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Controls and IDs

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ryan123rudder
2022-03-06 00:48:38 -07:00
parent 74fa148c08
commit 7cadbf5025
3 changed files with 42 additions and 56 deletions
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src/main/java/frc4388/robot/Constants.java
+9 -10
View File
@@ -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
src/main/java/frc4388/robot/RobotContainer.java
+30 -46
View File
@@ -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));
}