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Merge branch 'origin/swerve' into robot-logger

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nathanrsxtn
2022-03-01 17:56:55 -07:00
parent fa7368305b b01d79ae70
commit 1e573f18e4
25 changed files with 1444 additions and 98 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+37 -8
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@@ -53,8 +53,13 @@ import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.LEDConstants;
import frc4388.robot.Constants.OIConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.robot.commands.AimToCenter;
import frc4388.robot.subsystems.BoomBoom;
import frc4388.robot.subsystems.Hood;
import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.robot.subsystems.Turret;
import frc4388.robot.subsystems.Vision;
import frc4388.utility.LEDPatterns;
import frc4388.utility.ListeningSendableChooser;
import frc4388.utility.PathPlannerUtil;
@@ -74,11 +79,13 @@ public class RobotContainer {
private final RobotMap m_robotMap = new RobotMap();
/* Subsystems */
private final SwerveDrive m_robotSwerveDrive = new SwerveDrive(
m_robotMap.leftFront, m_robotMap.leftBack, m_robotMap.rightFront, m_robotMap.rightBack, m_robotMap.gyro);
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront, m_robotMap.leftBack, m_robotMap.rightFront, m_robotMap.rightBack, m_robotMap.gyro);
private final LED m_robotLED = new LED(m_robotMap.LEDController);
private final BoomBoom m_robotBoomBoom = new BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight);
private final Hood m_robotHood = new Hood();
private final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret);
private final Vision m_robotVison = new Vision(m_robotTurret, m_robotBoomBoom);
/* Controllers */
private final XboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
private final XboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
@@ -99,7 +106,14 @@ public class RobotContainer {
public RobotContainer() {
configureButtonBindings();
/* Default Commands */
// drives the swerve drive with a two-axis input from the driver controller
// continually sends updates to the Blinkin LED controller to keep the lights on
// m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, m_robotLED));
//Turret default command
m_robotTurret.setDefaultCommand(new AimToCenter(m_robotTurret, m_robotSwerveDrive));
m_robotSwerveDrive.setDefaultCommand(
new RunCommand(() -> m_robotSwerveDrive.driveWithInput(
getDriverController().getLeftX(),
@@ -123,9 +137,9 @@ public class RobotContainer {
*/
private void configureButtonBindings() {
/* Driver Buttons */
new JoystickButton(getDriverController(), XboxController.Button.kY.value)
// new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.Y_BUTTON)
.whenPressed(m_robotSwerveDrive.m_gyro::reset);
// "XboxController.Button.kBack" was undefined yet, 7 works just fine
new JoystickButton(getDriverController(), 7)
.whenPressed(m_robotSwerveDrive::resetGyro);
new JoystickButton(getDriverController(), XboxController.Button.kLeftBumper.value)
// new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.LEFT_BUMPER_BUTTON)
@@ -141,9 +155,16 @@ public class RobotContainer {
/* Operator Buttons */
// activates "Lit Mode"
new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
// new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.A_BUTTON)
.whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
.whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
// activates "BoomBoom"
new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
.whenPressed(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0.1))
.whenReleased(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0));
// activates hood
new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
.whenPressed(() -> m_robotHood.runHood(0.5d))
.whenReleased(() -> m_robotHood.runHood(0.d));
}
/**
@@ -177,10 +198,18 @@ public class RobotContainer {
return m_driverXbox;
}
/**
* Get odometry.
* @return Odometry
*/
public Pose2d getOdometry() {
return m_robotSwerveDrive.getOdometry();
}
/**
* Set odometry to given pose.
* @param pose Pose to set odometry to.
*/
public void resetOdometry(Pose2d pose) {
m_robotSwerveDrive.resetOdometry(pose);
}