From 77e4ea124077f60487763be95a041de858bff0ca Mon Sep 17 00:00:00 2001 From: evan Date: Sat, 5 Mar 2022 15:32:48 -0700 Subject: [PATCH] now it builds (big money :) ) --- simgui.json | 36 ++++++++++++++++++- src/main/java/frc4388/robot/Constants.java | 8 ++--- .../java/frc4388/robot/RobotContainer.java | 14 ++------ src/main/java/frc4388/robot/RobotMap.java | 5 ++- .../frc4388/robot/subsystems/Serializer.java | 26 +++++++------- .../frc4388/robot/subsystems/Storage.java | 4 ++- 6 files changed, 59 insertions(+), 34 deletions(-) diff --git a/simgui.json b/simgui.json index 4af852e..55c0b83 100644 --- a/simgui.json +++ b/simgui.json @@ -10,17 +10,51 @@ "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/Scheduler": "Scheduler" + "/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" } } } diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 01f3d43..8b0c190 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -121,12 +121,10 @@ public final class Constants { public static final class SerializerConstants { public static final double SERIALIZER_BELT_SPEED = 0.01d; - public static final double SERIALIZER_SHOOTER_BELT_SPEED = 0.01d; // CAN IDs public static final int SERIALIZER_BELT = 16; - public static final int SERIALIZER_SHOOTER_BELT = -1; // TODO (What is this for? - evan) - public static final int SERIALIZER_BELT_BEAM = -1; // TODO + public static final int SERIALIZER_BELT_BEAM = 27; // TODO } public static final class IntakeConstants { // CAN IDs @@ -135,8 +133,8 @@ public final class Constants { } public static final class StorageConstants { public static final int STORAGE_CAN_ID = 17; - public static final int BEAM_SENSOR_SHOOTER = -1; //TODO - public static final int BEAM_SENSOR_INTAKE = -1; //TODO + public static final int BEAM_SENSOR_SHOOTER = 28; //TODO + public static final int BEAM_SENSOR_INTAKE = 29; //TODO } public static final class LEDConstants { public static final int LED_SPARK_ID = 0; diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index cdd61ae..b40b252 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -61,6 +61,7 @@ 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; @@ -86,18 +87,9 @@ public class RobotContainer { private final RobotMap m_robotMap = new RobotMap(); // Subsystems - private final SwerveDrive m_robotSwerveDrive = new SwerveDrive( - m_robotMap.leftFrontSteerMotor, m_robotMap.leftFrontWheelMotor, - m_robotMap.rightFrontSteerMotor, m_robotMap.rightFrontWheelMotor, - m_robotMap.leftBackSteerMotor, m_robotMap.leftBackWheelMotor, - m_robotMap.rightBackSteerMotor, m_robotMap.rightBackWheelMotor, - m_robotMap.leftFrontEncoder, - m_robotMap.rightFrontEncoder, - m_robotMap.leftBackEncoder, - m_robotMap.rightBackEncoder - ); + public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront, m_robotMap.leftBack, m_robotMap.rightFront, m_robotMap.rightBack, m_robotMap.gyro); private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.extenderMotor); - private final Serializer m_robotSerializer = new Serializer(m_robotMap.serializerBelt, m_robotMap.serializerShooterBelt, m_robotMap.serializerBeam); + private final Serializer m_robotSerializer = new Serializer(m_robotMap.serializerBelt, /*m_robotMap.serializerShooterBelt,*/ m_robotMap.serializerBeam); 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); diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index aedf266..f41012d 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -17,7 +17,7 @@ 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; @@ -211,12 +211,11 @@ 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 CANSparkMax serializerShooterBelt = new CANSparkMax(SerializerConstants.SERIALIZER_SHOOTER_BELT, MotorType.kBrushless); public final DigitalInput serializerBeam = new DigitalInput(SerializerConstants.SERIALIZER_BELT_BEAM); /* Intake Subsytem */ diff --git a/src/main/java/frc4388/robot/subsystems/Serializer.java b/src/main/java/frc4388/robot/subsystems/Serializer.java index b194035..1309e01 100644 --- a/src/main/java/frc4388/robot/subsystems/Serializer.java +++ b/src/main/java/frc4388/robot/subsystems/Serializer.java @@ -8,19 +8,19 @@ import com.revrobotics.CANSparkMax; public class Serializer extends SubsystemBase{ private CANSparkMax m_serializerBelt; - private CANSparkMax m_serializerShooterBelt; + // private CANSparkMax m_serializerShooterBelt; private DigitalInput m_serializerBeam; private boolean serializerState; - public Serializer(CANSparkMax serializerBelt, CANSparkMax serializerShooterBelt, DigitalInput serializerBeam) { //TODO: Only one motor lol + public Serializer(CANSparkMax serializerBelt, /*CANSparkMax serializerShooterBelt,*/ DigitalInput serializerBeam) { m_serializerBelt = serializerBelt; - m_serializerShooterBelt = serializerShooterBelt; + // m_serializerShooterBelt = serializerShooterBelt; m_serializerBeam = serializerBeam; serializerState = false; setSerializerState(serializerState); m_serializerBelt.set(0); - m_serializerShooterBelt.set(0); + // m_serializerShooterBelt.set(0); } /** @@ -45,7 +45,7 @@ public class Serializer extends SubsystemBase{ */ public void setSerializerState(boolean state) { setSerializerBeltState(state); - setSerializerShooterBeltState(state); + // setSerializerShooterBeltState(state); serializerState = state; } /** @@ -56,14 +56,14 @@ public class Serializer extends SubsystemBase{ double serializerBeltSpeed = state ? Constants.SerializerConstants.SERIALIZER_BELT_SPEED : 0.d; m_serializerBelt.set(serializerBeltSpeed); } - /** - * Sets the Shooter Belt State - * @param state Your State Of The Button - */ - public void setSerializerShooterBeltState(boolean state) { - double serializerShooterBeltSpeed = state ? Constants.SerializerConstants.SERIALIZER_SHOOTER_BELT_SPEED : 0.d; - m_serializerShooterBelt.set(serializerShooterBeltSpeed); - } + // /** + // * Sets the Shooter Belt State + // * @param state Your State Of The Button + // */ + // public void setSerializerShooterBeltState(boolean state) { + // double serializerShooterBeltSpeed = state ? Constants.SerializerConstants.SERIALIZER_SHOOTER_BELT_SPEED : 0.d; + // m_serializerShooterBelt.set(serializerShooterBeltSpeed); + // } /** * Gets the Serializer State diff --git a/src/main/java/frc4388/robot/subsystems/Storage.java b/src/main/java/frc4388/robot/subsystems/Storage.java index 51b0281..7b0a4d7 100644 --- a/src/main/java/frc4388/robot/subsystems/Storage.java +++ b/src/main/java/frc4388/robot/subsystems/Storage.java @@ -26,10 +26,11 @@ public class Storage extends SubsystemBase { * If Else, Stop Running Storage */ public void manageStorage() { - if (isBeamIntakeBroken()) { //Maybe needs to be shooter + if (getBeamIntake()) { //Maybe needs to be shooter runStorage(1.d); } else { runStorage(0.d); } } + /** * Runs The Storage at a Specifyed Speed * @param input The Specifyed Speed @@ -52,6 +53,7 @@ public class Storage extends SubsystemBase { public boolean getBeamIntake(){ return m_beamIntake.get(); } + @Override /**