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extender and intake changes

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This commit is contained in:
aarav18
2022-03-14 20:10:12 -06:00
parent ed10b1e83f
commit 8a902e635f
11 changed files with 77 additions and 75 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+20 -27
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@@ -62,11 +62,11 @@ import frc4388.robot.Constants.OIConstants;
import frc4388.robot.Constants.ShooterConstants;
import frc4388.robot.Constants.StorageConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.robot.commands.AimToCenter;
import frc4388.robot.commands.ExtenderIntakeGroup;
import frc4388.robot.commands.RunMiddleSwitch;
import frc4388.robot.commands.Shoot;
import frc4388.robot.commands.TrackTarget;
import frc4388.robot.commands.ExtenderIntakeCommands.ExtenderIntakeGroup;
import frc4388.robot.commands.ShooterCommands.AimToCenter;
import frc4388.robot.commands.ShooterCommands.Shoot;
import frc4388.robot.commands.ShooterCommands.TrackTarget;
import frc4388.robot.subsystems.BoomBoom;
import frc4388.robot.subsystems.Climber;
import frc4388.robot.subsystems.Extender;
@@ -96,13 +96,14 @@ import frc4388.utility.controller.DeadbandedXboxController;
*/
public class RobotContainer {
private static final Logger LOGGER = Logger.getLogger(RobotContainer.class.getSimpleName());
/* RobotMap */
// RobotMap
public final RobotMap m_robotMap = new RobotMap();
// Subsystems
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront, m_robotMap.leftBack, m_robotMap.rightFront, m_robotMap.rightBack, m_robotMap.gyro);
public final Serializer m_robotSerializer = new Serializer(m_robotMap.serializerBelt, /*m_robotMap.serializerShooterBelt,*/ m_robotMap.serializerBeam);
public final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotSerializer);
public final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor);
public final Extender m_robotExtender = new Extender(m_robotMap.extenderMotor);
public final Storage m_robotStorage = new Storage(m_robotMap.storageMotor);
@@ -115,12 +116,12 @@ public class RobotContainer {
private final WPI_TalonFX testShoulderMotor = new WPI_TalonFX(31);
public final Climber m_robotClimber = new Climber(testElbowMotor);
/* Controllers */
// Controllers
private final XboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
private final XboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
private final ButtonBox m_buttonBox = new ButtonBox(OIConstants.BUTTON_BOX_ID);
/* Autonomous */
// Autonomous
private PathPlannerTrajectory loadedPathTrajectory = null;
private final ListeningSendableChooser<File> autoChooser = new ListeningSendableChooser<>(this::loadPath);
private final List<Waypoint> pathPoints = new ArrayList<>();
@@ -275,20 +276,8 @@ public class RobotContainer {
.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(0.9), m_robotStorage))
.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
// new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
// .whileHeld(new RunExtender(m_robotIntake, m_robotExtender, 0.5))
// .whenReleased(new RunCommand(() -> RunExtender.changeDirection(), m_robotIntake, m_robotExtender));
new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
.whenPressed(new ExtenderIntakeGroup(m_robotIntake, m_robotExtender));
// .whenReleased(new InstantCommand(() -> ExtenderIntakeGroup.changeDirection()));
// new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
// .whenPressed(new ParallelCommandGroup(
// new RunCommand(() -> m_robotIntake.m_intakeMotor.set(ExtenderIntakeGroup.direction * -0.2), m_robotIntake),
// new RunCommand(() -> m_robotExtender.m_extenderMotor.set(ExtenderIntakeGroup.direction * 0.5), m_robotExtender)))
// .whenReleased(new InstantCommand(() -> ExtenderIntakeGroup.changeDirection()));
// new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
// .whenPressed(new InstantCommand(() -> m_robotExtender.m_extenderMotor.getEncoder().setPosition(0)));
@@ -297,10 +286,14 @@ public class RobotContainer {
// .whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
.whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.25)))
// .whileHeld(new RunCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender))
// .whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender))
.whenReleased(new InstantCommand(() -> m_robotBoomBoom.runDrumShooter(0)));
// .whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.25)))
.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender))
.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
// .whenReleased(new InstantCommand(() -> m_robotBoomBoom.runDrumShooter(0)));
new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(1.0), m_robotExtender))
.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
// new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
// .whenPressed(new InstantCommand(() -> m_robotBoomBoom.updateOffset(500), m_robotBoomBoom));
@@ -321,8 +314,8 @@ public class RobotContainer {
/*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)
.whileHeld(new RunCommand(() -> m_robotTurret.runShooterRotatePID(-44 * ShooterConstants.TURRET_DEGREES_PER_ROT), m_robotTurret));
// new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
// .whileHeld(new RunCommand(() -> m_robotTurret.runShooterRotatePID(-44 * ShooterConstants.TURRET_DEGREES_PER_ROT), m_robotTurret));
//B > Shoot with Lime
new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
@@ -343,7 +336,7 @@ public class RobotContainer {
.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.m_extenderMotor.getEncoder().setPosition(0), m_robotExtender));
.whenReleased(new InstantCommand(() -> m_robotExtender.setEncoder(0), m_robotExtender));
// new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftSwitch.value)
// .whileHeld(new RunCommand(() -> RunMiddleSwitch.setManual(true)))