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new try at turret or climber thing

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aarav18
2022-03-18 14:26:03 -06:00
parent 6db9636f22
commit 1b6265c65a
3 changed files with 13 additions and 40 deletions
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src/main/java/frc4388/robot/Constants.java
+1
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@@ -175,6 +175,7 @@ public final class Constants {
public static final int GYRO_ID = 14;
public static final double INPUT_MULTIPLIER = 0.7;
public static final double CLIMBER_SOFT_LIMIT_TOLERANCE = 20.0;
// TODO Update this stuff too
public static final double UPPER_ARM_LENGTH = 26; // Units should be in cm
src/main/java/frc4388/robot/RobotContainer.java
+11 -34
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@@ -112,14 +112,10 @@ public class RobotContainer {
/* Subsystems */
public final ClimberRewrite m_robotClimber = new ClimberRewrite(m_robotMap.shoulder, m_robotMap.elbow, m_robotMap.gyro, false);
<<<<<<< Updated upstream
private final Claws m_robotClaws = new Claws(m_robotMap.leftClaw, m_robotMap.rightClaw);
// Subsystems
=======
public final Claws m_robotClaws = new Claws(m_robotMap.leftClaw, m_robotMap.rightClaw);
>>>>>>> Stashed changes
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront, m_robotMap.leftBack, m_robotMap.rightFront, m_robotMap.rightBack, m_robotMap.gyro);
public final Serializer m_robotSerializer = new Serializer(m_robotMap.serializerBelt, /*m_robotMap.serializerShooterBelt,*/ m_robotMap.serializerBeam);
public final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor);
@@ -203,7 +199,6 @@ public class RobotContainer {
m_robotSerializer.setDefaultCommand(
new RunCommand(() -> m_robotSerializer.setSerializer(getOperatorController().getLeftTriggerAxis() * 0.8),//m_robotSerializer.setSerializerStateWithBeam(),
m_robotSerializer).withName("Serializer setSerializerStateWithBeam defaultCommand"));
<<<<<<< Updated upstream
// Turret Manual
@@ -217,12 +212,6 @@ public class RobotContainer {
.until(() -> this.currentMode.equals(CurrentMode.TURRET)));
// EnableTurret()
=======
// Turret Manual
// m_robotTurret.setDefaultCommand(
// new RunCommand(() -> m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()),
// m_robotTurret).withName("Turret runTurretWithInput defaultCommand"));
>>>>>>> Stashed changes
// m_robotHood.setDefaultCommand(
// new RunCommand(() -> m_robotHood.runHood(getOperatorController().getRightY()), m_robotHood));
@@ -330,8 +319,17 @@ public class RobotContainer {
.whenReleased(new InstantCommand(() -> m_robotClimber.setEncoders(0), m_robotClimber));
new JoystickButton(getButtonBox(), ButtonBox.Button.kMiddleSwitch.value)
.whenPressed(new InstantCommand(() -> this.currentMode = CurrentMode.CLIMBER))
.whenReleased(new InstantCommand(() -> this.currentMode = CurrentMode.TURRET));
.whenPressed(new InstantCommand(() -> m_robotTurret.setDefaultCommand(null)))
.whenPressed(new InstantCommand(() -> m_robotClimber.setDefaultCommand(
new RunCommand(() -> m_robotClimber.setMotors(getOperatorController().getLeftY(), getOperatorController().getRightY()), m_robotClimber))))
.whenReleased(new InstantCommand(() -> m_robotClimber.setDefaultCommand(null)))
.whenReleased(new InstantCommand(() -> m_robotTurret.setDefaultCommand(
new RunCommand(() -> m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()), m_robotTurret))));
// .whenPressed(new InstantCommand(() -> this.currentMode = CurrentMode.CLIMBER))
// .whenReleased(new InstantCommand(() -> this.currentMode = CurrentMode.TURRET));
// .whenReleased(EnableClimber()));
// control turret manual mode
@@ -425,26 +423,6 @@ public class RobotContainer {
* Finally, adds the existing path files to the auto chooser
*/
private void autoInit() {
<<<<<<< Updated upstream
// try {
// WatchKey watchKey = PATHPLANNER_DIRECTORY.register(FileSystems.getDefault().newWatchService(),
// StandardWatchEventKinds.ENTRY_CREATE, StandardWatchEventKinds.ENTRY_MODIFY,
// StandardWatchEventKinds.ENTRY_DELETE);
// // TODO: Store this and other commands as fields so they can be rescheduled.
// new NotifierCommand(() -> updateAutoChooser(watchKey), 0.5) {
// @Override
// public boolean runsWhenDisabled() {
// return true;
// }
// }.withName("Path Watcher").schedule();
// } catch (IOException exception) {
// LOGGER.log(Level.SEVERE, "Exception with path file watcher.", exception);
// }
// Arrays.stream(PATHPLANNER_DIRECTORY.toFile().listFiles())
// .filter(file -> file.getName().endsWith(".path")).sorted(Comparator.comparingLong(File::lastModified))
// .forEachOrdered(file -> autoChooser.addOption(file.getName(), file));
// SmartDashboard.putData("Auto Chooser", autoChooser);
=======
try {
WatchKey watchKey = PATHPLANNER_DIRECTORY.register(FileSystems.getDefault().newWatchService(),
StandardWatchEventKinds.ENTRY_CREATE, StandardWatchEventKinds.ENTRY_MODIFY,
@@ -463,7 +441,6 @@ public class RobotContainer {
.filter(file -> file.getName().endsWith(".path")).sorted(Comparator.comparingLong(File::lastModified))
.forEachOrdered(file -> autoChooser.addOption(file.getName(), file));
SmartDashboard.putData("Auto Chooser", autoChooser);
>>>>>>> Stashed changes
}
/**
src/main/java/frc4388/robot/subsystems/ClimberRewrite.java
+1 -6
View File
@@ -179,6 +179,7 @@ public class ClimberRewrite extends SubsystemBase {
SmartDashboard.putNumber("Shoulder", m_shoulder.getSelectedSensorPosition());
// double[] jointAngles = getTargetJointAngles(tPoint, 0.d);
// setJointAngles(jointAngles);
}
/**
@@ -286,11 +287,6 @@ public class ClimberRewrite extends SubsystemBase {
return getClimberPosition(jointAngles[0], jointAngles[1]);
}
<<<<<<< Updated upstream
public double getCurrent() {
return (this.m_elbow.getSupplyCurrent() + this.m_shoulder.getSupplyCurrent());
}
=======
public void setClimberSoftLimits(boolean set){
m_elbow.configForwardSoftLimitEnable(set);
m_shoulder.configForwardSoftLimitEnable(set);
@@ -305,5 +301,4 @@ public class ClimberRewrite extends SubsystemBase {
return (m_shoulder.getSupplyCurrent() + m_elbow.getSupplyCurrent());
}
>>>>>>> Stashed changes
}