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TestButtons + soft limits

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aarav18
2022-03-10 17:06:17 -07:00
parent b5345a53cb
commit 2b0dd53360
4 changed files with 58 additions and 6 deletions
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src/main/java/frc4388/robot/Constants.java
+5
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@@ -169,6 +169,11 @@ public final class Constants {
public static final double GEAR_BOX_RATIO = 144.d * 60.d / 24.d;
public static final double SHOULDER_SOFT_LIMIT_FORWARD = 0;
public static final double SHOULDER_SOFT_LIMIT_REVERSE = 0;
public static final double ELBOW_SOFT_LIMIT_FORWARD = 0;
public static final double ELBOW_SOFT_LIMIT_REVERSE = 0;
// PID Constants
public static final int SHOULDER_SLOT_IDX = 0;
public static final int SHOULDER_PID_LOOP_IDX = 1;
src/main/java/frc4388/robot/RobotContainer.java
+15 -6
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@@ -94,7 +94,7 @@ public class RobotContainer {
/* Subsystems */
private final Climber m_robotClimber = new Climber(m_robotMap.shoulder, m_robotMap.elbow, m_robotMap.gyro, false);
private final Claws m_claws = new Claws(m_robotMap.leftClaw, m_robotMap.rightClaw);
private final Claws m_robotClaws = new Claws(m_robotMap.leftClaw, m_robotMap.rightClaw);
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront, m_robotMap.leftBack,
m_robotMap.rightFront, m_robotMap.rightBack, m_robotMap.gyro);
@@ -137,9 +137,10 @@ public class RobotContainer {
// moves climber in xy space with two-axis input from the operator controller
m_robotClimber.setDefaultCommand(
new RunCommand(() -> m_robotClimber.setMotors(getOperatorController().getLeftX(), getOperatorController().getLeftY()),
new RunCommand(() -> m_robotClimber.setMotors(getOperatorController().getLeftX() * 0.4, getOperatorController().getLeftY() * 0.4),
m_robotClimber));
// IK command
// m_robotClimber.setDefaultCommand(
// new RunCommand(() -> m_robotClimber.controlWithInput(getOperatorController().getLeftX(),
@@ -217,12 +218,20 @@ public class RobotContainer {
/* Operator Buttons */
// run claws
new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
.whenPressed(new RunClaw(m_claws, ClawType.LEFT, true))
.whenPressed(new RunClaw(m_claws, ClawType.RIGHT, true));
.whileHeld(new RunCommand(() -> m_robotClaws.runClaw(ClawType.LEFT, 0.2)))
.whenReleased(new RunCommand(() -> m_robotClaws.runClaw(ClawType.LEFT, 0.0)));
new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
.whenPressed(new RunClaw(m_claws, ClawType.LEFT, false))
.whenPressed(new RunClaw(m_claws, ClawType.RIGHT, false));
.whileHeld(new RunCommand(() -> m_robotClaws.runClaw(ClawType.LEFT, -0.2)))
.whenReleased(new RunCommand(() -> m_robotClaws.runClaw(ClawType.LEFT, 0.0)));
new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
.whileHeld(new RunCommand(() -> m_robotClaws.runClaw(ClawType.RIGHT, 0.2)))
.whenReleased(new RunCommand(() -> m_robotClaws.runClaw(ClawType.RIGHT, 0.0)));
new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
.whileHeld(new RunCommand(() -> m_robotClaws.runClaw(ClawType.RIGHT, -0.2)))
.whenReleased(new RunCommand(() -> m_robotClaws.runClaw(ClawType.RIGHT, 0.0)));
/*
* // activates "BoomBoom"
src/main/java/frc4388/robot/subsystems/Claws.java
+21
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@@ -74,6 +74,27 @@ public class Claws extends SubsystemBase {
m_open = open;
}
public void runClaw(ClawType which, double input) {
if (which == Claws.ClawType.LEFT) {
m_leftClaw.set(input);
} else if (which == Claws.ClawType.RIGHT) {
m_rightClaw.set(input);
}
}
public void runClaws(double input)
{
m_leftClaw.set(input);
m_rightClaw.set(input);
}
/**
* Sets the state of both hooks
* @param open The state of the hooks
src/main/java/frc4388/robot/subsystems/Climber.java
+17
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@@ -17,6 +17,7 @@ import com.ctre.phoenix.sensors.WPI_PigeonIMU;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants;
import frc4388.robot.Constants.ClimberConstants;
@@ -49,6 +50,16 @@ public class Climber extends SubsystemBase {
m_shoulderOffset = m_shoulder.getSelectedSensorPosition();
m_elbowOffset = m_elbow.getSelectedSensorPosition();
m_elbow.configForwardSoftLimitThreshold(ClimberConstants.ELBOW_SOFT_LIMIT_FORWARD);
m_elbow.configForwardSoftLimitEnable(false);
m_elbow.configReverseSoftLimitThreshold(ClimberConstants.ELBOW_SOFT_LIMIT_REVERSE);
m_elbow.configReverseSoftLimitEnable(false);
m_shoulder.configForwardSoftLimitThreshold(ClimberConstants.SHOULDER_SOFT_LIMIT_FORWARD);
m_shoulder.configForwardSoftLimitEnable(false);
m_shoulder.configReverseSoftLimitThreshold(ClimberConstants.SHOULDER_SOFT_LIMIT_REVERSE);
m_shoulder.configReverseSoftLimitEnable(false);
if(groundRelative)
m_gyro = gyro;
@@ -257,5 +268,11 @@ public void setMotors(double shoulderOutput, double elbowOutput) {
m_robotAngle = robotAngle;
m_robotAngle = 45; //45 is placeholder
}
@Override
public void periodic(){
SmartDashboard.putNumber("Shoulder", m_shoulder.getSelectedSensorPosition());
SmartDashboard.putNumber("Elbow", m_elbow.getSelectedSensorPosition());
}
}