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Merge pull request #16 from Team4388/Intake

Browse Source 
Import Intake Code To the Full Robot Test Branch
This commit is contained in:
Aarav Shah
2022-03-05 23:45:25 -07:00
committed by GitHub
parent ca9b247955 2182b5ff81
commit 6a8fec41ce
11 changed files with 449 additions and 18 deletions
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.gitignore
+1 -1
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@@ -161,4 +161,4 @@ bin/
# Simulation GUI and other tools window save file
simgui*.json
src/main/deploy/config.json
src/main/deploy/config.json
readme.md
+1
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@@ -0,0 +1 @@
# I don't know what to put here
simgui-ds.json
+101
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@@ -0,0 +1,101 @@
{
"keyboardJoysticks": [
{
"axisConfig": [
{
"decKey": 65,
"incKey": 68
},
{
"decKey": 87,
"incKey": 83
},
{
"decKey": 69,
"decayRate": 0.0,
"incKey": 82,
"keyRate": 0.009999999776482582
}
],
"axisCount": 3,
"buttonCount": 4,
"buttonKeys": [
90,
88,
67,
86
],
"povConfig": [
{
"key0": 328,
"key135": 323,
"key180": 322,
"key225": 321,
"key270": 324,
"key315": 327,
"key45": 329,
"key90": 326
}
],
"povCount": 1
},
{
"axisConfig": [
{
"decKey": 74,
"incKey": 76
},
{
"decKey": 73,
"incKey": 75
}
],
"axisCount": 2,
"buttonCount": 4,
"buttonKeys": [
77,
44,
46,
47
],
"povCount": 0
},
{
"axisConfig": [
{
"decKey": 263,
"incKey": 262
},
{
"decKey": 265,
"incKey": 264
}
],
"axisCount": 2,
"buttonCount": 6,
"buttonKeys": [
260,
268,
266,
261,
269,
267
],
"povCount": 0
},
{
"axisCount": 0,
"buttonCount": 0,
"povCount": 0
}
],
"robotJoysticks": [
{
"useGamepad": true
},
{
"guid": "78696e70757401000000000000000000",
"useGamepad": true
}
]
}
simgui.json
+60
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@@ -0,0 +1,60 @@
{
"HALProvider": {
"Other Devices": {
"SPARK MAX [5]": {
"header": {
"open": true
}
},
"SPARK MAX [6]": {
"header": {
"open": true
}
},
"Talon FX[9]/Integrated Sensor": {
"header": {
"open": true
}
}
}
},
"NTProvider": {
"types": {
"/FMSInfo": "FMSInfo",
"/LiveWindow/BoomBoom": "Subsystem",
"/LiveWindow/Hood": "Subsystem",
"/LiveWindow/Intake": "Subsystem",
"/LiveWindow/LED": "Subsystem",
"/LiveWindow/Serializer": "Subsystem",
"/LiveWindow/Storage": "Subsystem",
"/LiveWindow/SwerveDrive": "Subsystem",
"/LiveWindow/SwerveModule": "Subsystem",
"/LiveWindow/Turret": "Subsystem",
"/LiveWindow/Ungrouped/DigitalInput[27]": "Digital Input",
"/LiveWindow/Ungrouped/DigitalInput[28]": "Digital Input",
"/LiveWindow/Ungrouped/DigitalInput[29]": "Digital Input",
"/LiveWindow/Ungrouped/DigitalInput[3]": "Digital Input",
"/LiveWindow/Ungrouped/PIDController[1]": "PIDController",
"/LiveWindow/Ungrouped/PIDController[2]": "PIDController",
"/LiveWindow/Ungrouped/PIDController[3]": "PIDController",
"/LiveWindow/Ungrouped/Scheduler": "Scheduler",
"/LiveWindow/Ungrouped/Spark[0]": "Motor Controller",
"/LiveWindow/Ungrouped/Talon FX [14]": "Motor Controller",
"/LiveWindow/Ungrouped/Talon FX [23]": "Motor Controller",
"/LiveWindow/Ungrouped/Talon FX [24]": "Motor Controller",
"/LiveWindow/Ungrouped/Talon FX [2]": "Motor Controller",
"/LiveWindow/Ungrouped/Talon FX [3]": "Motor Controller",
"/LiveWindow/Ungrouped/Talon FX [4]": "Motor Controller",
"/LiveWindow/Ungrouped/Talon FX [5]": "Motor Controller",
"/LiveWindow/Ungrouped/Talon FX [6]": "Motor Controller",
"/LiveWindow/Ungrouped/Talon FX [7]": "Motor Controller",
"/LiveWindow/Ungrouped/Talon FX [8]": "Motor Controller",
"/LiveWindow/Ungrouped/Talon FX [9]": "Motor Controller",
"/LiveWindow/Vision": "Subsystem",
"/SmartDashboard/Field": "Field2d",
"/SmartDashboard/JVM Memory": "Command",
"/SmartDashboard/Scheduler": "Scheduler",
"/SmartDashboard/Usable Deploy Space": "Command"
}
}
}
src/main/java/frc4388/robot/Constants.java
+19
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@@ -119,6 +119,25 @@ public final class Constants {
public static final Pose2d HUB_POSE = new Pose2d(new Translation2d(0, 0), new Rotation2d(0));
}
public static final class SerializerConstants {
public static final double SERIALIZER_BELT_SPEED = 0.1d;
// CAN IDs
public static final int SERIALIZER_BELT = 16;
public static final int SERIALIZER_BELT_BEAM = 27; // TODO
}
public static final class IntakeConstants {
// CAN IDs
public static final int INTAKE_MOTOR = 14;
public static final int EXTENDER_MOTOR = 15;
}
public static final class StorageConstants {
public static final int STORAGE_CAN_ID = 17;
public static final int BEAM_SENSOR_SHOOTER = 28; //TODO
public static final int BEAM_SENSOR_INTAKE = 29; //TODO
public static final double STORAGE_SPEED = 0.3;
}
public static final class LEDConstants {
public static final int LED_SPARK_ID = 0;
src/main/java/frc4388/robot/RobotContainer.java
+48 -14
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@@ -56,12 +56,16 @@ 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.Shoot;
import frc4388.robot.subsystems.BoomBoom;
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;
import frc4388.robot.subsystems.Turret;
import frc4388.robot.subsystems.Vision;
@@ -83,15 +87,17 @@ public class RobotContainer {
/* RobotMap */
private final RobotMap m_robotMap = new RobotMap();
/* Subsystems */
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront, m_robotMap.leftBack,
m_robotMap.rightFront, m_robotMap.rightBack, m_robotMap.gyro);
// Subsystems
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront, m_robotMap.leftBack, m_robotMap.rightFront, m_robotMap.rightBack, m_robotMap.gyro);
private final Serializer m_robotSerializer = new Serializer(m_robotMap.serializerBelt, /*m_robotMap.serializerShooterBelt,*/ m_robotMap.serializerBeam);
private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.extenderMotor, m_robotSerializer);
private final Storage m_robotStorage = new Storage(m_robotMap.storageMotor, m_robotMap.beamIntake, m_robotMap.beamShooter);
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_robotVision = 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);
@@ -127,6 +133,7 @@ public class RobotContainer {
// m_robotTurret.setDefaultCommand(new AimToCenter(m_robotTurret,
// m_robotSwerveDrive));
//Swerve Drive
m_robotSwerveDrive.setDefaultCommand(
new RunCommand(() -> m_robotSwerveDrive.driveWithInput(
getDriverController().getLeftX(),
@@ -135,6 +142,20 @@ public class RobotContainer {
getDriverController().getRightY(),
true),
m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand"));
//Intake with Triggers
m_robotIntake.setDefaultCommand(
new RunCommand(() -> m_robotIntake.runWithTriggers(
getOperatorController().getLeftTriggerAxis(),
getOperatorController().getRightTriggerAxis()),
m_robotIntake).withName("Intake runWithTriggers defaultCommand"));
//Storage Management
m_robotStorage.setDefaultCommand(
new RunCommand(() -> m_robotStorage.manageStorage(),
m_robotStorage).withName("Storage manageStorage defaultCommand"));
//Serializer Management
m_robotSerializer.setDefaultCommand(
new RunCommand(() -> m_robotSerializer.setSerializerStateWithBeam(),
m_robotSerializer).withName("Serializer setSerializerStateWithBeam defaultCommand"));
// continually sends updates to the Blinkin LED controller to keep the lights on
/*
@@ -153,9 +174,10 @@ public class RobotContainer {
* passing it to a {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
*/
private void configureButtonBindings() {
/* Driver Buttons */
// "XboxController.Button.kBack" was undefined yet, 7 works just fine
new JoystickButton(getDriverController(), 7)
new JoystickButton(getDriverController(), XboxController.Button.kBack.value)
.whenPressed(m_robotSwerveDrive::resetGyro);
new JoystickButton(getDriverController(), XboxController.Button.kLeftBumper.value)
@@ -170,27 +192,39 @@ public class RobotContainer {
new JoystickButton(getDriverController(), XboxController.Button.kA.value)
.whenPressed(() -> resetOdometry(new Pose2d(0, 0, new Rotation2d(0))));
new JoystickButton(getDriverController(), XboxController.Button.kX.value)
new JoystickButton(getDriverController(), XboxController.Button.kX.value) //Temp
.whenPressed(() -> m_robotMap.leftFront.reset())
.whenPressed(() -> m_robotMap.rightFront.reset())
.whenPressed(() -> m_robotMap.leftBack.reset())
.whenPressed(() -> m_robotMap.rightBack.reset());
/* Operator Buttons */
// activates "Lit Mode"
/*
* new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
* .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
* .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
*
* new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
* .whenPressed(new InstantCommand());
*
* // activates "BoomBoom"
* new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
* .whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret,
* m_robotHood));
*/
//Extender
new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
.whenPressed(() -> m_robotIntake.runExtender(true));
new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
.whenPressed(() -> m_robotIntake.runExtender(false));
//Storage
new JoystickButton(getOperatorController(), XboxController.Button.kRightBumper.value)
.whenPressed(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED))
.whenReleased(() -> m_robotStorage.runStorage(0.0));
new JoystickButton(getOperatorController(), XboxController.Button.kLeftBumper.value)
.whenPressed(() -> m_robotStorage.runStorage(-StorageConstants.STORAGE_SPEED))
.whenReleased(() -> m_robotStorage.runStorage(0.0));
}
/**
src/main/java/frc4388/robot/RobotMap.java
+19 -3
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@@ -15,10 +15,13 @@ import com.ctre.phoenix.sensors.WPI_PigeonIMU;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import frc4388.robot.Constants.IntakeConstants;
import frc4388.robot.Constants.LEDConstants;
import frc4388.robot.Constants.ShooterConstants;
import frc4388.robot.Constants.SerializerConstants;
import frc4388.robot.Constants.StorageConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.robot.subsystems.SwerveModule;
@@ -208,6 +211,19 @@ public class RobotMap {
}
}
/* Serializer Subsystem */
public final CANSparkMax serializerBelt = new CANSparkMax(SerializerConstants.SERIALIZER_BELT, MotorType.kBrushless);
// public final CANSparkMax serializerShooterBelt = new CANSparkMax(SerializerConstants.SERIALIZER_SHOOTER_BELT, MotorType.kBrushless);
public final DigitalInput serializerBeam = new DigitalInput(SerializerConstants.SERIALIZER_BELT_BEAM);
/* Intake Subsytem */
public final WPI_TalonFX intakeMotor = new WPI_TalonFX(IntakeConstants.INTAKE_MOTOR);
public final CANSparkMax extenderMotor = new CANSparkMax(IntakeConstants.EXTENDER_MOTOR, MotorType.kBrushless);
/* Storage Subsystem */
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);
}
src/main/java/frc4388/robot/subsystems/Hood.java
+3
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@@ -4,6 +4,8 @@
package frc4388.robot.subsystems;
import javax.sql.rowset.WebRowSet;
import com.revrobotics.CANSparkMax;
import com.revrobotics.RelativeEncoder;
import com.revrobotics.SparkMaxPIDController;
@@ -15,6 +17,7 @@ import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.ShooterConstants;
import frc4388.utility.Gains;
src/main/java/frc4388/robot/subsystems/Intake.java
+80
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@@ -0,0 +1,80 @@
// 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.subsystems;
//Imported Limit switch ONLY
import com.revrobotics.SparkMaxLimitSwitch;
import com.revrobotics.SparkMaxLimitSwitch.Type;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMax.IdleMode;
public class Intake extends SubsystemBase {
private WPI_TalonFX m_intakeMotor;
private CANSparkMax m_extenderMotor;
private Serializer m_serializer;
private SparkMaxLimitSwitch m_inLimit;
private SparkMaxLimitSwitch m_outLimit;
public boolean toggle;
/** Creates a new Intake. */
public Intake(WPI_TalonFX intakeMotor, CANSparkMax extenderMotor, Serializer serializer) {
m_intakeMotor = intakeMotor;
m_extenderMotor = extenderMotor;
m_serializer = serializer;
m_extenderMotor.restoreFactoryDefaults();
m_intakeMotor.setNeutralMode(NeutralMode.Brake);
m_intakeMotor.setInverted(false);
m_extenderMotor.setInverted(true);
m_inLimit = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_outLimit = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_inLimit.enableLimitSwitch(true);
m_outLimit.enableLimitSwitch(true);
}
@Override
public void periodic() {
// This method will be called once per scheduler run
}
/**
* Runs The Intake With Triggers.
* @param leftTrigger Left Trigger to Run -
* @param rightTrigger Right Trigger to Run +
*/
public void runWithTriggers(double leftTrigger, double rightTrigger) {
m_intakeMotor.set(rightTrigger - leftTrigger);
}
/**
* Runs The Extender
* @param extended Wether the Extender Is Extended
*/
public void runExtender(boolean extended) { //TODO: Do not bring intake in if there is a ball in the extender (check if intake being in brakes the beam brake?)
if (!m_serializer.getBeam() && !extended) return;
double extenderMotorSpeed = extended ? 0.25d : -0.25d;
m_extenderMotor.set(extenderMotorSpeed);
}
public void runExtender(double input) {
if (!m_serializer.getBeam() && input < 0.) return;
m_extenderMotor.set(input);
}
/**
* Toggles The Extender
*/
public void toggleExtender() {
toggle = !toggle;
runExtender(toggle);
}
}
src/main/java/frc4388/robot/subsystems/Serializer.java
+53
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@@ -0,0 +1,53 @@
package frc4388.robot.subsystems;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants;
import frc4388.robot.Constants.SerializerConstants;
import edu.wpi.first.wpilibj.DigitalInput;
import com.revrobotics.CANSparkMax;
public class Serializer extends SubsystemBase{
private CANSparkMax m_serializerBelt;
// private CANSparkMax m_serializerShooterBelt;
private DigitalInput m_serializerBeam;
private boolean serializerState;
public Serializer(CANSparkMax serializerBelt, /*CANSparkMax serializerShooterBelt,*/ DigitalInput serializerBeam) {
m_serializerBelt = serializerBelt;
m_serializerBeam = serializerBeam;
m_serializerBelt.set(0);
// m_serializerShooterBelt.set(0);
}
public void setSerializer(double input){
m_serializerBelt.set(input);
}
/**
* Gets The State Of The Beam
* @return The State Of The Beam
*/
public boolean getBeam() {
return m_serializerBeam.get();
}
/**
* Sets The Serializer State With The Beam
* @param state Your State Of The Button
* @param beambroken The State of the Beam Senser
*/
public void setSerializerStateWithBeam() {
if (m_serializerBeam.get()) setSerializer(0.0);
else setSerializer(SerializerConstants.SERIALIZER_BELT_SPEED);
}
/**
* Gets the Serializer State
* @return The Serializer State
*/
public boolean getSerializerState() {
return serializerState;
}
}
src/main/java/frc4388/robot/subsystems/Storage.java
+64
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@@ -0,0 +1,64 @@
// 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.subsystems;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj.DigitalInput;
import frc4388.robot.Constants.StorageConstants;
public class Storage extends SubsystemBase {
public CANSparkMax m_storageMotor;
private DigitalInput m_beamShooter;
private DigitalInput m_beamIntake;
/** Creates a new Storage. */
public Storage(CANSparkMax storageMotor, DigitalInput beamShooter, DigitalInput beamIntake) {
m_storageMotor = storageMotor;
m_beamShooter = beamShooter;
m_beamIntake = beamIntake;
}
/**
* If The Beam Is Broken, Run Storage
* If Else, Stop Running Storage
*/
public void manageStorage() {
if (getBeamIntake()) runStorage(0.d);
else runStorage(1.d);
}
/**
* Runs The Storage at a Specifyed Speed
* @param input The Specifyed Speed
*/
public void runStorage(double input) {
m_storageMotor.set(input);
}
/**
* Gets The Beam State On The Shooter
* @return The State Of The Beam on the Shooter
*/
public boolean getBeamShooter(){
return m_beamShooter.get();//True if open
}
/**
* Gets The Beam State Of The Intake
* @return The Beam State Of The Intake
*/
public boolean getBeamIntake(){
return m_beamIntake.get(); //True if open
}
@Override
/**
* Every Robot Tick Manage The Storage
*/
public void periodic() {
manageStorage();
}
}