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Code Issues Packages Projects Releases Wiki Activity

Removed Redundant Arcade Drive Code and Added some more verbose comments

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This commit is contained in:
Ryan
2022-01-11 11:27:26 -07:00
parent 731310fbc8
commit 430dd2d6aa
4 changed files with 22 additions and 140 deletions
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src/main/java/frc4388/robot/Constants.java
+14 -10
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@@ -19,17 +19,11 @@ import frc4388.utility.LEDPatterns;
* constants are needed, to reduce verbosity.
*/
public final class Constants {
public static final class ArcadeDriveConstants {
public static final int DRIVE_LEFT_FRONT_CAN_ID = 2;
public static final int DRIVE_RIGHT_FRONT_CAN_ID = 4;
public static final int DRIVE_LEFT_BACK_CAN_ID = 3;
public static final int DRIVE_RIGHT_BACK_CAN_ID = 5;
public static final int DRIVE_PIGEON_ID = 6;
public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
}
/**
* The SwerveDriveConstants class provides IDs, scalars, conversions, configurtions, PIDs, etc.
* and more for the SwerveDrive subsystem, the SwerveModule subsystem, and all commands related
*/
public static final class SwerveDriveConstants {
public static final double ROTATION_SPEED = 0.1;
public static final double WHEEL_SPEED = 0.1;
@@ -66,13 +60,23 @@ public final class Constants {
public static final double NEUTRAL_DEADBAND = 0.04;
public static final double OPEN_LOOP_RAMP_RATE = 0.2;
public static final int REMOTE_0 = 0;
//misc
public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
}
/**
* The LEDConstants class contains the ID and the patterns for the LED Subsystem
*/
public static final class LEDConstants {
public static final int LED_SPARK_ID = 0;
public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.FOREST_WAVES;
}
/**
* The OIConstants class contains the ID for the XBox controllers
*/
public static final class OIConstants {
public static final int XBOX_DRIVER_ID = 0;
public static final int XBOX_OPERATOR_ID = 1;
src/main/java/frc4388/robot/RobotContainer.java
+8 -13
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@@ -32,9 +32,6 @@ public class RobotContainer {
private final RobotMap m_robotMap = new RobotMap();
/* Subsystems */
//private final ArcadeDrive m_robotArcadeDrive = new ArcadeDrive(m_robotMap.leftFrontMotor, m_robotMap.rightFrontMotor,
// m_robotMap.leftBackMotor, m_robotMap.rightBackMotor, m_robotMap.driveTrain, m_robotMap.gyroDrive);
private final SwerveDrive m_robotSwerveDrive = new SwerveDrive(
m_robotMap.leftFrontSteerMotor, m_robotMap.leftFrontWheelMotor,
m_robotMap.rightFrontSteerMotor, m_robotMap.rightFrontWheelMotor,
@@ -59,12 +56,8 @@ public class RobotContainer {
configureButtonBindings();
/* Default Commands */
// drives the arcade drive with a two-axis input from the driver controller
/*m_robotArcadeDrive.setDefaultCommand(
new RunCommand(() -> m_robotArcadeDrive.driveWithInput(getDriverController().getLeftYAxis(),
getDriverController().getRightXAxis()), m_robotArcadeDrive));*/
// drives the swerve drive with a two-axis input from the driver controller
// drives the swerve drive with a two-axis input from the driver controller, with a one dimensional rotational axis
m_robotSwerveDrive.setDefaultCommand(
new RunCommand(() -> m_robotSwerveDrive.driveWithInput(getDriverController().getLeftXAxis(),
getDriverController().getLeftYAxis(), getDriverController().getRightXAxis(), false), m_robotSwerveDrive));
@@ -80,13 +73,15 @@ public class RobotContainer {
* passing it to a {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
*/
private void configureButtonBindings() {
/**TODO
* Decide on button layout
* Add buttons for all functions
* /
/* Driver Buttons */
// test command to spin the robot while pressing A on the driver controller
//new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
//.whileHeld(() -> m_robotArcadeDrive.driveWithInput(0, 1));
/* Operator Buttons */
// activates "Lit Mode"
// activates "Lit Mode"
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
.whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
@@ -98,7 +93,7 @@ public class RobotContainer {
* @return the command to run in autonomous
*/
public Command getAutonomousCommand() {
// no auto
// no auto :(
return new InstantCommand();
}
src/main/java/frc4388/robot/RobotMap.java
-32
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@@ -41,38 +41,6 @@ public class RobotMap {
}
/* ArcadeDrive Subsystem */
//public final WPI_TalonFX leftFrontMotor = new WPI_TalonFX(ArcadeDriveConstants.DRIVE_LEFT_FRONT_CAN_ID);
//public final WPI_TalonFX rightFrontMotor = new WPI_TalonFX(ArcadeDriveConstants.DRIVE_RIGHT_FRONT_CAN_ID);
//public final WPI_TalonFX leftBackMotor = new WPI_TalonFX(ArcadeDriveConstants.DRIVE_LEFT_BACK_CAN_ID);
//public final WPI_TalonFX rightBackMotor = new WPI_TalonFX(ArcadeDriveConstants.DRIVE_RIGHT_BACK_CAN_ID);
//public final DifferentialDrive driveTrain = new DifferentialDrive(leftFrontMotor, rightFrontMotor);
//public final RobotGyro gyroDrive = new RobotGyro(new PigeonIMU(ArcadeDriveConstants.DRIVE_PIGEON_ID));
/*void configureArcadeDriveMotorControllers() {
// factory default values
leftFrontMotor.configFactoryDefault();
rightFrontMotor.configFactoryDefault();
leftBackMotor.configFactoryDefault();
rightBackMotor.configFactoryDefault();
// set back motors as followers
leftBackMotor.follow(leftFrontMotor);
rightBackMotor.follow(rightFrontMotor);
// set neutral mode
leftFrontMotor.setNeutralMode(NeutralMode.Brake);
rightFrontMotor.setNeutralMode(NeutralMode.Brake);
leftFrontMotor.setNeutralMode(NeutralMode.Brake);
rightFrontMotor.setNeutralMode(NeutralMode.Brake);
// flip input so forward becomes back, etc
leftFrontMotor.setInverted(false);
rightFrontMotor.setInverted(false);
leftBackMotor.setInverted(InvertType.FollowMaster);
rightBackMotor.setInverted(InvertType.FollowMaster);
}*/
/* Swerve Subsystem */
public final WPI_TalonFX leftFrontSteerMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ID);
public final WPI_TalonFX leftFrontWheelMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_WHEEL_CAN_ID);
src/main/java/frc4388/robot/subsystems/ArcadeDrive.java
-85
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@@ -1,85 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package frc4388.robot.subsystems;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.ArcadeDriveConstants;
import frc4388.utility.RobotGyro;
import frc4388.utility.RobotTime;
/**
* Add your docs here.
*/
public class ArcadeDrive extends SubsystemBase {
// Put methods for controlling this subsystem
// here. Call these from Commands.
private RobotTime m_robotTime = RobotTime.getInstance();
private WPI_TalonFX m_leftFrontMotor;
private WPI_TalonFX m_rightFrontMotor;
private WPI_TalonFX m_leftBackMotor;
private WPI_TalonFX m_rightBackMotor;
private DifferentialDrive m_driveTrain;
private RobotGyro m_gyro;
/**
* Add your docs here.
*/
public ArcadeDrive(WPI_TalonFX leftFrontMotor, WPI_TalonFX rightFrontMotor, WPI_TalonFX leftBackMotor,
WPI_TalonFX rightBackMotor, DifferentialDrive driveTrain, RobotGyro gyro) {
m_leftFrontMotor = leftFrontMotor;
m_rightFrontMotor = rightFrontMotor;
m_leftBackMotor = leftBackMotor;
m_rightBackMotor = rightBackMotor;
m_driveTrain = driveTrain;
m_gyro = gyro;
}
@Override
public void periodic() {
m_gyro.updatePigeonDeltas();
if (m_robotTime.m_frameNumber % ArcadeDriveConstants.SMARTDASHBOARD_UPDATE_FRAME == 0) {
updateSmartDashboard();
}
}
/**
* Add your docs here.
*/
public void driveWithInput(double move, double steer) {
m_driveTrain.arcadeDrive(move, steer);
}
/**
* Add your docs here.
*/
public void tankDriveWithInput(double leftMove, double rightMove) {
m_leftFrontMotor.set(leftMove);
m_rightFrontMotor.set(rightMove);
}
/**
* Add your docs here.
*/
private void updateSmartDashboard() {
// Examples of the functionality of RobotGyro
SmartDashboard.putBoolean("Is Gyro a Pigeon?", m_gyro.m_isGyroAPigeon);
SmartDashboard.putNumber("Turn Rate", m_gyro.getRate());
SmartDashboard.putNumber("Gyro Pitch", m_gyro.getPitch());
SmartDashboard.putData(m_gyro);
}
}