diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 6a940e1..47b9ab5 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -35,7 +35,7 @@ import frc4388.utility.LEDPatterns; public final class Constants { public static final double TICKS_PER_ROTATION_FX = 2048; public static final double LOOP_TIME = 0.02; - public static final String DRIVE_CAN_NAME = "driveTrain"; + public static final String DRIVE_CAN_NAME = "rio"; public static final class SwerveDriveConstants { public static final double ROTATION_SPEED = 2.3; @@ -168,9 +168,10 @@ public final class Constants { public static final double STORAGE_SPEED = 1.0;//0.9; } public static final class LEDConstants { - public static final int LED_SPARK_ID = 0; + public static final int LED_SPARK_ID = 3; - public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.FOREST_WAVES; + public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.SOLID_RED; + public static final LEDPatterns SHOOTING_PATTERN = LEDPatterns.SOLID_GREEN; } public static final class ClimberConstants { diff --git a/src/main/java/frc4388/robot/Main.java b/src/main/java/frc4388/robot/Main.java index 0d65df0..e75dab2 100644 --- a/src/main/java/frc4388/robot/Main.java +++ b/src/main/java/frc4388/robot/Main.java @@ -34,4 +34,5 @@ public final class Main { } } -// hi ryan -aarav \ No newline at end of file +// hi ryan -aarav +// hi ryan -quinn \ No newline at end of file diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 37887c3..2668786 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -56,6 +56,7 @@ import frc4388.robot.subsystems.Climber; import frc4388.robot.subsystems.Extender; import frc4388.robot.subsystems.Hood; import frc4388.robot.subsystems.Intake; +import frc4388.robot.subsystems.LED; import frc4388.robot.subsystems.Serializer; import frc4388.robot.subsystems.Storage; import frc4388.robot.subsystems.SwerveDrive; @@ -88,7 +89,7 @@ public class RobotContainer { public final Extender m_robotExtender = new Extender(m_robotMap.extenderMotor); public final Storage m_robotStorage = new Storage(m_robotMap.storageMotor); - // private final LED m_robotLED = new LED(m_robotMap.LEDController); // ! no LED makes aarav sad + private final LED m_robotLED = new LED(m_robotMap.LEDController); // ! no LED makes aarav sad public final BoomBoom m_robotBoomBoom = new BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight); public final Hood m_robotHood = new Hood(m_robotMap.angleAdjusterMotor); public final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret); @@ -281,7 +282,7 @@ public class RobotContainer { // new JoystickButton(getOperatorController(), XboxController.Button.kY.value) // .whenPressed(new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID(-Math.atan2((219.25 / 2.00) - 10, (82.83 / 2.00) - 15.56)), m_robotTurret), 1.0)); new JoystickButton(getOperatorController(), XboxController.Button.kY.value) - .whileHeld(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry)); // * aim with turret to target); + .whileHeld(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, m_robotLED)); // * aim with turret to target); // new JoystickButton(getOperatorController(), XboxController.Button.kY.value) // .whileHeld(new RunCommand(() -> m_robotClaws.setOpen(true))); @@ -449,29 +450,29 @@ public class RobotContainer { private SequentialCommandGroup shoot(double storageRunTime) { return new SequentialCommandGroup( - new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true), + new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, m_robotLED, true), new ParallelCommandGroup( - new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true), + new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, m_robotLED, true), new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage), storageRunTime, true) ) ); } - SequentialCommandGroup weirdAutoShootingGroup1 = new SequentialCommandGroup(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true), + SequentialCommandGroup weirdAutoShootingGroup = new SequentialCommandGroup(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, m_robotLED, true), new ParallelCommandGroup( - new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true), + new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, m_robotLED, true), new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage), 1.0, true) )); // * weird way of shooting, i think we should make a new TrackTarget with built-in Storage control instead. - SequentialCommandGroup weirdAutoShootingGroup2 = new SequentialCommandGroup(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true), + SequentialCommandGroup weirdAutoShootingGroup2 = new SequentialCommandGroup(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, m_robotLED, true), new ParallelCommandGroup( - new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true), + new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, m_robotLED, true), new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage), 2.3, true) )); // * weird way of shooting, i think we should make a new TrackTarget with built-in Storage control instead. - SequentialCommandGroup weirdAutoShootingGroup3 = new SequentialCommandGroup(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true), + SequentialCommandGroup weirdAutoShootingGroup3 = new SequentialCommandGroup(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, m_robotLED, true), new ParallelCommandGroup( - new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true), + new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, m_robotLED, true), new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage), 4.0, true) )); // * weird way of shooting, i think we should make a new TrackTarget with built-in Storage control instead. @@ -566,26 +567,6 @@ public class RobotContainer { */ public Command getAutonomousCommand() { return autoChooser.getSelected(); - // return new SequentialCommandGroup(buildAuto(1.0, 1.0, "Move Forward")); - // return new SequentialCommandGroup(idleDrumUntilShootingFirstBall, - // //new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID((180.0 / Math.PI) * Math.atan2(-(82.83 / 2.00) + 15.56, -(219.25 / 2.00) - 40.44 + 10.00)), m_robotTurret), 1.0, true), - // // extendWhileTurretIsAiming,//new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID((180.0 / Math.PI) * Math.atan2(-(82.83 / 2.00) + 15.56, -(219.25 / 2.00) - 40.44 + 10.00)), m_robotTurret), 1.0, true), // * aim with turret to target - // weirdAutoShootingGroup, // * shoot - // // extendWhileTurretIsAiming, - // new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), 0.1, true), - // // new ExtenderIntakeGroup(m_robotIntake, m_robotExtender), - // intakeWithPathAndTrackTarget, // TODO: dont TrackTarget while driving. instead intakeWithPath, then weirdAutoShootingGroup2 - // // intakeWithPath, - // // weirdAutoShootingGroup2, - // // new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID((180.0 / Math.PI) * Math.atan2(-(82.83 / 2.00) + 15.56, -(219.25 / 2.00) - 40.44 + 10.00)), m_robotTurret), 1.0, true)); // * aim with turret to target); // * shoot - // new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), 0.1, true), - // // intakeWithPath2, - // // new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID(-120), m_robotTurret), 1.0, true), - // // new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID(-120), m_robotTurret), 0.7, true), - // // intakeWithPath2AndTrackTarget, - // intakeWithPath2AndIdleShooterAndAimTurret, - // weirdAutoShootingGroup3, - // new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), 0.1, true)); } public void switchControlMode() { diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index b76ab82..2545ecb 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -53,9 +53,9 @@ public class RobotMap { } /* LED Subsystem */ -// public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID); + public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID); -// void configureLEDMotorControllers() {} + void configureLEDMotorControllers() {} /* Swerve Subsystem */ diff --git a/src/main/java/frc4388/robot/commands/ShooterCommands/Seek.java b/src/main/java/frc4388/robot/commands/ShooterCommands/Seek.java index 7d3c7f6..3de6da1 100644 --- a/src/main/java/frc4388/robot/commands/ShooterCommands/Seek.java +++ b/src/main/java/frc4388/robot/commands/ShooterCommands/Seek.java @@ -7,6 +7,7 @@ package frc4388.robot.commands.ShooterCommands; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; 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.VisionOdometry; @@ -21,10 +22,10 @@ public class Seek extends SequentialCommandGroup { * @author Aarav Shah * @blame Aarav Shah (thomas did this) */ - public Seek(SwerveDrive swerve, BoomBoom drum, Turret turret, Hood hood, VisionOdometry visionOdometry) { + public Seek(SwerveDrive swerve, BoomBoom drum, Turret turret, Hood hood, VisionOdometry visionOdometry, LED leds) { // Add your commands in the addCommands() call, e.g. // addCommands(new FooCommand(), new BarCommand()); - addCommands(new Shoot(swerve, drum, turret, hood, visionOdometry, false, false), new TrackTarget(turret, drum, hood, visionOdometry)); + addCommands(new Shoot(swerve, drum, turret, hood, visionOdometry, false, false), new TrackTarget(turret, drum, hood, visionOdometry, leds)); } /** Seeks. @@ -32,9 +33,9 @@ public class Seek extends SequentialCommandGroup { * @author Aarav Shah * @blame Aarav Shah (thomas did this) */ - public Seek(SwerveDrive swerve, BoomBoom drum, Turret turret, Hood hood, VisionOdometry visionOdometry, double[] fakeOdo) { + public Seek(SwerveDrive swerve, BoomBoom drum, Turret turret, Hood hood, VisionOdometry visionOdometry, LED leds, double[] fakeOdo) { // Add your commands in the addCommands() call, e.g. // addCommands(new FooCommand(), new BarCommand()); - addCommands(new Shoot(swerve, drum, turret, hood, visionOdometry, fakeOdo, false, false), new TrackTarget(turret, drum, hood, visionOdometry)); + addCommands(new Shoot(swerve, drum, turret, hood, visionOdometry, fakeOdo, false, false), new TrackTarget(turret, drum, hood, visionOdometry, leds)); } } diff --git a/src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java b/src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java index a9388d3..bc2d8cd 100644 --- a/src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java +++ b/src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java @@ -17,14 +17,17 @@ import edu.wpi.first.wpilibj.motorcontrol.MotorController; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.CommandBase; import frc4388.robot.RobotContainer; +import frc4388.robot.Constants.LEDConstants; import frc4388.robot.Constants.ShooterConstants; import frc4388.robot.Constants.VisionConstants; 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.robot.subsystems.VisionOdometry; +import frc4388.utility.LEDPatterns; import frc4388.utility.Vector2D; import frc4388.utility.desmos.DesmosServer; @@ -36,6 +39,7 @@ public class TrackTarget extends CommandBase { VisionOdometry m_visionOdometry; BoomBoom m_boomBoom; Hood m_hood; + LED m_leds; boolean isAuto; @@ -57,11 +61,12 @@ public class TrackTarget extends CommandBase { long startTime; private double timeTolerance; - public TrackTarget (Turret turret, BoomBoom boomBoom, Hood hood, VisionOdometry visionOdometry, boolean isAuto) { + public TrackTarget (Turret turret, BoomBoom boomBoom, Hood hood, VisionOdometry visionOdometry, LED leds, boolean isAuto) { m_turret = turret; m_boomBoom = boomBoom; m_hood = hood; m_visionOdometry = visionOdometry; + m_leds = leds; this.isAuto = isAuto; this.timeTolerance = 1000; @@ -71,8 +76,8 @@ public class TrackTarget extends CommandBase { SmartDashboard.putBoolean("Target Locked", false); } - public TrackTarget(Turret turret, BoomBoom boomBoom, Hood hood, VisionOdometry visionOdometry) { - this(turret, boomBoom, hood, visionOdometry, false); + public TrackTarget(Turret turret, BoomBoom boomBoom, Hood hood, VisionOdometry visionOdometry, LED leds) { + this(turret, boomBoom, hood, visionOdometry, leds, false); } // Called when the command is initially scheduled. @@ -134,6 +139,13 @@ public class TrackTarget extends CommandBase { SmartDashboard.putNumber("Hood Target Angle Track", hoodPosition); SmartDashboard.putNumber("Vel Target Track", velocity); SmartDashboard.putBoolean("Target Locked", targetLocked); + + if (targetLocked){ + m_leds.setPattern(LEDConstants.SHOOTING_PATTERN); + } + else{ + m_leds.setPattern(LEDConstants.DEFAULT_PATTERN); + } } public ArrayList filterPoints(ArrayList points) {