Team4388/2022NoWayHome
1
0
Fork 0
mirror of https://github.com/Team4388/2022NoWayHome.git synced 2026-06-09 00:38:05 -06:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
Ryan Manley
2022-03-12 20:40:07 -07:00
parent ae9890f34b e23ad1c0b6
commit 26fe6f6500
8 changed files with 105 additions and 57 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/Constants.java
+1 -1
View File
@@ -164,7 +164,7 @@ public final class Constants {
public static final class OIConstants {
public static final int XBOX_DRIVER_ID = 0;
public static final int XBOX_OPERATOR_ID = 1;
public static final int BUTTON_FOX_ID = 2;
public static final int BUTTON_BOX_ID = 2;
public static final double LEFT_AXIS_DEADBAND = 0.1;
public static final double RIGHT_AXIS_DEADBAND = 0.6;
public static final boolean SKEW_STICKS = true;
src/main/java/frc4388/robot/Robot.java
+1 -9
View File
@@ -269,15 +269,7 @@ public class Robot extends TimedRobot {
* This function is called periodically during operator control.
*/
@Override
public void teleopPeriodic() {
boolean robotManual = m_robotContainer.manual;
if (robotManual) {
m_robotContainer.configureManualButtonBindings();
} else {
m_robotContainer.configureAutomaticButtonBindings();
}
}
public void teleopPeriodic() {}
@Override
public void testInit() {
src/main/java/frc4388/robot/RobotContainer.java
+17 -38
View File
@@ -29,7 +29,6 @@ import java.util.regex.Matcher;
import java.util.regex.Pattern;
import java.util.stream.Collectors;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.diffplug.common.base.Errors;
import com.pathplanner.lib.PathPlanner;
@@ -58,11 +57,11 @@ import edu.wpi.first.wpilibj2.command.NotifierCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.LEDConstants;
import frc4388.robot.Constants.OIConstants;
import frc4388.robot.Constants.StorageConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.robot.commands.AimToCenter;
import frc4388.robot.commands.RunMiddleSwitch;
import frc4388.robot.commands.Shoot;
import frc4388.robot.commands.TrackTarget;
import frc4388.robot.subsystems.BoomBoom;
@@ -116,7 +115,7 @@ public class RobotContainer {
/* Controllers */
private final XboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
private final XboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
private final ButtonBox m_buttonFox = new ButtonBox(OIConstants.BUTTON_FOX_ID);
private final ButtonBox m_buttonBox = new ButtonBox(OIConstants.BUTTON_BOX_ID);
/* Autonomous */
private PathPlannerTrajectory loadedPathTrajectory = null;
@@ -226,19 +225,14 @@ public class RobotContainer {
// .whenPressed(() -> m_robotMap.leftBack.reset())
// .whenPressed(() -> m_robotMap.rightBack.reset());
/* Operator Buttons */
// X > Extend Intake
/*new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
.whenPressed(() -> m_robotIntake.runExtender(true));
new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
.whenPressed(new InstantCommand(() -> m_robotVisionOdometry.setLEDs(true), m_robotVisionOdometry));
// Y > Retract Intake
new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
.whenPressed(() -> m_robotIntake.runExtender(false));*/
// new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
// .whenPressed(() -> m_robotIntake.runExtender(false));
// new JoystickButton(getOperatorController(), XboxController.Button.kA.value) //8ft
// .whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.425)))
@@ -263,7 +257,7 @@ public class RobotContainer {
.whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.0)));
new JoystickButton(getOperatorController(), XboxController.Button.kLeftBumper.value)
.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-0.9), m_robotStorage))
.whenPressed(new RunCommand(() -> m_robotStorage.runStorage(-0.9), m_robotStorage))
.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
new JoystickButton(getOperatorController(), XboxController.Button.kRightBumper.value)
@@ -286,7 +280,6 @@ public class RobotContainer {
// .whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-StorageConstants.STORAGE_SPEED)))
// .whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0)));
// A > Shoot with Odo
/*new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
.whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood));*/
@@ -296,37 +289,23 @@ public class RobotContainer {
// .whenPressed(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotSwerveDrive, m_robotVisionOdometry));
/* Button Box Buttons */
new JoystickButton(getButtonFox(), ButtonBox.Button.kLeftSwitch.value)
.whenPressed(new RunCommand(() -> setManual(true)))
.whenReleased(new RunCommand(() -> setManual(false)));
new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftSwitch.value)
.whileHeld(new RunCommand(() -> RunMiddleSwitch.setManual(true)))
.whenReleased(new RunCommand(() -> RunMiddleSwitch.setManual(false)));
// new JoystickButton(getButtonFox(), ButtonBox.Button.kMiddleSwitch.value)
// .whileHeld(new RunCommand(() -> System.out.println("MiddleSwitch")));
new JoystickButton(getButtonBox(), ButtonBox.Button.kMiddleSwitch.value)
.whileHeld(new RunMiddleSwitch());
new JoystickButton(getButtonFox(), ButtonBox.Button.kRightSwitch.value)
new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value)
.whileHeld(new RunCommand(() -> System.out.println("RightSwitch")));
new JoystickButton(getButtonFox(), ButtonBox.Button.kLeftButton.value)
new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftButton.value)
.whileHeld(new RunCommand(() -> System.out.println("LeftButton")));
new JoystickButton(getButtonFox(), ButtonBox.Button.kRightButton.value)
new JoystickButton(getButtonBox(), ButtonBox.Button.kRightButton.value)
.whileHeld(new RunCommand(() -> System.out.println("RightButton")));
}
public void configureManualButtonBindings() {
new JoystickButton(getButtonFox(), ButtonBox.Button.kMiddleSwitch.value)
.whileHeld(new RunCommand(() -> System.out.println("MANUAL")));
}
public void configureAutomaticButtonBindings() {
new JoystickButton(getButtonFox(), ButtonBox.Button.kMiddleSwitch.value)
.whileHeld(new RunCommand(() -> System.out.println("AUTOMATIC")));
}
/**
* Use this to pass the autonomous command to the main {@link Robot} class.
*
@@ -363,8 +342,8 @@ public class RobotContainer {
return m_operatorXbox;
}
public ButtonBox getButtonFox() {
return m_buttonFox;
public ButtonBox getButtonBox() {
return m_buttonBox;
}
public void setManual(boolean set) {
src/main/java/frc4388/robot/RobotMap.java
+24 -3
View File
@@ -37,6 +37,10 @@ public class RobotMap {
// configureLEDMotorControllers();
configureSwerveMotorControllers();
configureShooterMotorControllers();
configureIntakeMotors();
configureExtenderMotors();
configureSerializerMotors();
configureStorageMotors();
}
/* LED Subsystem */
@@ -182,7 +186,7 @@ public class RobotMap {
rightBackSteerMotor.configRemoteFeedbackFilter(rightBackEncoder.getDeviceID(),
RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0,
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
}
}
// // Shooter Config
// /* Boom Boom Subsystem */
@@ -258,15 +262,32 @@ public class RobotMap {
public final WPI_TalonFX intakeMotor = new WPI_TalonFX(IntakeConstants.INTAKE_MOTOR);
public final CANSparkMax extenderMotor = new CANSparkMax(IntakeConstants.EXTENDER_MOTOR, MotorType.kBrushless);
void configureIntakeMotors(){
void configureIntakeMotors() {
intakeMotor.configFactoryDefault();
intakeMotor.setInverted(false);
intakeMotor.setNeutralMode(NeutralMode.Coast);
intakeMotor.configSupplyCurrentLimit(IntakeConstants.SUPPLY_CURRENT_LIMIT_CONFIG_INTAKE);
intakeMotor.configStatorCurrentLimit(IntakeConstants.STATOR_CURRENT_LIMIT_CONFIG_INTAKE);
}
void configureExtenderMotors() {
extenderMotor.restoreFactoryDefaults();
extenderMotor.setInverted(true);
extenderMotor.setIdleMode(IdleMode.kBrake);
}
void configureSerializerMotors() {
serializerBelt.restoreFactoryDefaults();
}
/* Storage Subsystem */
public final CANSparkMax storageMotor = new CANSparkMax(StorageConstants.STORAGE_CAN_ID, MotorType.kBrushless);
public final CANSparkMax storageMotor = new CANSparkMax(StorageConstants.STORAGE_CAN_ID, MotorType.kBrushless);
// public final DigitalInput beamShooter = new DigitalInput(StorageConstants.BEAM_SENSOR_SHOOTER);
// public final DigitalInput beamIntake = new DigitalInput(StorageConstants.BEAM_SENSOR_INTAKE);
void configureStorageMotors() {
storageMotor.restoreFactoryDefaults();
}
}
src/main/java/frc4388/robot/commands/RunMiddleSwitch.java
+61
View File
@@ -0,0 +1,61 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc4388.robot.commands;
import edu.wpi.first.wpilibj2.command.CommandBase;
public class RunMiddleSwitch extends CommandBase {
private static boolean manual = false;
private boolean newManual = false;
private boolean changes = false;
/** Creates a new RunMiddleSwitch. */
public RunMiddleSwitch() {
// Use addRequirements() here to declare subsystem dependencies.
}
// Called when the command is initially scheduled.
@Override
public void initialize() {}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
changes = (newManual == manual);
if (manual) {
printManual();
} else {
printNormal();
}
newManual = manual;
}
public void printNormal(){
System.out.println("Normal");
}
public void printManual(){
System.out.println("Manual");
}
public static void setManual(boolean set)
{
manual = set;
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return changes;
}
}
src/main/java/frc4388/robot/subsystems/Extender.java
-3
View File
@@ -23,9 +23,6 @@ public class Extender extends SubsystemBase {
m_extenderMotor = extenderMotor;
m_extenderMotor.restoreFactoryDefaults();
m_extenderMotor.setInverted(true);
m_inLimit = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_outLimit = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_inLimit.enableLimitSwitch(true);
src/main/java/frc4388/robot/subsystems/Hood.java
+1
View File
@@ -10,6 +10,7 @@ import com.revrobotics.SparkMaxPIDController;
import com.revrobotics.SparkMaxLimitSwitch;
import com.revrobotics.CANSparkMax.ControlType;
import com.revrobotics.CANSparkMax.SoftLimitDirection;
import com.revrobotics.SparkMaxRelativeEncoder.Type;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
src/main/java/frc4388/robot/subsystems/Intake.java
-3
View File
@@ -23,9 +23,6 @@ public class Intake extends SubsystemBase {
public Intake(WPI_TalonFX intakeMotor, Serializer serializer) {
m_intakeMotor = intakeMotor;
m_serializer = serializer;
m_intakeMotor.setNeutralMode(NeutralMode.Brake);
m_intakeMotor.setInverted(false);
}
@Override