHoming(HoodHoming.Params params)

Method Details

assumeZeroedForReplay

public static boolean assumeZeroedForReplay(boolean replay,
 boolean recordedWithHoming)

Whether to skip homing and treat the hood as zeroed: only when replaying a log recorded before homing existed. That robot trusted its boot angle and never wrote a zero, so its readings never show one, and waiting for one would hold the replayed shot gate where the robot fired.

Parameters:

replay - running in replay

recordedWithHoming - the log's HoodHoming.LogMarker

Returns:

true to treat the hood as zeroed without homing

assumedZeroed

public static HoodHoming.Output assumedZeroed()

The output while assumeZeroedForReplay(boolean, boolean): zeroed, closed loop, no zero written.

getParams

public HoodHoming.Params getParams()

isZeroed

public boolean isZeroed()

update

public HoodHoming.Output update(HoodHoming.Inputs in)

Advances homing one loop.

Parameters:

in - this loop's view of the hood

Returns:

what the hood does