From 7cadbf5025412f84274e9177aad713dd11a86994 Mon Sep 17 00:00:00 2001 From: ryan123rudder <42309874+ryan123rudder@users.noreply.github.com> Date: Sun, 6 Mar 2022 00:48:38 -0700 Subject: [PATCH] Controls and IDs --- simgui.json | 3 + src/main/java/frc4388/robot/Constants.java | 19 +++-- .../java/frc4388/robot/RobotContainer.java | 76 ++++++++----------- 3 files changed, 42 insertions(+), 56 deletions(-) diff --git a/simgui.json b/simgui.json index fb4fc2f..27dbfad 100644 --- a/simgui.json +++ b/simgui.json @@ -40,6 +40,9 @@ "/LiveWindow/Ungrouped/Scheduler": "Scheduler", "/LiveWindow/Ungrouped/Spark[0]": "Motor Controller", "/LiveWindow/Ungrouped/Talon FX [14]": "Motor Controller", + "/LiveWindow/Ungrouped/Talon FX [15]": "Motor Controller", + "/LiveWindow/Ungrouped/Talon FX [21]": "Motor Controller", + "/LiveWindow/Ungrouped/Talon FX [22]": "Motor Controller", "/LiveWindow/Ungrouped/Talon FX [23]": "Motor Controller", "/LiveWindow/Ungrouped/Talon FX [24]": "Motor Controller", "/LiveWindow/Ungrouped/Talon FX [2]": "Motor Controller", diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 085dbb0..15517e1 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -123,17 +123,17 @@ public final class Constants { public static final double SERIALIZER_BELT_SPEED = 0.1d; // CAN IDs - public static final int SERIALIZER_BELT = 16; + public static final int SERIALIZER_BELT = 17; public static final int SERIALIZER_BELT_BEAM = 27; // TODO } public static final class IntakeConstants { // CAN IDs - public static final int INTAKE_MOTOR = 14; - public static final int EXTENDER_MOTOR = 15; + public static final int INTAKE_MOTOR = 15; + public static final int EXTENDER_MOTOR = 16; } public static final class StorageConstants { - public static final int STORAGE_CAN_ID = 17; + public static final int STORAGE_CAN_ID = 18; public static final int BEAM_SENSOR_SHOOTER = 28; //TODO public static final int BEAM_SENSOR_INTAKE = 29; //TODO public static final double STORAGE_SPEED = 0.3; @@ -163,9 +163,8 @@ public final class Constants { public static final int SHOOTER_PID_LOOP_IDX = 1; public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG = new SupplyCurrentLimitConfiguration( true, 60, 40, 0.5); - public static final int SHOOTER_FALCON_LEFT_CAN_ID = 23; - public static final int SHOOTER_FALCON_RIGHT_CAN_ID = 24; - public static final int SHOOTER_ROTATE_ID = 31; // TODO: find this value + public static final int SHOOTER_FALCON_LEFT_CAN_ID = 21; + public static final int SHOOTER_FALCON_RIGHT_CAN_ID = 22; public static final double TURRET_SPEED_MULTIPLIER = 0.1d; public static final int DEGREES_PER_ROT = 0; public static final int TURRET_MOTOR_POS_AT_ZERO_ROT = 0; @@ -177,11 +176,11 @@ public final class Constants { /* Turret Constants */ // ID - public static final int TURRET_MOTOR_CAN_ID = 30; + public static final int TURRET_MOTOR_CAN_ID = 19; public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.6, 0.0, 0.0, 0.0, 0, 1.0); public static final Gains SHOOTER_ANGLE_GAINS = new Gains(0.05, 0.0, 0.0, 0.0, 0, 0.3); public static final double SHOOTER_TURRET_MIN = -1.0; - public static final float TURRET_FORWARD_LIMIT = 0; // TODO: find + public static final float TURRET_FORWARD_LIMIT = 50; // TODO: find public static final float TURRET_REVERSE_LIMIT = 0; // TODO: find // deadzones @@ -197,7 +196,7 @@ public final class Constants { public static final Gains DRUM_SHOOTER_GAINS = new Gains(0, 0, 0, 0, 0, 0); // TODO: tune values /* Hood Constants */ - public static final int SHOOTER_ANGLE_ADJUST_ID = 32; + public static final int SHOOTER_ANGLE_ADJUST_ID = 20; public static final double HOOD_MOTOR_ROTS_PER_ROT = 1; // TODO: Find public static final double HOOD_MOTOR_POS_AT_ZERO_ROT = 0; // TODO: Find public static final float HOOD_FORWARD_LIMIT = 0; // TODO: find diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 25e521b..55ad660 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -126,16 +126,7 @@ public class RobotContainer { configureButtonBindings(); /* Default Commands */ - // continually sends updates to the Blinkin LED controller to keep the lights on - // m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, - // m_robotLED)); - - // Turret default command - - //m_robotTurret.setDefaultCommand(new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry)); - m_robotTurret.setDefaultCommand(new RunCommand(() -> m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()), m_robotTurret)); - - //Swerve Drive + // Swerve Drive with Input m_robotSwerveDrive.setDefaultCommand( new RunCommand(() -> m_robotSwerveDrive.driveWithInput( getDriverController().getLeftX(), @@ -144,20 +135,27 @@ public class RobotContainer { getDriverController().getRightY(), true), m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand")); - //Intake with Triggers + // Intake with Triggers m_robotIntake.setDefaultCommand( new RunCommand(() -> m_robotIntake.runWithTriggers( getOperatorController().getLeftTriggerAxis(), getOperatorController().getRightTriggerAxis()), m_robotIntake).withName("Intake runWithTriggers defaultCommand")); - //Storage Management + // Storage Management m_robotStorage.setDefaultCommand( new RunCommand(() -> m_robotStorage.manageStorage(), m_robotStorage).withName("Storage manageStorage defaultCommand")); - //Serializer Management + // Serializer Management m_robotSerializer.setDefaultCommand( new RunCommand(() -> m_robotSerializer.setSerializerStateWithBeam(), m_robotSerializer).withName("Serializer setSerializerStateWithBeam defaultCommand")); + // Turret Manual + m_robotTurret.setDefaultCommand( + new RunCommand(() -> m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()), + m_robotTurret).withName("Turret runTurretWithInput defaultCommand")); + + // m_robotTurret.setDefaultCommand( + // new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry)); // continually sends updates to the Blinkin LED controller to keep the lights on /* @@ -178,60 +176,46 @@ public class RobotContainer { private void configureButtonBindings() { /* Driver Buttons */ - // "XboxController.Button.kBack" was undefined yet, 7 works just fine - new JoystickButton(getDriverController(), XboxController.Button.kBack.value) - .whenPressed(m_robotSwerveDrive::resetGyro); - + // Start > Calibrate Odometry + new JoystickButton(getDriverController(), XboxController.Button.kStart.value) + .whenPressed(m_robotSwerveDrive::resetGyro) + .whenPressed(() -> resetOdometry(new Pose2d(0, 0, new Rotation2d(0)))); + // Left Bumper > Shift Down new JoystickButton(getDriverController(), XboxController.Button.kLeftBumper.value) - // new XboxControllerRawButton(m_driverXbox, - // XboxControllerRaw.LEFT_BUMPER_BUTTON) .whenPressed(() -> m_robotSwerveDrive.highSpeed(false)); - + // Right Bumper > Shift Up new JoystickButton(getDriverController(), XboxController.Button.kRightBumper.value) - // new XboxControllerRawButton(m_driverXbox, - // XboxControllerRaw.RIGHT_BUMPER_BUTTON) .whenPressed(() -> m_robotSwerveDrive.highSpeed(true)); - new JoystickButton(getDriverController(), XboxController.Button.kA.value) - .whenPressed(() -> resetOdometry(new Pose2d(0, 0, new Rotation2d(0)))); + // new JoystickButton(getDriverController(), XboxController.Button.kA.value) + // .whenPressed(() -> resetOdometry(new Pose2d(0, 0, new Rotation2d(0)))); - new JoystickButton(getDriverController(), XboxController.Button.kX.value) //Temp - .whenPressed(() -> m_robotMap.leftFront.reset()) - .whenPressed(() -> m_robotMap.rightFront.reset()) - .whenPressed(() -> m_robotMap.leftBack.reset()) - .whenPressed(() -> m_robotMap.rightBack.reset()); + // new JoystickButton(getDriverController(), XboxController.Button.kX.value) //Temp + // .whenPressed(() -> m_robotMap.leftFront.reset()) + // .whenPressed(() -> m_robotMap.rightFront.reset()) + // .whenPressed(() -> m_robotMap.leftBack.reset()) + // .whenPressed(() -> m_robotMap.rightBack.reset()); /* Operator Buttons */ - /* - * // activates "BoomBoom" - * new JoystickButton(getOperatorController(), XboxController.Button.kA.value) - * .whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, - * m_robotHood)); - */ - //Extender + // X > Extend Intake new JoystickButton(getOperatorController(), XboxController.Button.kX.value) .whenPressed(() -> m_robotIntake.runExtender(true)); - + // Y > Retract Intake new JoystickButton(getOperatorController(), XboxController.Button.kY.value) .whenPressed(() -> m_robotIntake.runExtender(false)); - - - - //Storage + // Right Bumper > Storage In new JoystickButton(getOperatorController(), XboxController.Button.kRightBumper.value) .whenPressed(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED)) .whenReleased(() -> m_robotStorage.runStorage(0.0)); - - + // Left Bumper > Storage Out (note: neccessary?) new JoystickButton(getOperatorController(), XboxController.Button.kLeftBumper.value) .whenPressed(() -> m_robotStorage.runStorage(-StorageConstants.STORAGE_SPEED)) .whenReleased(() -> m_robotStorage.runStorage(0.0)); - - //Shooter + // A > Shoot with Odo new JoystickButton(getOperatorController(), XboxController.Button.kA.value) .whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood)); - + // B > Shoot with Lime new JoystickButton(getOperatorController(), XboxController.Button.kB.value) .whenPressed(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotSwerveDrive, m_robotVisionOdometry)); }