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can now drive while Shoot.java was running

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This commit is contained in:
aarav18
2022-03-20 15:24:48 -06:00
parent e39c81d556
commit 896bbc011c
4 changed files with 25 additions and 23 deletions
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src/main/java/frc4388/robot/Constants.java
+1 -1
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@@ -279,7 +279,7 @@ public final class Constants {
// Shoot Command Constants // Shoot Command Constants
public static final Gains TURRET_SHOOT_GAINS = new Gains(3.0, 0.0, 0.0, 0.0, 0, 1.0); public static final Gains TURRET_SHOOT_GAINS = new Gains(3.0, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains SWERVE_SHOOT_GAINS = new Gains(4.0, 0.0, 0.0, 0.0, 0, 1.0); public static final Gains SWERVE_SHOOT_GAINS = new Gains(6.0, 0.0, 0.0, 0.0, 0, 1.0);
/* Turret Constants */ /* Turret Constants */
// ID // ID
src/main/java/frc4388/robot/RobotContainer.java
+19 -20
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@@ -131,8 +131,8 @@ public class RobotContainer {
// public final Climber m_robotClimber = new Climber(testShoulderMotor, testElbowMotor); // public final Climber m_robotClimber = new Climber(testShoulderMotor, testElbowMotor);
// Controllers // Controllers
private final XboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID); private final static XboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
private final XboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID); private final static XboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
private final ButtonBox m_buttonBox = new ButtonBox(OIConstants.BUTTON_BOX_ID); private final ButtonBox m_buttonBox = new ButtonBox(OIConstants.BUTTON_BOX_ID);
// Autonomous // Autonomous
@@ -270,31 +270,29 @@ public class RobotContainer {
new JoystickButton(getDriverController(), XboxController.Button.kRightBumper.value) new JoystickButton(getDriverController(), XboxController.Button.kRightBumper.value)
.whenPressed(() -> m_robotSwerveDrive.highSpeed(true)); .whenPressed(() -> m_robotSwerveDrive.highSpeed(true));
new JoystickButton(getDriverController(), XboxController.Button.kA.value) // new JoystickButton(getDriverController(), XboxController.Button.kA.value)
.whileHeld(() -> m_robotSwerveDrive.driveWithInput(0.0, 0.0, 0.2, true)) // .whileHeld(() -> m_robotSwerveDrive.driveWithInput(0.0, 0.0, 0.2, true))
.whenReleased(() -> m_robotSwerveDrive.stopModules()); // .whenReleased(() -> m_robotSwerveDrive.stopModules());
new JoystickButton(getDriverController(), XboxController.Button.kB.value) // new JoystickButton(getDriverController(), XboxController.Button.kB.value)
.whileHeld(new AimToCenter(m_robotTurret, m_robotVisionOdometry, m_robotSwerveDrive::getOdometry)) // .whileHeld(new AimToCenter(m_robotTurret, m_robotVisionOdometry, m_robotSwerveDrive::getOdometry))
.whenReleased(new InstantCommand(() -> m_robotTurret.runTurretWithInput(0.0), m_robotTurret)); // .whenReleased(new InstantCommand(() -> m_robotTurret.runTurretWithInput(0.0), m_robotTurret));
// new JoystickButton(getDriverController(), XboxController.Button.kY.value) // new JoystickButton(getDriverController(), XboxController.Button.kY.value)
// .whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood, false)); // .whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood, false));
// .whenReleased(new InstantCommand(() -> m_robotTurret.runTurretWithInput(0.0), m_robotTurret)) // .whenReleased(new InstantCommand(() -> m_robotTurret.runTurretWithInput(0.0), m_robotTurret))
// .whenReleased(() -> m_robotSwerveDrive.stopModules()); // .whenReleased(() -> m_robotSwerveDrive.stopModules());
new JoystickButton(getDriverController(), XboxController.Button.kX.value) // new JoystickButton(getDriverController(), XboxController.Button.kX.value)
.whileHeld(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry)) // .whileHeld(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry))
.whenReleased(new InstantCommand(() -> m_robotTurret.runTurretWithInput(0.0), m_robotTurret)) // .whenReleased(new InstantCommand(() -> m_robotTurret.runTurretWithInput(0.0), m_robotTurret))
.whenReleased(new InstantCommand(() -> m_robotHood.runHood(0.0), m_robotHood)) // .whenReleased(new InstantCommand(() -> m_robotHood.runHood(0.0), m_robotHood))
.whenReleased(new InstantCommand(() -> m_robotBoomBoom.runDrumShooter(0.0), m_robotBoomBoom)); // .whenReleased(new InstantCommand(() -> m_robotBoomBoom.runDrumShooter(0.0), m_robotBoomBoom));
/* Operator Buttons */ /* Operator Buttons */
new JoystickButton(getOperatorController(), XboxController.Button.kY.value) new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
.whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood, false)); .whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood, false));
//!.whenReleased(new InstantCommand(() -> m_robotTurret.runTurretWithInput(0.0), m_robotTurret))
//!.whenReleased(() -> m_robotSwerveDrive.stopModules());
// new JoystickButton(getOperatorController(), XboxController.Button.kY.value) // new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
// .whileHeld(new RunCommand(() -> m_robotClaws.setOpen(true))); // .whileHeld(new RunCommand(() -> m_robotClaws.setOpen(true)));
@@ -340,9 +338,10 @@ public class RobotContainer {
//B > Shoot with Lime //B > Shoot with Lime
new JoystickButton(getOperatorController(), XboxController.Button.kA.value) new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
.whileHeld(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry)) // .whileHeld(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry))
.whenReleased(new InstantCommand(() -> m_robotVisionOdometry.setLEDs(false))) // .whenReleased(new InstantCommand(() -> m_robotVisionOdometry.setLEDs(false)))
.whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0))); .whenPressed(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.25)))
.whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.0)));
// .whileHeld% // .whileHeld%
/* Button Box Buttons */ /* Button Box Buttons */
@@ -414,11 +413,11 @@ public class RobotContainer {
return null; return null;
} }
public XboxController getDriverController() { public static XboxController getDriverController() {
return m_driverXbox; return m_driverXbox;
} }
public XboxController getOperatorController() { public static XboxController getOperatorController() {
return m_operatorXbox; return m_operatorXbox;
} }
src/main/java/frc4388/robot/commands/ShooterCommands/Shoot.java
+3 -1
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@@ -9,6 +9,8 @@ import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandBase; import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.Constants; import frc4388.robot.Constants;
import frc4388.robot.Robot;
import frc4388.robot.RobotContainer;
import frc4388.robot.Constants.ShooterConstants; import frc4388.robot.Constants.ShooterConstants;
import frc4388.robot.Constants.SwerveDriveConstants; import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.robot.subsystems.BoomBoom; import frc4388.robot.subsystems.BoomBoom;
@@ -160,7 +162,7 @@ public class Shoot extends CommandBase {
this.turret.runTurretWithCustomPID(normOutput); this.turret.runTurretWithCustomPID(normOutput);
// this.turret.m_boomBoomRotateMotor.set(normOutput); // this.turret.m_boomBoomRotateMotor.set(normOutput);
this.swerve.driveWithInput(0, 0, normOutput * (this.swerveGains.kP/this.turretGains.kP), false); // ? should the output be field relative this.swerve.driveWithInput(RobotContainer.getDriverController().getLeftX(), RobotContainer.getDriverController().getLeftY(), normOutput * (this.swerveGains.kP/this.turretGains.kP), true); // ? should the output be field relative
if (this.toShoot) { if (this.toShoot) {
this.hood.runAngleAdjustPID(this.targetHood); this.hood.runAngleAdjustPID(this.targetHood);
src/main/java/frc4388/robot/subsystems/BoomBoom.java
+2 -1
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@@ -189,7 +189,8 @@ public class BoomBoom extends SubsystemBase {
* @param speed percent output form -1.0 to 1.0 * @param speed percent output form -1.0 to 1.0
*/ */
public void runDrumShooter(double speed) { public void runDrumShooter(double speed) {
m_shooterFalconLeft.set(TalonFXControlMode.PercentOutput, speed + speed2); // m_shooterFalconLeft.set(TalonFXControlMode.PercentOutput, speed + speed2);
m_shooterFalconLeft.set(speed);
SmartDashboard.putNumber("BoomBoom percent speed", speed + speed2); SmartDashboard.putNumber("BoomBoom percent speed", speed + speed2);
SmartDashboard.putNumber("BoomBoom current stator", m_shooterFalconLeft.getStatorCurrent()); SmartDashboard.putNumber("BoomBoom current stator", m_shooterFalconLeft.getStatorCurrent());
SmartDashboard.putNumber("BoomBoom current supply", m_shooterFalconLeft.getSupplyCurrent()); SmartDashboard.putNumber("BoomBoom current supply", m_shooterFalconLeft.getSupplyCurrent());