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now it builds (big money :) )

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This commit is contained in:
evan
2022-03-05 15:32:48 -07:00
parent 0317520a9e
commit 77e4ea1240
6 changed files with 59 additions and 34 deletions
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simgui.json
+35 -1
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@@ -10,17 +10,51 @@
"header": { "header": {
"open": true "open": true
} }
},
"Talon FX[9]/Integrated Sensor": {
"header": {
"open": true
}
} }
} }
}, },
"NTProvider": { "NTProvider": {
"types": { "types": {
"/FMSInfo": "FMSInfo", "/FMSInfo": "FMSInfo",
"/LiveWindow/BoomBoom": "Subsystem",
"/LiveWindow/Hood": "Subsystem",
"/LiveWindow/Intake": "Subsystem", "/LiveWindow/Intake": "Subsystem",
"/LiveWindow/LED": "Subsystem", "/LiveWindow/LED": "Subsystem",
"/LiveWindow/Serializer": "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/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"
} }
} }
} }
src/main/java/frc4388/robot/Constants.java
+3 -5
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@@ -121,12 +121,10 @@ public final class Constants {
public static final class SerializerConstants { public static final class SerializerConstants {
public static final double SERIALIZER_BELT_SPEED = 0.01d; public static final double SERIALIZER_BELT_SPEED = 0.01d;
public static final double SERIALIZER_SHOOTER_BELT_SPEED = 0.01d;
// CAN IDs // CAN IDs
public static final int SERIALIZER_BELT = 16; 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 = 27; // TODO
public static final int SERIALIZER_BELT_BEAM = -1; // TODO
} }
public static final class IntakeConstants { public static final class IntakeConstants {
// CAN IDs // CAN IDs
@@ -135,8 +133,8 @@ public final class Constants {
} }
public static final class StorageConstants { public static final class StorageConstants {
public static final int STORAGE_CAN_ID = 17; public static final int STORAGE_CAN_ID = 17;
public static final int BEAM_SENSOR_SHOOTER = -1; //TODO public static final int BEAM_SENSOR_SHOOTER = 28; //TODO
public static final int BEAM_SENSOR_INTAKE = -1; //TODO public static final int BEAM_SENSOR_INTAKE = 29; //TODO
} }
public static final class LEDConstants { public static final class LEDConstants {
public static final int LED_SPARK_ID = 0; public static final int LED_SPARK_ID = 0;
src/main/java/frc4388/robot/RobotContainer.java
+3 -11
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@@ -61,6 +61,7 @@ import frc4388.robot.commands.AimToCenter;
import frc4388.robot.commands.Shoot; import frc4388.robot.commands.Shoot;
import frc4388.robot.subsystems.BoomBoom; import frc4388.robot.subsystems.BoomBoom;
import frc4388.robot.subsystems.Hood; import frc4388.robot.subsystems.Hood;
import frc4388.robot.subsystems.Intake;
import frc4388.robot.subsystems.LED; import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.Serializer; import frc4388.robot.subsystems.Serializer;
import frc4388.robot.subsystems.Storage; import frc4388.robot.subsystems.Storage;
@@ -86,18 +87,9 @@ public class RobotContainer {
private final RobotMap m_robotMap = new RobotMap(); private final RobotMap m_robotMap = new RobotMap();
// Subsystems // Subsystems
private final SwerveDrive m_robotSwerveDrive = new SwerveDrive( public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront, m_robotMap.leftBack, m_robotMap.rightFront, m_robotMap.rightBack, m_robotMap.gyro);
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
);
private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.extenderMotor); 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 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 LED m_robotLED = new LED(m_robotMap.LEDController);
private final BoomBoom m_robotBoomBoom = new BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight); private final BoomBoom m_robotBoomBoom = new BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight);
src/main/java/frc4388/robot/RobotMap.java
+2 -3
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@@ -17,7 +17,7 @@ import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj.DigitalInput; import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.motorcontrol.Spark; import edu.wpi.first.wpilibj.motorcontrol.Spark;
import frc4388.robot.Constants.IntakeConstants;
import frc4388.robot.Constants.LEDConstants; import frc4388.robot.Constants.LEDConstants;
import frc4388.robot.Constants.ShooterConstants; import frc4388.robot.Constants.ShooterConstants;
import frc4388.robot.Constants.SerializerConstants; import frc4388.robot.Constants.SerializerConstants;
@@ -211,12 +211,11 @@ public class RobotMap {
} }
}
/* Serializer Subsystem */ /* Serializer Subsystem */
public final CANSparkMax serializerBelt = new CANSparkMax(SerializerConstants.SERIALIZER_BELT, MotorType.kBrushless); 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); public final DigitalInput serializerBeam = new DigitalInput(SerializerConstants.SERIALIZER_BELT_BEAM);
/* Intake Subsytem */ /* Intake Subsytem */
src/main/java/frc4388/robot/subsystems/Serializer.java
+13 -13
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@@ -8,19 +8,19 @@ import com.revrobotics.CANSparkMax;
public class Serializer extends SubsystemBase{ public class Serializer extends SubsystemBase{
private CANSparkMax m_serializerBelt; private CANSparkMax m_serializerBelt;
private CANSparkMax m_serializerShooterBelt; // private CANSparkMax m_serializerShooterBelt;
private DigitalInput m_serializerBeam; private DigitalInput m_serializerBeam;
private boolean serializerState; 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_serializerBelt = serializerBelt;
m_serializerShooterBelt = serializerShooterBelt; // m_serializerShooterBelt = serializerShooterBelt;
m_serializerBeam = serializerBeam; m_serializerBeam = serializerBeam;
serializerState = false; serializerState = false;
setSerializerState(serializerState); setSerializerState(serializerState);
m_serializerBelt.set(0); 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) { public void setSerializerState(boolean state) {
setSerializerBeltState(state); setSerializerBeltState(state);
setSerializerShooterBeltState(state); // setSerializerShooterBeltState(state);
serializerState = state; serializerState = state;
} }
/** /**
@@ -56,14 +56,14 @@ public class Serializer extends SubsystemBase{
double serializerBeltSpeed = state ? Constants.SerializerConstants.SERIALIZER_BELT_SPEED : 0.d; double serializerBeltSpeed = state ? Constants.SerializerConstants.SERIALIZER_BELT_SPEED : 0.d;
m_serializerBelt.set(serializerBeltSpeed); m_serializerBelt.set(serializerBeltSpeed);
} }
/** // /**
* Sets the Shooter Belt State // * Sets the Shooter Belt State
* @param state Your State Of The Button // * @param state Your State Of The Button
*/ // */
public void setSerializerShooterBeltState(boolean state) { // public void setSerializerShooterBeltState(boolean state) {
double serializerShooterBeltSpeed = state ? Constants.SerializerConstants.SERIALIZER_SHOOTER_BELT_SPEED : 0.d; // double serializerShooterBeltSpeed = state ? Constants.SerializerConstants.SERIALIZER_SHOOTER_BELT_SPEED : 0.d;
m_serializerShooterBelt.set(serializerShooterBeltSpeed); // m_serializerShooterBelt.set(serializerShooterBeltSpeed);
} // }
/** /**
* Gets the Serializer State * Gets the Serializer State
src/main/java/frc4388/robot/subsystems/Storage.java
+3 -1
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@@ -26,10 +26,11 @@ public class Storage extends SubsystemBase {
* If Else, Stop Running Storage * If Else, Stop Running Storage
*/ */
public void manageStorage() { public void manageStorage() {
if (isBeamIntakeBroken()) { //Maybe needs to be shooter if (getBeamIntake()) { //Maybe needs to be shooter
runStorage(1.d); runStorage(1.d);
} else { runStorage(0.d); } } else { runStorage(0.d); }
} }
/** /**
* Runs The Storage at a Specifyed Speed * Runs The Storage at a Specifyed Speed
* @param input The Specifyed Speed * @param input The Specifyed Speed
@@ -52,6 +53,7 @@ public class Storage extends SubsystemBase {
public boolean getBeamIntake(){ public boolean getBeamIntake(){
return m_beamIntake.get(); return m_beamIntake.get();
} }
@Override @Override
/** /**