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Switch to new controller binding configuration

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Replace control mode enums with booleans
Add simpler d-pad support and default bindings
Move autos to a separate class
This commit is contained in:
nathanrsxtn
2022-04-20 02:39:30 -06:00
parent b069720145
commit 78965a3381
6 changed files with 461 additions and 395 deletions
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readme.md
+5 -4
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@@ -10,15 +10,16 @@
- [x] Change SparkMax sendable implementation to be an extension.
- [x] Add Shuffleboard layout plan.
- [ ] Organize constants.
- [ ] Efficiently load path files.
- [ ] Change the path chooser to select autonomous commands.
- [x] Efficiently load path files.
- [x] Change the path chooser to select autonomous commands.
- [ ] Remove unused commands.
- [ ] Rewrite controller bindings.
- [ ] Write new-style autonomous programs for lower ball counts.
- [x] Rewrite controller bindings.
- [x] Write new-style autonomous programs for lower ball counts.
- [ ] Fix all XXX comments.
- [ ] Visit TODO comments.
- [ ] Forward the limelight port so it can be accessed over a USB tether.
- [x] Remove turret offset from shooter tables.
- [ ] AutonomousBuilder *could* be static.
## Planned
- [ ] Shuffleboard replacements options:
- [ ] Run a web server on the robot and bypass network tables.
shuffleboard.json
+1 -1
View File
@@ -215,7 +215,7 @@
"_children": [
{
"_type": "Graph",
"_source0": "network_table:///Robot/Values/Voltage",
"_source0": "network_table:///Robot/PDP/Voltage",
"_title": "Graph",
"Graph/Visible time": 15.0,
"Graph/X-axis auto scrolling": true,
src/main/java/frc4388/robot/RobotContainer.java
+315 -386
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@@ -15,7 +15,6 @@ import edu.wpi.first.networktables.NTSendableBuilder;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.networktables.NetworkTableValue;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
@@ -26,21 +25,16 @@ import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilderImpl;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandGroupBase;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup;
import edu.wpi.first.wpilibj2.command.PrintCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.WaitCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.AutoConstants;
import edu.wpi.first.wpilibj2.command.button.POVButton;
import frc4388.robot.Constants.OIConstants;
import frc4388.robot.Constants.StorageConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.robot.commands.PathPlannerCommand;
import frc4388.robot.commands.AutonomousBuilder;
import frc4388.robot.commands.PathRecorder;
import frc4388.robot.commands.ExtenderIntakeCommands.ExtenderIntakeGroup;
import frc4388.robot.commands.ExtenderIntakeCommands.RunExtender;
import frc4388.robot.commands.shooter.TimedWaitUntilCommand;
import frc4388.robot.commands.shooter.TrackTarget;
import frc4388.robot.commands.shuffleboard.CommandSchedule;
import frc4388.robot.commands.shuffleboard.ShooterTuner;
@@ -59,13 +53,9 @@ import frc4388.robot.subsystems.Turret;
import frc4388.robot.subsystems.VisionOdometry;
import frc4388.utility.controller.ButtonBox;
import frc4388.utility.controller.DeadbandedXboxController;
import frc4388.utility.controller.XboxControllerPOV;
import frc4388.utility.shuffleboard.CachingSendableChooser;
//TODO: Try using ConditionalCommand for subsystem default commands.
//TODO: Replace Path Recorder with Auto Chooser.
//TODO: Add POV button pad bindings as an example.
//XXX: Re-enable extender in autonomous.
/**
* This class is where the bulk of the robot should be declared. Since Command-based is a
* "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
@@ -73,24 +63,22 @@ import frc4388.utility.shuffleboard.CachingSendableChooser;
* subsystems, commands, and button mappings) should be declared here.
*/
public class RobotContainer {
private static final Logger LOGGER = Logger.getLogger(RobotContainer.class.getSimpleName());
/* Robot Map */
public final RobotMap m_robotMap = new RobotMap();
/* Subsystems */
public final Camera m_robotCamera = new Camera("driver", 0, 160, 120, 40);
public final Climber m_robotClimber = new Climber(m_robotMap.elbow);
public final Claws m_robotClaws = new Claws(m_robotMap.leftClaw, m_robotMap.rightClaw);
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.frontLeft, m_robotMap.frontRight, m_robotMap.backLeft, m_robotMap.backRight, m_robotMap.gyro);
public final Serializer m_robotSerializer = new Serializer(m_robotMap.serializerBelt);
public final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor);
public final Extender m_robotExtender = new Extender(m_robotMap.extenderMotor);
public final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor);
public final Serializer m_robotSerializer = new Serializer(m_robotMap.serializerBelt);
public final Storage m_robotStorage = new Storage(m_robotMap.storageMotor);
public final LED m_robotLED = new LED(m_robotMap.LEDController);
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);
public final Hood m_robotHood = new Hood(m_robotMap.angleAdjusterMotor);
public final Claws m_robotClaws = new Claws(m_robotMap.leftClaw, m_robotMap.rightClaw);
public final Climber m_robotClimber = new Climber(m_robotMap.elbow);
public final LED m_robotLED = new LED(m_robotMap.LEDController);
public final Camera m_robotCamera = new Camera("driver", 0, 160, 120, 40);
public final VisionOdometry m_robotVisionOdometry = new VisionOdometry(m_robotSwerveDrive, m_robotTurret);
/* Dashboard Tools */
@@ -104,73 +92,301 @@ public class RobotContainer {
private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
private final ButtonBox m_buttonBox = new ButtonBox(OIConstants.BUTTON_BOX_ID);
private static boolean softLimits = true;
private boolean isClimberControlMode = false;
private boolean driveControlEnabled = true;
// control mode switching
private enum ControlMode {
SHOOTER, CLIMBER
}
private ControlMode currentControlMode = ControlMode.SHOOTER;
// drive on off mode switching
private enum DriveMode {
ON, OFF
}
private DriveMode currentDriveMode = DriveMode.ON;
private final Map<String, Sendable> tablesToData = new HashMap<>();
private final NetworkTable networkTable = NetworkTableInstance.getDefault().getTable("Robot");
private synchronized void putData(String key, Sendable data) {
Sendable sddata = tablesToData.get(key);
if (sddata == null || sddata != data) {
tablesToData.put(key, data);
NetworkTable dataTable = networkTable.getSubTable(key);
SendableBuilderImpl builder = new SendableBuilderImpl();
builder.setTable(dataTable);
SendableRegistry.publish(data, builder);
builder.startListeners();
dataTable.getEntry(".name").setString(key);
}
}
public synchronized void updateValues() {
for (Sendable data : tablesToData.values()) {
SendableRegistry.update(data);
}
}
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
*/
public RobotContainer() {
m_autoChooser.addOption("OneBall", this::makeOneBallCommand);
m_autoChooser.addOption("TwoBall", this::makeTwoBallCommand);
m_autoChooser.setDefaultOption("ThreeBall", this::makeThreeBallCommand);
configureButtonBindings();
configureDefaultCommands();
AutonomousBuilder autoBuilder = new AutonomousBuilder(this);
m_autoChooser.addOption("OneBall", autoBuilder::buildOneBallCommand);
m_autoChooser.addOption("TwoBall", autoBuilder::buildTwoBallCommand);
m_autoChooser.setDefaultOption("ThreeBall", autoBuilder::buildThreeBallCommand);
SmartDashboard.putData("Autonomous", m_autoChooser);
SmartDashboard.putData("Path Recorder", m_pathRecorder);
SmartDashboard.putData("Shooter Tuner", m_shooterTuner);
SmartDashboard.putData("Command Schedule", m_commandSchedule);
// Preferences.initString("Autonomous", "Three Ball");
putRobotDashboardData();
}
var pdp = new PowerDistribution() {
@Override
public void initSendable(SendableBuilder builder) {
super.initSendable(builder);
builder.setSmartDashboardType("PowerDistributionPanel");
/* Default Commands */
private void configureDefaultCommands() {
// Swerve Drive with Input
m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
if (driveControlEnabled) {
m_robotSwerveDrive.driveWithInput(getDriverController().getLeft(), getDriverController().getRight(), true);
} else {
m_robotSwerveDrive.driveWithInput(0, 0, 0, 0, false);
}
};
}, m_robotSwerveDrive).withName("SwerveDrive DefaultCommand"));
// Intake with Triggers
m_robotIntake.setDefaultCommand(new RunCommand(() -> m_robotIntake.runWithTriggers(getOperatorController().getLeftTriggerAxis(), getOperatorController().getRightTriggerAxis()), m_robotIntake).withName("Intake DefaultCommand"));
// Shooter Idle
m_robotBoomBoom.setDefaultCommand(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.45), m_robotBoomBoom).withName("BoomBoom DefaultCommand"));
// Serializer Manual
m_robotSerializer.setDefaultCommand(new RunCommand(() -> m_robotSerializer.setSerializer(getOperatorController().getLeftTriggerAxis() * 0.8), m_robotSerializer).withName("Serializer DefaultCommand"));
// Turret Manual
m_robotTurret.setDefaultCommand(new RunCommand(() -> {
if (!isClimberControlMode) {
m_robotTurret.runTurretWithInput(getOperatorController().getLeftX());
} else {
m_robotTurret.runTurretWithInput(0);
}
}, m_robotTurret).withName("Turret DefaultCommand"));
// Hood Manual
m_robotHood.setDefaultCommand(new RunCommand(() -> {
if (!isClimberControlMode) {
m_robotHood.runHood(getOperatorController().getLeftY());
} else {
m_robotHood.runHood(0);
}
}, m_robotHood).withName("Hood DefaultCommand"));
// Climber Manual
m_robotClimber.setDefaultCommand(new RunCommand(() -> {
if (!isClimberControlMode) {
m_robotClimber.setMotors(0.0);
} else {
m_robotClimber.setMotors(-getOperatorController().getRightY());
}
}, m_robotClimber).withName("Climber DefaultCommand"));
}
/**
* Use this method to define your button->command mappings. Buttons can be created by instantiating
* a {@link GenericHID} or one of its subclasses ({@link edu.wpi.first.wpilibj.Joystick} or
* {@link XboxController}), and then passing it to a
* {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
*/
private void configureButtonBindings() {
configureDriverButtonBindings();
configureOperatorButtonBindings();
configureBoxButtonBindings();
}
private void configureDriverButtonBindings() {
// Iterate over and assign commands to all Xbox controller buttons.
for (XboxController.Button binding : XboxController.Button.values()) {
/* ------------------------------------ Driver ------------------------------------ */
JoystickButton button = new JoystickButton(getDriverController(), binding.value);
if (binding == XboxController.Button.kLeftBumper) {
/* Left Bumper > Shift Down */
button.whenPressed(() -> m_robotSwerveDrive.highSpeed(false));
} else if (binding == XboxController.Button.kRightBumper) {
/* Right Bumper > Shift Up */
button.whenPressed(() -> m_robotSwerveDrive.highSpeed(false));
} else if (binding == XboxController.Button.kLeftStick) {
/* Left Stick > Unbound */
button.whenPressed(new PrintCommand("Unbound"));
} else if (binding == XboxController.Button.kRightStick) {
/* Right Stick > Unbound */
button.whenPressed(new PrintCommand("Unbound"));
} else if (binding == XboxController.Button.kA) {
/* A > Unbound */
button.whenPressed(this::switchControlMode);
button.whenReleased(this::switchControlMode);
} else if (binding == XboxController.Button.kB) {
/* B > Unbound */
button.whenPressed(this::switchDriveMode);
button.whenReleased(this::switchDriveMode);
} else if (binding == XboxController.Button.kX) {
/* X > Unbound */
button.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(1.0), m_robotExtender));
button.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
} else if (binding == XboxController.Button.kY) {
/* Y > Unbound */
button.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender));
button.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
} else if (binding == XboxController.Button.kBack) {
/* Back > Calibrate Odometry */
button.whenPressed(() -> resetOdometry(new Pose2d(0, 0, new Rotation2d(0))));
} else if (binding == XboxController.Button.kStart) {
/* Start > Calibrate Odometry */
button.whenPressed(m_robotSwerveDrive::resetGyro);
}
}
// Iterate over and assign commands to cardinal Xbox controller d-pad directions.
for (XboxControllerPOV binding : XboxControllerPOV.values()) {
POVButton button = new POVButton(getDriverController(), binding.value);
if (binding == XboxControllerPOV.kUp) {
/* D-pad Up > Unbound */
button.whenPressed(new PrintCommand("Unbound"));
} else if (binding == XboxControllerPOV.kRight) {
/* D-pad Right > Unbound */
button.whenPressed(new PrintCommand("Unbound"));
} else if (binding == XboxControllerPOV.kDown) {
/* D-pad Down > Unbound */
button.whenPressed(new PrintCommand("Unbound"));
} else if (binding == XboxControllerPOV.kLeft) {
/* D-pad Left > Unbound */
button.whenPressed(new PrintCommand("Unbound"));
}
}
}
private void configureOperatorButtonBindings() {
// Iterate over and assign commands to all Xbox controller buttons.
for (XboxController.Button binding : XboxController.Button.values()) {
/* ------------------------------------ Operator ------------------------------------ */
JoystickButton button = new JoystickButton(getDriverController(), binding.value);
if (binding == XboxController.Button.kLeftBumper) {
/* Left Bumper > Storage In */
button.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED)));
button.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0)));
} else if (binding == XboxController.Button.kRightBumper) {
/* Right Bumper > Storage Out */
button.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-StorageConstants.STORAGE_SPEED)));
button.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0)));
} else if (binding == XboxController.Button.kLeftStick) {
/* Left Stick > Unbound */
button.whenPressed(new PrintCommand("Unbound"));
} else if (binding == XboxController.Button.kRightStick) {
/* Right Stick > Unbound */
button.whenPressed(new PrintCommand("Unbound"));
} else if (binding == XboxController.Button.kA) {
/* A > Spit Out Ball */
button.whileHeld(new RunCommand(m_robotTurret::gotoMidpoint, m_robotTurret));
button.whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.25)));
} else if (binding == XboxController.Button.kB) {
/* B > Toggle Claws */
button.whenPressed(m_robotClaws::toggleClaws, m_robotClaws);
} else if (binding == XboxController.Button.kX) {
/* X > Toggle Extender Deployment */
button.whenPressed(new ExtenderIntakeGroup(m_robotIntake, m_robotExtender));
} else if (binding == XboxController.Button.kY) {
/* Y > Track Target */
button.whileHeld(new TrackTarget(m_robotVisionOdometry, m_robotTurret, m_robotHood, m_robotBoomBoom));
} else if (binding == XboxController.Button.kBack) {
/* Back > Unbound */
button.whenPressed(new PrintCommand("Unbound"));
} else if (binding == XboxController.Button.kStart) {
/* Start > Unbound */
button.whenPressed(new PrintCommand("Unbound"));
}
}
// Iterate over and assign commands to cardinal Xbox controller d-pad directions.
for (XboxControllerPOV binding : XboxControllerPOV.values()) {
POVButton button = new POVButton(getDriverController(), binding.value);
if (binding == XboxControllerPOV.kUp) {
/* D-pad Up > Unbound */
button.whenPressed(new PrintCommand("Unbound"));
} else if (binding == XboxControllerPOV.kRight) {
/* D-pad Right > Unbound */
button.whenPressed(new PrintCommand("Unbound"));
} else if (binding == XboxControllerPOV.kDown) {
/* D-pad Down > Unbound */
button.whenPressed(new PrintCommand("Unbound"));
} else if (binding == XboxControllerPOV.kLeft) {
/* D-pad Left > Unbound */
button.whenPressed(new PrintCommand("Unbound"));
}
}
}
private void configureBoxButtonBindings() {
// Iterate over and assign commands to all button box buttons.
for (ButtonBox.Button binding : ButtonBox.Button.values()) {
/* ---------------------------------- Button Box ---------------------------------- */
JoystickButton button = new JoystickButton(getButtonBox(), binding.value);
if (binding == ButtonBox.Button.kRightSwitch) {
/* Right Switch > Unbound */
button.whenPressed(new PrintCommand("Unbound"));
} else if (binding == ButtonBox.Button.kMiddleSwitch) {
/* Middle Switch > Climber and Shooter mode switching */
button.whenPressed(() -> isClimberControlMode = true);
button.whenReleased(() -> isClimberControlMode = false);
} else if (binding == ButtonBox.Button.kLeftSwitch) {
/* Left Switch > Disables soft limits on press, release resets encoders (all for turret, hood, climber, and extender) */
button.whenPressed(() -> m_robotTurret.setTurretSoftLimits(false), m_robotTurret);
button.whenPressed(() -> m_robotTurret.calibrationSpeed = 0.3, m_robotTurret);
button.whenPressed(() -> m_robotHood.setHoodSoftLimits(false), m_robotHood);
button.whenPressed(() -> m_robotHood.calibrationSpeed = 0.3, m_robotHood);
button.whenPressed(() -> m_robotExtender.setExtenderSoftLimits(false), m_robotExtender);
button.whenReleased(() -> m_robotTurret.setTurretSoftLimits(true), m_robotTurret);
button.whenReleased(() -> m_robotTurret.calibrationSpeed = 1.0, m_robotTurret);
button.whenReleased(() -> m_robotHood.setHoodSoftLimits(true), m_robotHood);
button.whenReleased(() -> m_robotHood.calibrationSpeed = 1.0, m_robotHood);
button.whenReleased(() -> m_robotExtender.setExtenderSoftLimits(true), m_robotExtender);
button.whenReleased(() -> m_robotTurret.m_boomBoomRotateEncoder.setPosition(0), m_robotTurret);
button.whenReleased(() -> m_robotHood.m_angleEncoder.setPosition(0), m_robotHood);
button.whenReleased(() -> m_robotExtender.setEncoder(0), m_robotExtender);
button.whenReleased(ExtenderIntakeGroup::setDirectionToOut, m_robotIntake, m_robotExtender);
button.whenReleased(() -> m_robotClimber.setEncoders(0), m_robotClimber);
} else if (binding == ButtonBox.Button.kRightButton) {
/* Right Button > Extender Out */
button.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(1.0), m_robotExtender));
button.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
} else if (binding == ButtonBox.Button.kLeftButton) {
/* Left Button > Extender In */
button.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender));
button.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
}
}
}
/**
* Use this to pass the autonomous command to the main {@link Robot} class.
*
* @return the command to run in autonomous
*/
public Command getAutonomousCommand() {
return m_autoChooser.getSelected();
}
public boolean isLockedOn() {
return m_robotTurret.isLockedOn() || m_robotHood.isLockedOn() || m_robotBoomBoom.isLockedOn();
}
public void switchControlMode() {
isClimberControlMode = !isClimberControlMode;
}
public void switchDriveMode() {
driveControlEnabled = !driveControlEnabled;
}
public DeadbandedXboxController getDriverController() {
return m_driverXbox;
}
public DeadbandedXboxController getOperatorController() {
return m_operatorXbox;
}
public ButtonBox getButtonBox() {
return m_buttonBox;
}
/**
* Set odometry to given pose.
*
* @param pose Pose to set odometry to.
*/
public void resetOdometry(Pose2d pose) {
m_robotSwerveDrive.resetOdometry(pose);
}
private void putRobotDashboardData() {
putData("Values", builder -> {
builder.addDoubleProperty("Match Time", DriverStation::getMatchTime, null);
builder.addDoubleProperty("Voltage", pdp::getVoltage, null);
builder.addDoubleProperty("Claws", m_robotClaws.m_rightClaw::get, null);
builder.addDoubleProperty("Arm", m_robotMap.elbow::get, null);
builder.addDoubleProperty("Intake", m_robotMap.intakeMotor::get, null);
@@ -182,7 +398,13 @@ public class RobotContainer {
builder.addBooleanProperty("Shooter Safety", this::isLockedOn, null);
});
putData("Field", m_robotSwerveDrive.m_field);
putData("PDP", pdp);
putData("PDP", new PowerDistribution() {
@Override
public void initSendable(SendableBuilder builder) {
super.initSendable(builder);
builder.setSmartDashboardType("PowerDistributionPanel");
}
});
putData("Extender", new NTSendable() {
@Override
public void initSendable(NTSendableBuilder builder) {
@@ -224,318 +446,25 @@ public class RobotContainer {
}
});
putData("Drive Camera", m_robotCamera);
configureButtonBindings();
/* Default Commands */
// Swerve Drive with Input
m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
if (currentDriveMode == DriveMode.ON) {
m_robotSwerveDrive.driveWithInput(getDriverController().getLeft(), getDriverController().getRight(), true);
}
if (currentDriveMode == DriveMode.OFF) {
m_robotSwerveDrive.driveWithInput(0, 0, 0, 0, false);
}
}, m_robotSwerveDrive).withName("SwerveDrive DefaultCommand"));
// Intake with Triggers
m_robotIntake.setDefaultCommand(new RunCommand(() -> m_robotIntake.runWithTriggers(getOperatorController().getLeftTriggerAxis(), getOperatorController().getRightTriggerAxis()), m_robotIntake).withName("Intake DefaultCommand"));
// TODO: Comment
m_robotBoomBoom.setDefaultCommand(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.45), m_robotBoomBoom).withName("BoomBoom DefaultCommand"));
// Serializer Manual
m_robotSerializer.setDefaultCommand(new RunCommand(() -> m_robotSerializer.setSerializer(getOperatorController().getLeftTriggerAxis() * 0.8), m_robotSerializer).withName("Serializer DefaultCommand"));
// Turret Manual
m_robotTurret.setDefaultCommand(new RunCommand(() -> {
if (currentControlMode == ControlMode.SHOOTER) {
m_robotTurret.runTurretWithInput(getOperatorController().getLeftX());
}
if (currentControlMode == ControlMode.CLIMBER) {
m_robotTurret.runTurretWithInput(0);
}
}, m_robotTurret));
// Hood Manual
m_robotHood.setDefaultCommand(new RunCommand(() -> {
if (currentControlMode == ControlMode.SHOOTER) {
m_robotHood.runHood(getOperatorController().getLeftY());
}
if (currentControlMode == ControlMode.CLIMBER) {
m_robotHood.runHood(0);
}
}, m_robotHood));
// Climber Manual
m_robotClimber.setDefaultCommand(new RunCommand(() -> {
if (currentControlMode == ControlMode.SHOOTER) {
m_robotClimber.setMotors(0.0);
}
if (currentControlMode == ControlMode.CLIMBER) {
m_robotClimber.setMotors(-getOperatorController().getRightY());
}
}, m_robotClimber));
SmartDashboard.putData("Shooter Tuner", m_shooterTuner);
SmartDashboard.putData("Shooter Tuner", m_shooterTuner);
SmartDashboard.putData("Command Schedule", m_commandSchedule);
}
/**
* Use this method to define your button->command mappings. Buttons can be created by instantiating
* a {@link GenericHID} or one of its subclasses ({@link edu.wpi.first.wpilibj.Joystick} or
* {@link XboxController}), and then passing it to a
* {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
*/
private void configureButtonBindings() {
// ! Driver Buttons
private final Map<String, Sendable> m_tablesToData = new HashMap<>();
private final NetworkTable m_networkTable = NetworkTableInstance.getDefault().getTable("Robot");
// Start > Calibrate Odometry
new JoystickButton(getDriverController(), XboxController.Button.kBack.value).whenPressed(() -> resetOdometry(new Pose2d(0, 0, new Rotation2d(0))));
// Start > Calibrate Odometry
new JoystickButton(getDriverController(), XboxController.Button.kStart.value).whenPressed(m_robotSwerveDrive::resetGyro);
// Left Bumper > Shift Down
new JoystickButton(getDriverController(), XboxController.Button.kLeftBumper.value).whenPressed(() -> m_robotSwerveDrive.highSpeed(false));
// Right Bumper > Shift Up
new JoystickButton(getDriverController(), XboxController.Button.kRightBumper.value).whenPressed(() -> m_robotSwerveDrive.highSpeed(true));
new JoystickButton(getDriverController(), XboxController.Button.kA.value).whenPressed(new InstantCommand(() -> switchControlMode())).whenReleased(new InstantCommand(() -> switchControlMode()));
new JoystickButton(getDriverController(), XboxController.Button.kB.value).whenPressed(new InstantCommand(() -> switchDriveMode())).whenReleased(new InstantCommand(() -> switchDriveMode()));
// ! Operator Buttons
// Right Bumper > Storage Out
new JoystickButton(getOperatorController(), XboxController.Button.kRightBumper.value).whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-StorageConstants.STORAGE_SPEED))).whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0)));
// Left Bumper > Storage In
new JoystickButton(getOperatorController(), XboxController.Button.kLeftBumper.value).whileHeld(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED))).whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0)));
// B > Toggle claws
new JoystickButton(getOperatorController(), XboxController.Button.kB.value).whenPressed(new InstantCommand(() -> m_robotClaws.toggleClaws(), m_robotClaws));
// X > Toggles extender in and out
new JoystickButton(getOperatorController(), XboxController.Button.kX.value).whenPressed(new ExtenderIntakeGroup(m_robotIntake, m_robotExtender));
// A > Spit Out Ball
new JoystickButton(getOperatorController(), XboxController.Button.kA.value).whileHeld(new RunCommand(() -> m_robotTurret.gotoMidpoint(), m_robotTurret)).whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.25)));
// Y > Full aim command
// new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
// .whileHeld(new Seek(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood,
// m_robotVisionOdometry));
// ! Test Buttons
// new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
// .whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood,
// m_robotVisionOdometry, false, false));
// 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_robotVisionOdometry, m_robotTurret, m_robotHood, m_robotBoomBoom)); // * aim with turret to target);
// new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
// .whileHeld(new RunCommand(() -> m_robotClaws.setOpen(true)));
// new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
// .whileHeld(new RunCommand(() -> m_robotClaws.setOpen(false)));
// new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
// .whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood));
// new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
// .whenPressed(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.25)))
// .whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.0)));
// ! Button Box Buttons
// Left Switch > Disables soft limits on press, release resets encoders (all for turret, hood,
// climber, and extender)
// SmartDashboard.putData("BB LEFT ON", new SequentialCommandGroup(
// new InstantCommand(() -> m_robotTurret.setTurretSoftLimits(false), m_robotTurret),
// new InstantCommand(() -> m_robotTurret.calibrationSpeed = 0.3, m_robotTurret),
// new InstantCommand(() -> m_robotHood.setHoodSoftLimits(false), m_robotHood),
// new InstantCommand(() -> m_robotHood.calibrationSpeed = 0.3, m_robotHood),
// new InstantCommand(() -> m_robotExtender.setExtenderSoftLimits(false), m_robotExtender)
// ));
// SmartDashboard.putData("BB LEFT OFF", new SequentialCommandGroup(
// new InstantCommand(() -> m_robotTurret.setTurretSoftLimits(true), m_robotTurret),
// new InstantCommand(() -> m_robotTurret.calibrationSpeed = 1.0, m_robotTurret),
// new InstantCommand(() -> m_robotHood.setHoodSoftLimits(true), m_robotHood),
// new InstantCommand(() -> m_robotHood.calibrationSpeed = 1.0, m_robotHood),
// new InstantCommand(() -> m_robotExtender.setExtenderSoftLimits(true), m_robotExtender),
// new InstantCommand(() -> m_robotTurret.m_boomBoomRotateEncoder.setPosition(0), m_robotTurret),
// new InstantCommand(() -> m_robotHood.m_angleEncoder.setPosition(0), m_robotHood),
// new InstantCommand(() -> m_robotExtender.setEncoder(0), m_robotExtender),
// new InstantCommand(() -> ExtenderIntakeGroup.setDirectionToOut(), m_robotIntake,
// m_robotExtender),
// new InstantCommand(() -> m_robotClimber.setEncoders(0), m_robotClimber)
// ));
// new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftSwitch.value)
// .whenPressed(new InstantCommand(() -> m_robotTurret.setTurretSoftLimits(false), m_robotTurret))
// .whenPressed(new InstantCommand(() -> m_robotTurret.calibrationSpeed = 0.3, m_robotTurret))
// .whenPressed(new InstantCommand(() -> m_robotHood.setHoodSoftLimits(false), m_robotHood))
// .whenPressed(new InstantCommand(() -> m_robotHood.calibrationSpeed = 0.3, m_robotHood))
// .whenPressed(new InstantCommand(() -> m_robotExtender.setExtenderSoftLimits(false),
// m_robotExtender))
// .whenReleased(new InstantCommand(() -> m_robotTurret.setTurretSoftLimits(true), m_robotTurret))
// .whenReleased(new InstantCommand(() -> m_robotTurret.calibrationSpeed = 1.0, m_robotTurret))
// .whenReleased(new InstantCommand(() -> m_robotHood.setHoodSoftLimits(true), m_robotHood))
// .whenReleased(new InstantCommand(() -> m_robotHood.calibrationSpeed = 1.0, m_robotHood))
// .whenReleased(new InstantCommand(() -> m_robotExtender.setExtenderSoftLimits(true),
// m_robotExtender))
// .whenReleased(new InstantCommand(() -> m_robotTurret.m_boomBoomRotateEncoder.setPosition(0),
// m_robotTurret))
// .whenReleased(new InstantCommand(() -> m_robotHood.m_angleEncoder.setPosition(0), m_robotHood))
// .whenReleased(new InstantCommand(() -> m_robotExtender.setEncoder(0), m_robotExtender))
// .whenReleased(new InstantCommand(() -> ExtenderIntakeGroup.setDirectionToOut(), m_robotIntake,
// m_robotExtender))
// .whenReleased(new InstantCommand(() -> m_robotClimber.setEncoders(0), m_robotClimber));
// Middle Switch > Climber and Shooter mode switching
// new JoystickButton(getButtonBox(), ButtonBox.Button.kMiddleSwitch.value)
// .whenPressed(new InstantCommand(() -> currentControlMode = ControlMode.CLIMBER))
// .whenReleased(new InstantCommand(() -> currentControlMode = ControlMode.SHOOTER));
// // new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value)
// // .whenPressed(new InstantCommand(() -> currentControlMode = ControlMode.))
// // .whenReleased(new InstantCommand(() -> currentControlMode = ControlMode.SHOOTER));
// new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value)
// .whileHeld(new InstantCommand(() -> currentDriveMode = DriveMode.OFF))
// .whenReleased(new InstantCommand(() -> currentDriveMode = DriveMode.ON));
// // Left Button > Extender In
new JoystickButton(getDriverController(), XboxController.Button.kX.value).whileHeld(new RunCommand(() -> m_robotExtender.runExtender(1.0), m_robotExtender)).whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
// Left Button > Extender Out
new JoystickButton(getDriverController(), XboxController.Button.kY.value).whileHeld(new RunCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender)).whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
private synchronized void putData(String key, Sendable data) {
Sendable sddata = m_tablesToData.get(key);
if (sddata == null || sddata != data) {
m_tablesToData.put(key, data);
NetworkTable dataTable = m_networkTable.getSubTable(key);
SendableBuilderImpl builder = new SendableBuilderImpl();
builder.setTable(dataTable);
SendableRegistry.publish(data, builder);
builder.startListeners();
dataTable.getEntry(".name").setString(key);
}
}
public boolean isLockedOn() {
return m_robotTurret.isLockedOn() || m_robotHood.isLockedOn() || m_robotBoomBoom.isLockedOn();
}
/**
* Use this to pass the autonomous command to the main {@link Robot} class.
*
* @return the command to run in autonomous
*/
public Command getAutonomousCommand() {
return m_autoChooser.getSelected();
}
private Command makeOneBallCommand() {
return CommandGroupBase.sequence(
makeStartupCommandPart(),
// Shoot Preloaded Ball
makeTimeoutTrackShotGroup(AutoConstants.LOCK_ON_DURATION, AutoConstants.LOCK_ON_TIME_ALLOWANCE, AutoConstants.STORAGE_TIME_ONE_BALL, "FirstBall"),
makeStopCommandPart()
).withName("OneBall");
}
private Command makeTwoBallCommand() {
return CommandGroupBase.sequence(
makeStartupCommandPart(),
// Get Second Ball
new InstantCommand(() -> m_robotTurret.runShooterRotatePID(-180), m_robotTurret).withName("StartTurningShooter"),
new PathPlannerCommand("JMove1", AutoConstants.PATH_MAX_VEL, AutoConstants.PATH_MAX_ACCEL, m_robotSwerveDrive).withName("JMove1"),
// Shoot Preloaded and Second Ball
makeTimeoutTrackShotGroup(AutoConstants.LOCK_ON_DURATION, AutoConstants.LOCK_ON_TIME_ALLOWANCE, AutoConstants.STORAGE_TIME_TWO_BALLS, "FirstSecondBall"),
makeStopCommandPart()
).withName("TwoBall");
}
private Command makeThreeBallCommand() {
return CommandGroupBase.sequence(
makeStartupCommandPart(),
// Get Second Ball
new InstantCommand(() -> m_robotTurret.runShooterRotatePID(-180), m_robotTurret).withName("StartTurningShooter"),
new PathPlannerCommand("JMove1", AutoConstants.PATH_MAX_VEL, AutoConstants.PATH_MAX_ACCEL, m_robotSwerveDrive).withName("JMove1"),
// Shoot Preloaded and Second Ball
makeTimeoutTrackShotGroup(AutoConstants.LOCK_ON_DURATION, AutoConstants.LOCK_ON_TIME_ALLOWANCE, AutoConstants.STORAGE_TIME_TWO_BALLS, "FirstSecondBall"),
// Get Third Ball
new InstantCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(8000), m_robotBoomBoom).withName("StartIdlingShooter"),
new InstantCommand(() -> m_robotTurret.runShooterRotatePID(-120), m_robotTurret).withName("StartTurningShooter"),
new PathPlannerCommand("JMove2", AutoConstants.PATH_MAX_VEL, AutoConstants.PATH_MAX_ACCEL, m_robotSwerveDrive).withName("JMove2"),
// Shoot Third Ball
makeTimeoutTrackShotGroup(AutoConstants.LOCK_ON_DURATION, AutoConstants.LOCK_ON_TIME_ALLOWANCE, AutoConstants.STORAGE_TIME_ONE_BALL, "ThirdBall"),
makeStopCommandPart()
).withName("ThreeBall");
}
private Command makeStartupCommandPart() {
return CommandGroupBase.sequence(
new InstantCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(8000), m_robotBoomBoom).withName("StartIdlingShooter"),
new InstantCommand(() -> m_robotIntake.runAtOutput(-1), m_robotIntake).withName("StartRunningIntake")
// new RunExtender(m_robotExtender).withName("DeployExtender")
);
}
private Command makeStopCommandPart() {
return CommandGroupBase.sequence(
new InstantCommand(() -> m_robotIntake.runAtOutput(0), m_robotIntake).withName("StopRunningIntake"),
new InstantCommand(() -> m_robotSerializer.setSerializer(0.0), m_robotSerializer).withName("StopRunningSerializer"),
new InstantCommand(() -> m_robotStorage.runStorage(0.0)).withName("StopRunningStorage")
);
}
private ParallelDeadlineGroup makeTimeoutTrackShotGroup(double lockOnDuration, double lockOnTimeAllowance, double storageRunTime, String name) {
return CommandGroupBase.sequence(
new TimedWaitUntilCommand(this::isLockedOn, lockOnDuration).withTimeout(lockOnTimeAllowance).withName(name + "LockOn"),
new InstantCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage).withName(name + "Feed"),
new WaitCommand(storageRunTime).withName(name + "ShootTimer"),
new InstantCommand(() -> m_robotStorage.runStorage(0.0)).withName(name + "StopFeed")).deadlineWith(new TrackTarget(m_robotVisionOdometry, m_robotTurret, m_robotHood, m_robotBoomBoom).withName(name + "Track")
);
}
public void switchControlMode() {
currentControlMode = currentControlMode == ControlMode.SHOOTER ? ControlMode.CLIMBER : ControlMode.SHOOTER;
}
public void switchDriveMode() {
currentDriveMode = currentDriveMode == DriveMode.ON ? DriveMode.OFF : DriveMode.ON;
}
public DeadbandedXboxController getDriverController() {
return m_driverXbox;
}
public DeadbandedXboxController getOperatorController() {
return m_operatorXbox;
}
public ButtonBox getButtonBox() {
return m_buttonBox;
}
/**
* Set odometry to given pose.
*
* @param pose Pose to set odometry to.
*/
public void resetOdometry(Pose2d pose) {
m_robotSwerveDrive.resetOdometry(pose);
public synchronized void updateValues() {
m_tablesToData.values().forEach(SendableRegistry::update);
}
}
src/main/java/frc4388/robot/commands/AutonomousBuilder.java
+109
View File
@@ -0,0 +1,109 @@
package frc4388.robot.commands;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandGroupBase;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup;
import edu.wpi.first.wpilibj2.command.WaitCommand;
import frc4388.robot.RobotContainer;
import frc4388.robot.Constants.AutoConstants;
import frc4388.robot.Constants.StorageConstants;
import frc4388.robot.commands.shooter.TimedWaitUntilCommand;
import frc4388.robot.commands.shooter.TrackTarget;
import frc4388.robot.subsystems.BoomBoom;
import frc4388.robot.subsystems.Extender;
import frc4388.robot.subsystems.Hood;
import frc4388.robot.subsystems.Intake;
import frc4388.robot.subsystems.Serializer;
import frc4388.robot.subsystems.Storage;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.robot.subsystems.Turret;
import frc4388.robot.subsystems.VisionOdometry;
public class AutonomousBuilder {
private final RobotContainer m_robotContainer;
private final SwerveDrive m_drive;
private final Extender m_extender;
private final Intake m_intake;
private final Serializer m_serializer;
private final Storage m_storage;
private final BoomBoom m_boomBoom;
private final Turret m_turret;
private final Hood m_hood;
private final VisionOdometry m_visionOdometry;
public AutonomousBuilder(RobotContainer robotContainer) {
m_robotContainer = robotContainer;
m_drive = m_robotContainer.m_robotSwerveDrive;
m_extender = m_robotContainer.m_robotExtender;
m_intake = m_robotContainer.m_robotIntake;
m_serializer = m_robotContainer.m_robotSerializer;
m_storage = m_robotContainer.m_robotStorage;
m_boomBoom = m_robotContainer.m_robotBoomBoom;
m_turret = m_robotContainer.m_robotTurret;
m_hood = m_robotContainer.m_robotHood;
m_visionOdometry = m_robotContainer.m_robotVisionOdometry;
}
public Command buildOneBallCommand() {
return CommandGroupBase.sequence(
buildStartupCommandPart(),
// Shoot Preloaded Ball
buildTimeoutTrackShotGroup(AutoConstants.LOCK_ON_DURATION, AutoConstants.LOCK_ON_TIME_ALLOWANCE, AutoConstants.STORAGE_TIME_ONE_BALL, "FirstBall"),
buildStopCommandPart()
).withName("OneBall");
}
public Command buildTwoBallCommand() {
return CommandGroupBase.sequence(
buildStartupCommandPart(),
// Get Second Ball
new InstantCommand(() -> m_turret.runShooterRotatePID(-180), m_turret).withName("StartTurningShooter"),
new PathPlannerCommand("JMove1", AutoConstants.PATH_MAX_VEL, AutoConstants.PATH_MAX_ACCEL, m_drive).withName("JMove1"),
// Shoot Preloaded and Second Ball
buildTimeoutTrackShotGroup(AutoConstants.LOCK_ON_DURATION, AutoConstants.LOCK_ON_TIME_ALLOWANCE, AutoConstants.STORAGE_TIME_TWO_BALLS, "FirstSecondBall"),
buildStopCommandPart()
).withName("TwoBall");
}
public Command buildThreeBallCommand() {
return CommandGroupBase.sequence(
buildStartupCommandPart(),
// Get Second Ball
new InstantCommand(() -> m_turret.runShooterRotatePID(-180), m_turret).withName("StartTurningShooter"),
new PathPlannerCommand("JMove1", AutoConstants.PATH_MAX_VEL, AutoConstants.PATH_MAX_ACCEL, m_drive).withName("JMove1"),
// Shoot Preloaded and Second Ball
buildTimeoutTrackShotGroup(AutoConstants.LOCK_ON_DURATION, AutoConstants.LOCK_ON_TIME_ALLOWANCE, AutoConstants.STORAGE_TIME_TWO_BALLS, "FirstSecondBall"),
// Get Third Ball
new InstantCommand(() -> m_boomBoom.runDrumShooterVelocityPID(8000), m_boomBoom).withName("StartIdlingShooter"),
new InstantCommand(() -> m_turret.runShooterRotatePID(-120), m_turret).withName("StartTurningShooter"),
new PathPlannerCommand("JMove2", AutoConstants.PATH_MAX_VEL, AutoConstants.PATH_MAX_ACCEL, m_drive).withName("JMove2"),
// Shoot Third Ball
buildTimeoutTrackShotGroup(AutoConstants.LOCK_ON_DURATION, AutoConstants.LOCK_ON_TIME_ALLOWANCE, AutoConstants.STORAGE_TIME_ONE_BALL, "ThirdBall"),
buildStopCommandPart()
).withName("ThreeBall");
}
private Command buildStartupCommandPart() {
return CommandGroupBase.sequence(
new InstantCommand(() -> m_boomBoom.runDrumShooterVelocityPID(8000), m_boomBoom).withName("StartIdlingShooter"),
new InstantCommand(() -> m_intake.runAtOutput(-1), m_intake).withName("StartRunningIntake")
// new RunExtender(m_extender).withName("DeployExtender")
);
}
private Command buildStopCommandPart() {
return CommandGroupBase.sequence(
new InstantCommand(() -> m_intake.runAtOutput(0), m_intake).withName("StopRunningIntake"),
new InstantCommand(() -> m_serializer.setSerializer(0.0), m_serializer).withName("StopRunningSerializer"),
new InstantCommand(() -> m_storage.runStorage(0.0)).withName("StopRunningStorage")
);
}
private ParallelDeadlineGroup buildTimeoutTrackShotGroup(double lockOnDuration, double lockOnTimeAllowance, double storageRunTime, String name) {
return CommandGroupBase.sequence(
new TimedWaitUntilCommand(m_robotContainer::isLockedOn, lockOnDuration).withTimeout(lockOnTimeAllowance).withName(name + "LockOn"),
new InstantCommand(() -> m_storage.runStorage(StorageConstants.STORAGE_SPEED), m_storage).withName(name + "Feed"),
new WaitCommand(storageRunTime).withName(name + "ShootTimer"),
new InstantCommand(() -> m_storage.runStorage(0.0)).withName(name + "StopFeed")
).deadlineWith(new TrackTarget(m_visionOdometry, m_turret, m_hood, m_boomBoom).withName(name + "Track"));
}
}
src/main/java/frc4388/robot/commands/shuffleboard/ShooterTuner.java
+6 -4
View File
@@ -22,6 +22,8 @@ import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
import edu.wpi.first.wpilibj.shuffleboard.ComplexWidget;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilderImpl;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandBase;
@@ -53,11 +55,11 @@ public class ShooterTuner extends CommandBase {
@Override
public void initialize() {
var tab = Shuffleboard.getTab("Shooter Tuner");
ShuffleboardTab tab = Shuffleboard.getTab("Shooter Tuner");
if (tab.getComponents().isEmpty()) {
var manual = tab.getLayout("Manual Shooter Data", BuiltInLayouts.kList).withPosition(0, 0).withSize(2, 5);
ShuffleboardLayout manual = tab.getLayout("Manual Shooter Data", BuiltInLayouts.kList).withPosition(0, 0).withSize(2, 5);
//XXX:
var sbi = new SendableBuilderImpl();
SendableBuilderImpl sbi = new SendableBuilderImpl();
sbi.setTable(NetworkTableInstance.getDefault().getTable("ShooterTuner/Manual Shooter Data"));
sbi.addDoubleProperty("Drum Velocity", () -> tableOverrideEntry.drumVelocity, d -> tableOverrideEntry.drumVelocity = d);
sbi.addDoubleProperty("Hood Extension", () -> tableOverrideEntry.hoodExt, d -> tableOverrideEntry.hoodExt = d);
@@ -65,7 +67,7 @@ public class ShooterTuner extends CommandBase {
sbi.addBooleanProperty("Measure Distance", () -> measureDistance, b -> measureDistance = b);
// manual.add("Manual Shooter Data", m_shotEditor);
manual.add("Manual Data Appender", m_shotCsvAppender);
var csv = tab.getLayout("Shooter Table", BuiltInLayouts.kList).withPosition(2, 0).withSize(7, 5);
ShuffleboardLayout csv = tab.getLayout("Shooter Table", BuiltInLayouts.kList).withPosition(2, 0).withSize(7, 5);
csv.add("Shooter Table", m_tableEditor);
csv.add("Save to CSV File", new InstantCommand(m_boomBoom::saveShooterTable) {
@Override
src/main/java/frc4388/utility/controller/XboxControllerPOV.java
+25
View File
@@ -0,0 +1,25 @@
package frc4388.utility.controller;
/** Represents a d-pad angle on an XboxController. */
public enum XboxControllerPOV {
kUp(0),
kUpRight(45),
kRight(90),
kDownRight(135),
kDown(180),
kDownLeft(225),
kLeft(270),
kUpLeft(315);
@SuppressWarnings("MemberName")
public final int value;
XboxControllerPOV(int value) {
this.value = value;
}
@Override
public String toString() {
return this.name().substring(1) + "Button";
}
}