mirror of
https://github.com/Team4388/2022NoWayHome.git
synced 2026-06-09 00:38:05 -06:00
Switch to new controller binding configuration
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
@@ -15,7 +15,6 @@ import edu.wpi.first.networktables.NTSendableBuilder;
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import edu.wpi.first.networktables.NetworkTable;
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import edu.wpi.first.networktables.NetworkTableEntry;
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import edu.wpi.first.networktables.NetworkTableInstance;
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import edu.wpi.first.networktables.NetworkTableValue;
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import edu.wpi.first.util.sendable.Sendable;
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import edu.wpi.first.util.sendable.SendableBuilder;
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import edu.wpi.first.util.sendable.SendableRegistry;
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@@ -26,21 +25,16 @@ import edu.wpi.first.wpilibj.XboxController;
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import edu.wpi.first.wpilibj.smartdashboard.SendableBuilderImpl;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.CommandGroupBase;
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import edu.wpi.first.wpilibj2.command.InstantCommand;
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import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup;
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import edu.wpi.first.wpilibj2.command.PrintCommand;
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import edu.wpi.first.wpilibj2.command.RunCommand;
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import edu.wpi.first.wpilibj2.command.WaitCommand;
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import edu.wpi.first.wpilibj2.command.button.JoystickButton;
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import frc4388.robot.Constants.AutoConstants;
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import edu.wpi.first.wpilibj2.command.button.POVButton;
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import frc4388.robot.Constants.OIConstants;
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import frc4388.robot.Constants.StorageConstants;
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import frc4388.robot.Constants.SwerveDriveConstants;
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import frc4388.robot.commands.PathPlannerCommand;
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import frc4388.robot.commands.AutonomousBuilder;
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import frc4388.robot.commands.PathRecorder;
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import frc4388.robot.commands.ExtenderIntakeCommands.ExtenderIntakeGroup;
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import frc4388.robot.commands.ExtenderIntakeCommands.RunExtender;
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import frc4388.robot.commands.shooter.TimedWaitUntilCommand;
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import frc4388.robot.commands.shooter.TrackTarget;
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import frc4388.robot.commands.shuffleboard.CommandSchedule;
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import frc4388.robot.commands.shuffleboard.ShooterTuner;
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@@ -59,13 +53,9 @@ import frc4388.robot.subsystems.Turret;
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import frc4388.robot.subsystems.VisionOdometry;
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import frc4388.utility.controller.ButtonBox;
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import frc4388.utility.controller.DeadbandedXboxController;
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import frc4388.utility.controller.XboxControllerPOV;
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import frc4388.utility.shuffleboard.CachingSendableChooser;
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//TODO: Try using ConditionalCommand for subsystem default commands.
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//TODO: Replace Path Recorder with Auto Chooser.
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//TODO: Add POV button pad bindings as an example.
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//XXX: Re-enable extender in autonomous.
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/**
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* This class is where the bulk of the robot should be declared. Since Command-based is a
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* "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
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@@ -73,24 +63,22 @@ import frc4388.utility.shuffleboard.CachingSendableChooser;
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* subsystems, commands, and button mappings) should be declared here.
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*/
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public class RobotContainer {
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private static final Logger LOGGER = Logger.getLogger(RobotContainer.class.getSimpleName());
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/* Robot Map */
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public final RobotMap m_robotMap = new RobotMap();
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/* Subsystems */
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public final Camera m_robotCamera = new Camera("driver", 0, 160, 120, 40);
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public final Climber m_robotClimber = new Climber(m_robotMap.elbow);
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public final Claws m_robotClaws = new Claws(m_robotMap.leftClaw, m_robotMap.rightClaw);
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public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.frontLeft, m_robotMap.frontRight, m_robotMap.backLeft, m_robotMap.backRight, m_robotMap.gyro);
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public final Serializer m_robotSerializer = new Serializer(m_robotMap.serializerBelt);
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public final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor);
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public final Extender m_robotExtender = new Extender(m_robotMap.extenderMotor);
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public final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor);
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public final Serializer m_robotSerializer = new Serializer(m_robotMap.serializerBelt);
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public final Storage m_robotStorage = new Storage(m_robotMap.storageMotor);
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public final LED m_robotLED = new LED(m_robotMap.LEDController);
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public final BoomBoom m_robotBoomBoom = new BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight);
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public final Hood m_robotHood = new Hood(m_robotMap.angleAdjusterMotor);
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public final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret);
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public final Hood m_robotHood = new Hood(m_robotMap.angleAdjusterMotor);
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public final Claws m_robotClaws = new Claws(m_robotMap.leftClaw, m_robotMap.rightClaw);
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public final Climber m_robotClimber = new Climber(m_robotMap.elbow);
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public final LED m_robotLED = new LED(m_robotMap.LEDController);
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public final Camera m_robotCamera = new Camera("driver", 0, 160, 120, 40);
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public final VisionOdometry m_robotVisionOdometry = new VisionOdometry(m_robotSwerveDrive, m_robotTurret);
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/* Dashboard Tools */
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@@ -104,73 +92,301 @@ public class RobotContainer {
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private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
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private final ButtonBox m_buttonBox = new ButtonBox(OIConstants.BUTTON_BOX_ID);
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private static boolean softLimits = true;
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private boolean isClimberControlMode = false;
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private boolean driveControlEnabled = true;
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// control mode switching
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private enum ControlMode {
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SHOOTER, CLIMBER
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}
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private ControlMode currentControlMode = ControlMode.SHOOTER;
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// drive on off mode switching
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private enum DriveMode {
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ON, OFF
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}
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private DriveMode currentDriveMode = DriveMode.ON;
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private final Map<String, Sendable> tablesToData = new HashMap<>();
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private final NetworkTable networkTable = NetworkTableInstance.getDefault().getTable("Robot");
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private synchronized void putData(String key, Sendable data) {
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Sendable sddata = tablesToData.get(key);
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if (sddata == null || sddata != data) {
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tablesToData.put(key, data);
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NetworkTable dataTable = networkTable.getSubTable(key);
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SendableBuilderImpl builder = new SendableBuilderImpl();
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builder.setTable(dataTable);
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SendableRegistry.publish(data, builder);
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builder.startListeners();
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dataTable.getEntry(".name").setString(key);
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}
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}
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public synchronized void updateValues() {
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for (Sendable data : tablesToData.values()) {
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SendableRegistry.update(data);
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}
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}
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/**
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* The container for the robot. Contains subsystems, OI devices, and commands.
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*/
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public RobotContainer() {
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m_autoChooser.addOption("OneBall", this::makeOneBallCommand);
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m_autoChooser.addOption("TwoBall", this::makeTwoBallCommand);
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m_autoChooser.setDefaultOption("ThreeBall", this::makeThreeBallCommand);
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configureButtonBindings();
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configureDefaultCommands();
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AutonomousBuilder autoBuilder = new AutonomousBuilder(this);
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m_autoChooser.addOption("OneBall", autoBuilder::buildOneBallCommand);
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m_autoChooser.addOption("TwoBall", autoBuilder::buildTwoBallCommand);
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m_autoChooser.setDefaultOption("ThreeBall", autoBuilder::buildThreeBallCommand);
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SmartDashboard.putData("Autonomous", m_autoChooser);
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SmartDashboard.putData("Path Recorder", m_pathRecorder);
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SmartDashboard.putData("Shooter Tuner", m_shooterTuner);
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SmartDashboard.putData("Command Schedule", m_commandSchedule);
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// Preferences.initString("Autonomous", "Three Ball");
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putRobotDashboardData();
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}
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var pdp = new PowerDistribution() {
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@Override
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public void initSendable(SendableBuilder builder) {
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super.initSendable(builder);
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builder.setSmartDashboardType("PowerDistributionPanel");
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/* Default Commands */
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private void configureDefaultCommands() {
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// Swerve Drive with Input
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m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
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if (driveControlEnabled) {
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m_robotSwerveDrive.driveWithInput(getDriverController().getLeft(), getDriverController().getRight(), true);
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} else {
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m_robotSwerveDrive.driveWithInput(0, 0, 0, 0, false);
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}
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};
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}, m_robotSwerveDrive).withName("SwerveDrive DefaultCommand"));
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// Intake with Triggers
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m_robotIntake.setDefaultCommand(new RunCommand(() -> m_robotIntake.runWithTriggers(getOperatorController().getLeftTriggerAxis(), getOperatorController().getRightTriggerAxis()), m_robotIntake).withName("Intake DefaultCommand"));
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// Shooter Idle
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m_robotBoomBoom.setDefaultCommand(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.45), m_robotBoomBoom).withName("BoomBoom DefaultCommand"));
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// Serializer Manual
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m_robotSerializer.setDefaultCommand(new RunCommand(() -> m_robotSerializer.setSerializer(getOperatorController().getLeftTriggerAxis() * 0.8), m_robotSerializer).withName("Serializer DefaultCommand"));
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// Turret Manual
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m_robotTurret.setDefaultCommand(new RunCommand(() -> {
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if (!isClimberControlMode) {
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m_robotTurret.runTurretWithInput(getOperatorController().getLeftX());
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} else {
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m_robotTurret.runTurretWithInput(0);
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}
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}, m_robotTurret).withName("Turret DefaultCommand"));
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// Hood Manual
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m_robotHood.setDefaultCommand(new RunCommand(() -> {
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if (!isClimberControlMode) {
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m_robotHood.runHood(getOperatorController().getLeftY());
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} else {
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m_robotHood.runHood(0);
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}
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}, m_robotHood).withName("Hood DefaultCommand"));
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// Climber Manual
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m_robotClimber.setDefaultCommand(new RunCommand(() -> {
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if (!isClimberControlMode) {
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m_robotClimber.setMotors(0.0);
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} else {
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m_robotClimber.setMotors(-getOperatorController().getRightY());
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}
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}, m_robotClimber).withName("Climber DefaultCommand"));
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}
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/**
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* Use this method to define your button->command mappings. Buttons can be created by instantiating
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* a {@link GenericHID} or one of its subclasses ({@link edu.wpi.first.wpilibj.Joystick} or
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* {@link XboxController}), and then passing it to a
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* {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
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*/
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private void configureButtonBindings() {
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configureDriverButtonBindings();
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configureOperatorButtonBindings();
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configureBoxButtonBindings();
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}
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private void configureDriverButtonBindings() {
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// Iterate over and assign commands to all Xbox controller buttons.
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for (XboxController.Button binding : XboxController.Button.values()) {
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/* ------------------------------------ Driver ------------------------------------ */
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JoystickButton button = new JoystickButton(getDriverController(), binding.value);
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if (binding == XboxController.Button.kLeftBumper) {
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/* Left Bumper > Shift Down */
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button.whenPressed(() -> m_robotSwerveDrive.highSpeed(false));
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} else if (binding == XboxController.Button.kRightBumper) {
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/* Right Bumper > Shift Up */
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button.whenPressed(() -> m_robotSwerveDrive.highSpeed(false));
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} else if (binding == XboxController.Button.kLeftStick) {
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/* Left Stick > Unbound */
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button.whenPressed(new PrintCommand("Unbound"));
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} else if (binding == XboxController.Button.kRightStick) {
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/* Right Stick > Unbound */
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button.whenPressed(new PrintCommand("Unbound"));
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} else if (binding == XboxController.Button.kA) {
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/* A > Unbound */
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button.whenPressed(this::switchControlMode);
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button.whenReleased(this::switchControlMode);
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} else if (binding == XboxController.Button.kB) {
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/* B > Unbound */
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button.whenPressed(this::switchDriveMode);
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button.whenReleased(this::switchDriveMode);
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} else if (binding == XboxController.Button.kX) {
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/* X > Unbound */
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button.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(1.0), m_robotExtender));
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button.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
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} else if (binding == XboxController.Button.kY) {
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/* Y > Unbound */
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button.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender));
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button.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
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} else if (binding == XboxController.Button.kBack) {
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/* Back > Calibrate Odometry */
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button.whenPressed(() -> resetOdometry(new Pose2d(0, 0, new Rotation2d(0))));
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} else if (binding == XboxController.Button.kStart) {
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/* Start > Calibrate Odometry */
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button.whenPressed(m_robotSwerveDrive::resetGyro);
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}
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}
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// Iterate over and assign commands to cardinal Xbox controller d-pad directions.
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for (XboxControllerPOV binding : XboxControllerPOV.values()) {
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POVButton button = new POVButton(getDriverController(), binding.value);
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if (binding == XboxControllerPOV.kUp) {
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/* D-pad Up > Unbound */
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button.whenPressed(new PrintCommand("Unbound"));
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} else if (binding == XboxControllerPOV.kRight) {
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/* D-pad Right > Unbound */
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button.whenPressed(new PrintCommand("Unbound"));
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} else if (binding == XboxControllerPOV.kDown) {
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/* D-pad Down > Unbound */
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button.whenPressed(new PrintCommand("Unbound"));
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} else if (binding == XboxControllerPOV.kLeft) {
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/* D-pad Left > Unbound */
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button.whenPressed(new PrintCommand("Unbound"));
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}
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}
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}
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private void configureOperatorButtonBindings() {
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// Iterate over and assign commands to all Xbox controller buttons.
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for (XboxController.Button binding : XboxController.Button.values()) {
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/* ------------------------------------ Operator ------------------------------------ */
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JoystickButton button = new JoystickButton(getDriverController(), binding.value);
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if (binding == XboxController.Button.kLeftBumper) {
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/* Left Bumper > Storage In */
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button.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED)));
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button.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0)));
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} else if (binding == XboxController.Button.kRightBumper) {
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/* Right Bumper > Storage Out */
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button.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-StorageConstants.STORAGE_SPEED)));
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button.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0)));
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} else if (binding == XboxController.Button.kLeftStick) {
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/* Left Stick > Unbound */
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button.whenPressed(new PrintCommand("Unbound"));
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} else if (binding == XboxController.Button.kRightStick) {
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/* Right Stick > Unbound */
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button.whenPressed(new PrintCommand("Unbound"));
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} else if (binding == XboxController.Button.kA) {
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/* A > Spit Out Ball */
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button.whileHeld(new RunCommand(m_robotTurret::gotoMidpoint, m_robotTurret));
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button.whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.25)));
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} else if (binding == XboxController.Button.kB) {
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/* B > Toggle Claws */
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button.whenPressed(m_robotClaws::toggleClaws, m_robotClaws);
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} else if (binding == XboxController.Button.kX) {
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/* X > Toggle Extender Deployment */
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button.whenPressed(new ExtenderIntakeGroup(m_robotIntake, m_robotExtender));
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} else if (binding == XboxController.Button.kY) {
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/* Y > Track Target */
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button.whileHeld(new TrackTarget(m_robotVisionOdometry, m_robotTurret, m_robotHood, m_robotBoomBoom));
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} else if (binding == XboxController.Button.kBack) {
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/* Back > Unbound */
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button.whenPressed(new PrintCommand("Unbound"));
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} else if (binding == XboxController.Button.kStart) {
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/* Start > Unbound */
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button.whenPressed(new PrintCommand("Unbound"));
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}
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}
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// Iterate over and assign commands to cardinal Xbox controller d-pad directions.
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for (XboxControllerPOV binding : XboxControllerPOV.values()) {
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POVButton button = new POVButton(getDriverController(), binding.value);
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if (binding == XboxControllerPOV.kUp) {
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/* D-pad Up > Unbound */
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button.whenPressed(new PrintCommand("Unbound"));
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} else if (binding == XboxControllerPOV.kRight) {
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/* D-pad Right > Unbound */
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button.whenPressed(new PrintCommand("Unbound"));
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} else if (binding == XboxControllerPOV.kDown) {
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/* D-pad Down > Unbound */
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button.whenPressed(new PrintCommand("Unbound"));
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} else if (binding == XboxControllerPOV.kLeft) {
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/* D-pad Left > Unbound */
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button.whenPressed(new PrintCommand("Unbound"));
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}
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}
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}
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private void configureBoxButtonBindings() {
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// Iterate over and assign commands to all button box buttons.
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for (ButtonBox.Button binding : ButtonBox.Button.values()) {
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/* ---------------------------------- Button Box ---------------------------------- */
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JoystickButton button = new JoystickButton(getButtonBox(), binding.value);
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if (binding == ButtonBox.Button.kRightSwitch) {
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/* Right Switch > Unbound */
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button.whenPressed(new PrintCommand("Unbound"));
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} else if (binding == ButtonBox.Button.kMiddleSwitch) {
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/* Middle Switch > Climber and Shooter mode switching */
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button.whenPressed(() -> isClimberControlMode = true);
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button.whenReleased(() -> isClimberControlMode = false);
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} else if (binding == ButtonBox.Button.kLeftSwitch) {
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/* Left Switch > Disables soft limits on press, release resets encoders (all for turret, hood, climber, and extender) */
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button.whenPressed(() -> m_robotTurret.setTurretSoftLimits(false), m_robotTurret);
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button.whenPressed(() -> m_robotTurret.calibrationSpeed = 0.3, m_robotTurret);
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button.whenPressed(() -> m_robotHood.setHoodSoftLimits(false), m_robotHood);
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button.whenPressed(() -> m_robotHood.calibrationSpeed = 0.3, m_robotHood);
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button.whenPressed(() -> m_robotExtender.setExtenderSoftLimits(false), m_robotExtender);
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button.whenReleased(() -> m_robotTurret.setTurretSoftLimits(true), m_robotTurret);
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button.whenReleased(() -> m_robotTurret.calibrationSpeed = 1.0, m_robotTurret);
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||||
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);
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user