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Merge branch 'cleanup' of https://github.com/Team4388/2022NoWayHome into cleanup

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This commit is contained in:
Ryan Manley
2022-04-02 15:30:36 -06:00
parent 5ff011ef73 a6bfaa1b30
commit 16ccd86843
3 changed files with 40 additions and 20 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+9 -6
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@@ -458,6 +458,7 @@ public class RobotContainer {
maxAccel = Objects.requireNonNullElse(maxAccel, SwerveDriveConstants.PATH_MAX_ACCELERATION);
ArrayList<Command> commands = new ArrayList<Command>();
commands.add(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive));
PIDController xController = SwerveDriveConstants.X_CONTROLLER;
PIDController yController = SwerveDriveConstants.Y_CONTROLLER;
@@ -531,12 +532,12 @@ public class RobotContainer {
)); // * weird way of shooting, i think we should make a new TrackTarget with built-in Storage control instead.
// ! DRIVE BACKWARDS AND SHOOT (HOPEFULLY)
return new SequentialCommandGroup( new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive), // * reset gyro before moving
new DriveWithInputForTime(m_robotSwerveDrive, new double[] {1.0, 0.0, 0.0, 0.0}, (5.0 * 12) / distancePerSecond),//0.269), // * go backwards three feet
new InstantCommand(() -> m_robotSwerveDrive.stopModules(), m_robotSwerveDrive), // * brake
// return new SequentialCommandGroup( new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive), // * reset gyro before moving
// new DriveWithInputForTime(m_robotSwerveDrive, new double[] {1.0, 0.0, 0.0, 0.0}, (5.0 * 12) / distancePerSecond),//0.269), // * go backwards three feet
// new InstantCommand(() -> m_robotSwerveDrive.stopModules(), m_robotSwerveDrive), // * brake
weirdAutoShootingGroup, // * shoot
new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), 0.5)); // * stop running storage
// weirdAutoShootingGroup, // * shoot
// new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), 0.5)); // * stop running storage
// ! TWO BALL AUTO (HOPEFULLY)
// return new SequentialCommandGroup( new ExtenderIntakeGroup(m_robotIntake, m_robotExtender), // * extend out, in preparation of running intake
@@ -609,7 +610,9 @@ public class RobotContainer {
// new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage), 1.0))
// );
// ! PathPlanner Testing
return new SequentialCommandGroup(buildAuto(1.0, 1.0, "Move Forward"));
// return new SequentialCommandGroup(buildAuto(1.0, 1.0, "Diamond"));
}
public void switchControlMode() {
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+9 -14
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@@ -75,12 +75,7 @@ public class SwerveDrive extends SubsystemBase {
// VecBuilder.fill(Units.degreesToRadians(1)), // TODO: tune
// VecBuilder.fill(1.0, 1.0, Units.degreesToRadians(1))); // TODO: tune
m_odometry = new SwerveDriveOdometry(
m_kinematics,
getRegGyro(),//m_gyro.getRotation2d(),
new Pose2d()); // TODO: tune
// m_odometry = new SwerveDriveOdometry(m_kinematics, m_gyro.getRotation2d());
m_odometry = new SwerveDriveOdometry(m_kinematics, m_gyro.getRotation2d());
m_gyro.reset();
SmartDashboard.putData("Field", m_field);
@@ -192,9 +187,9 @@ public class SwerveDrive extends SubsystemBase {
// chassis speeds
// TODO: find the actual max velocity in m/s of the robot in fast mode to have accurate chassis speeds
SmartDashboard.putNumber("Chassis Vel: X", chassisSpeeds.vxMetersPerSecond);
SmartDashboard.putNumber("Chassis Vel: Y", chassisSpeeds.vyMetersPerSecond);
SmartDashboard.putNumber("Chassis Vel: ω", chassisSpeeds.omegaRadiansPerSecond);
// SmartDashboard.putNumber("Chassis Vel: X", chassisSpeeds.vxMetersPerSecond);
// SmartDashboard.putNumber("Chassis Vel: Y", chassisSpeeds.vyMetersPerSecond);
// SmartDashboard.putNumber("Chassis Vel: ω", chassisSpeeds.omegaRadiansPerSecond);
}
/**
@@ -246,11 +241,11 @@ public class SwerveDrive extends SubsystemBase {
SmartDashboard.putNumber("AUTO ACTUAL GYRO", actual.getDegrees());
SmartDashboard.putNumber("AUTO DWI GYRO", actual.getDegrees());
m_odometry.update( actualDWI,//new Rotation2d((2 * Math.PI) - getRegGyro().getRadians()),
modules[0].getState(),
modules[1].getState(),
modules[2].getState(),
modules[3].getState());
m_odometry.update( m_gyro.getRotation2d(),//new Rotation2d((2 * Math.PI) - getRegGyro().getRadians()),
modules[0].getState(),
modules[1].getState(),
modules[2].getState(),
modules[3].getState());
}
src/main/java/frc4388/utility/controller/DeadbandedXboxController.java
+22
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@@ -8,10 +8,32 @@ import frc4388.robot.Constants.OIConstants;
public class DeadbandedXboxController extends XboxController {
public DeadbandedXboxController(int port) { super(port); }
@Override public double getLeftX() { return skewToDeadzonedCircle(super.getLeftX(), super.getLeftY()).getX(); }
@Override public double getLeftY() { return skewToDeadzonedCircle(super.getLeftX(), super.getLeftY()).getY(); }
@Override public double getRightX() { return skewToDeadzonedCircle(super.getRightX(), super.getRightY()).getX(); }
@Override public double getRightY() { return skewToDeadzonedCircle(super.getRightX(), super.getRightY()).getY(); }
public int getDpadAngle() {
return getPOV(0);
}
public boolean getDPadLeft(){
return (getRawAxis(6) < -0.9);
}
public boolean getDPadRight(){
return (getRawAxis(6) > 0.9);
}
public boolean getDPadTop(){
return (getRawAxis(6) < 0.9);
}
public boolean getDPadBottom(){
return (getRawAxis(6) > -0.9);
}
public static Translation2d skewToDeadzonedCircle(double x, double y) {
Translation2d translation2d = new Translation2d(x, y);
double magnitude = translation2d.getNorm();