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This commit is contained in:
Ryan Manley
2022-03-05 11:04:40 -07:00
parent 4b7740fa44
commit 78f3b47846
6 changed files with 78 additions and 58 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+6 -32
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@@ -10,9 +10,7 @@ import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.subsystems.Intake;
import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.Serializer;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.utility.LEDPatterns;
import frc4388.utility.controller.IHandController;
@@ -29,7 +27,7 @@ public class RobotContainer {
/* RobotMap */
private final RobotMap m_robotMap = new RobotMap();
/* Subsystems
/* Subsystems */
private final SwerveDrive m_robotSwerveDrive = new SwerveDrive(
m_robotMap.leftFrontSteerMotor, m_robotMap.leftFrontWheelMotor,
m_robotMap.rightFrontSteerMotor, m_robotMap.rightFrontWheelMotor,
@@ -40,9 +38,6 @@ public class RobotContainer {
m_robotMap.leftBackEncoder,
m_robotMap.rightBackEncoder
);
*/
private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.extenderMotor);
private final Serializer m_robotSerializer = new Serializer(m_robotMap.serializerBelt, m_robotMap.serializerShooterBelt);
private final LED m_robotLED = new LED(m_robotMap.LEDController);
@@ -58,17 +53,12 @@ public class RobotContainer {
/* Default Commands */
// drives the swerve drive with a two-axis input from the driver controller
// m_robotSwerveDrive.setDefaultCommand(
// new RunCommand(() -> m_robotSwerveDrive.driveWithInput(-getDriverController().getLeftXAxis(),
// getDriverController().getLeftYAxis(), -getDriverController().getRightXAxis(), false), m_robotSwerveDrive));
m_robotSwerveDrive.setDefaultCommand(
new RunCommand(() -> m_robotSwerveDrive.driveWithInput(-getDriverController().getLeftXAxis(),
getDriverController().getLeftYAxis(), -getDriverController().getRightXAxis(), false), m_robotSwerveDrive));
m_robotIntake.setDefaultCommand(
new RunCommand(() -> m_robotIntake.runWithTriggers(
getDriverController().getLeftTriggerAxis(), getDriverController().getRightTriggerAxis()),m_robotIntake));
// continually sends updates to the Blinkin LED controller to keep the lights on
m_robotLED.setDefaultCommand(
new RunCommand(m_robotLED::updateLED, m_robotLED));
// dri
m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, m_robotLED));
}
/**
@@ -79,28 +69,12 @@ public class RobotContainer {
*/
private void configureButtonBindings() {
/* Driver Buttons */
/* Operator Buttons */
// extends and retracts the extender
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whenPressed(() -> m_robotIntake.extendExtender(true))
.whenReleased(() -> m_robotIntake.extendExtender(false));
// activates "Lit Mode"
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
.whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
// revisit this later, not sure if we will still use this
new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
.whenPressed(() -> m_robotSerializer.setSerializerStateWithBeam(true, m_robotSerializer.getBeam()))
.whenReleased(() -> m_robotSerializer.setSerializerStateWithBeam(false, m_robotSerializer.getBeam()));
// new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON)
// .whenPressed(() -> m_robotIntake.extendExtender(true));
new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
.whenPressed(() -> m_robotIntake.toggleExtender());
}
/**
src/main/java/frc4388/robot/RobotMap.java
+2 -14
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@@ -6,14 +6,10 @@ package frc4388.robot;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.CANCoder;
import com.revrobotics.CANSparkMax;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import frc4388.robot.Constants.IntakeConstants;
import frc4388.robot.Constants.LEDConstants;
import frc4388.robot.Constants.SerializerConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
/**
* Defines and holds all I/O objects on the Roborio. This is useful for unit
@@ -23,7 +19,7 @@ public class RobotMap {
public RobotMap() {
configureLEDMotorControllers();
//configureSwerveMotorControllers();
configureSwerveMotorControllers();
}
/* LED Subsystem */
@@ -33,7 +29,7 @@ public class RobotMap {
}
/* Swerve Subsystem
/* Swerve Subsystem */
public final WPI_TalonFX leftFrontSteerMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ID);
public final WPI_TalonFX leftFrontWheelMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_WHEEL_CAN_ID);
public final WPI_TalonFX rightFrontSteerMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_FRONT_STEER_CAN_ID);
@@ -96,12 +92,4 @@ public class RobotMap {
//rightBackSteerMotor.configRemoteFeedbackFilter(rightBackEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
}
/* Serializer Subsystem */
public final CANSparkMax serializerBelt = new CANSparkMax(SerializerConstants.SERIALIZER_BELT, MotorType.kBrushless);
public final CANSparkMax serializerShooterBelt = new CANSparkMax(SerializerConstants.SERIALIZER_SHOOTER_BELT, MotorType.kBrushless);
/* Intake Subsytem */
public final WPI_TalonFX intakeMotor = new WPI_TalonFX(IntakeConstants.INTAKE_MOTOR);
public final CANSparkMax extenderMotor = new CANSparkMax(IntakeConstants.EXTENDER_MOTOR, MotorType.kBrushless);
}
src/main/java/frc4388/robot/subsystems/Hood.java
+11 -3
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@@ -66,18 +66,26 @@ public double m_fireAngle;
// m_angleAdjusterPIDController.setReference(targetAngle, ControlType.kPosition);
// }
/**
* Runs The Hood
* @param input The Speed Times 0.6
*/
public void runHood(double input) {
input *= .6;
m_angleAdjustMotor.set(input);
}
/**
* Resets The Encoder
*/
public void resetGyroAngleAdj(){
m_angleEncoder.setPosition(0);
}
/**
* Gets The Encoders Position
* @return The Encoders Position
*/
public double getAnglePositionPID() {
return m_angleEncoder.getPosition();
}
src/main/java/frc4388/robot/subsystems/Intake.java
+13 -4
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@@ -46,19 +46,28 @@ public class Intake extends SubsystemBase {
public void periodic() {
// This method will be called once per scheduler run
}
/**
* Runs The Intake With Triggers.
* @param leftTrigger Left Trigger to Run -
* @param rightTrigger Right Trigger to Run +
*/
public void runWithTriggers(double leftTrigger, double rightTrigger) {
m_intakeMotor.set(rightTrigger - leftTrigger);
}
/**
* Runs The Extender
* @param extended Wether the Extender Is Extended
*/
public void runExtender(boolean extended) { //TODO: Do not bring intake in if there is a ball in the extender (check if intake being in brakes the beam brake?)
double extenderMotorSpeed = extended ? 0.25d : 0.d;
m_extenderMotor.set(extenderMotorSpeed);
}
/**
* Toggles The Extender
*/
public void toggleExtender() {
toggle = !toggle;
extendExtender(toggle);
runExtender(toggle);
}
//Test
}
src/main/java/frc4388/robot/subsystems/Serializer.java
+27 -4
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@@ -23,29 +23,52 @@ public class Serializer extends SubsystemBase{
m_serializerShooterBelt.set(0);
}
/**
* Gets The State Of The Beam
* @return The State Of The Beam
*/
public boolean getBeam() {
return m_serializerBeam.get();
}
public void setSerializerStateWithBeam(boolean ctrlbutter, boolean beambroken) {
boolean total = ctrlbutter || beambroken;
/**
* Sets The Serializer State With The Beam
* @param state Your State Of The Button
* @param beambroken The State of the Beam Senser
*/
public void setSerializerStateWithBeam(boolean state, boolean beambroken) {
boolean total = state || beambroken;
setSerializerState(total);
}
/**
* Sets The Serializer State With The Beam
* @param state Your State Of The Button
*/
public void setSerializerState(boolean state) {
setSerializerBeltState(state);
setSerializerShooterBeltState(state);
serializerState = state;
}
/**
* Sets the Serializer Belt State
* @param state Your State Of The Button
*/
public void setSerializerBeltState(boolean state) {
double serializerBeltSpeed = state ? Constants.SerializerConstants.SERIALIZER_BELT_SPEED : 0.d;
m_serializerBelt.set(serializerBeltSpeed);
}
/**
* Sets the Shooter Belt State
* @param state Your State Of The Button
*/
public void setSerializerShooterBeltState(boolean state) {
double serializerShooterBeltSpeed = state ? Constants.SerializerConstants.SERIALIZER_SHOOTER_BELT_SPEED : 0.d;
m_serializerShooterBelt.set(serializerShooterBeltSpeed);
}
/**
* Gets the Serializer State
* @return The Serializer State
*/
public boolean getSerializerState() {
return serializerState;
}
src/main/java/frc4388/robot/subsystems/Storage.java
+19 -1
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@@ -19,24 +19,42 @@ public class Storage extends SubsystemBase {
public Storage() {
}
/**
* If The Beam Is Broken, Run Storage
* If Else, Stop Running Storage
*/
public void manageStorage() {
if (m_beamShooter.get()) {
runStorage(1.d);
} else { runStorage(0.d); }
}
/**
* Runs The Storage at a Specifyed Speed
* @param input The Specifyed Speed
*/
public void runStorage(double input) {
m_storageMotor.set(input);
}
/**
* Gets The Beam State On The Shooter
* @return The State Of The Beam on the Shooter
*/
public boolean getBeamShooter(){
return m_beamShooter.get();
}
/**
* Gets The Beam State Of The Intake
* @return The Beam State Of The Intake
*/
public boolean getBeamIntake(){
return m_beamIntake.get();
}
@Override
/**
* Every Robot Tick Manage The Storage
*/
public void periodic() {
manageStorage();
}