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Merge branch 'full-robot-test' into Climber

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This commit is contained in:
Ryan Manley
2022-03-05 23:50:32 -07:00
committed by GitHub
parent 92a453517e 6a8fec41ce
commit a10d098ab5
11 changed files with 447 additions and 17 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+47 -13
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@@ -54,18 +54,19 @@ import edu.wpi.first.wpilibj2.command.NotifierCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.subsystems.Claws;
import frc4388.robot.commands.RunClaw;
import frc4388.robot.subsystems.Climber;
import frc4388.robot.subsystems.Claws.ClawType;
import frc4388.robot.commands.AimToCenter;
import frc4388.robot.commands.Shoot;
import frc4388.robot.subsystems.BoomBoom;
import frc4388.robot.subsystems.Hood;
import frc4388.robot.subsystems.Intake;
import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.Serializer;
import frc4388.robot.subsystems.Storage;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.robot.subsystems.Turret;
import frc4388.robot.subsystems.Vision;
@@ -96,12 +97,16 @@ public class RobotContainer {
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront, m_robotMap.leftBack,
m_robotMap.rightFront, m_robotMap.rightBack, m_robotMap.gyro);
// private final LED m_robotLED = new LED(m_robotMap.LEDController);
private final Serializer m_robotSerializer = new Serializer(m_robotMap.serializerBelt, /*m_robotMap.serializerShooterBelt,*/ m_robotMap.serializerBeam);
private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.extenderMotor, m_robotSerializer);
private final Storage m_robotStorage = new Storage(m_robotMap.storageMotor, m_robotMap.beamIntake, m_robotMap.beamShooter);
private final LED m_robotLED = new LED(m_robotMap.LEDController);
private final BoomBoom m_robotBoomBoom = new BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight);
private final Hood m_robotHood = new Hood();
private final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret);
private final Vision m_robotVision = new Vision(m_robotTurret, m_robotBoomBoom);
/* Controllers */
private final XboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
private final XboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
@@ -137,6 +142,7 @@ public class RobotContainer {
// m_robotTurret.setDefaultCommand(new AimToCenter(m_robotTurret,
// m_robotSwerveDrive));
//Swerve Drive
m_robotSwerveDrive.setDefaultCommand(
new RunCommand(() -> m_robotSwerveDrive.driveWithInput(
getDriverController().getLeftX(),
@@ -145,6 +151,20 @@ public class RobotContainer {
getDriverController().getRightY(),
true),
m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand"));
//Intake with Triggers
m_robotIntake.setDefaultCommand(
new RunCommand(() -> m_robotIntake.runWithTriggers(
getOperatorController().getLeftTriggerAxis(),
getOperatorController().getRightTriggerAxis()),
m_robotIntake).withName("Intake runWithTriggers defaultCommand"));
//Storage Management
m_robotStorage.setDefaultCommand(
new RunCommand(() -> m_robotStorage.manageStorage(),
m_robotStorage).withName("Storage manageStorage defaultCommand"));
//Serializer Management
m_robotSerializer.setDefaultCommand(
new RunCommand(() -> m_robotSerializer.setSerializerStateWithBeam(),
m_robotSerializer).withName("Serializer setSerializerStateWithBeam defaultCommand"));
// continually sends updates to the Blinkin LED controller to keep the lights on
@@ -162,9 +182,10 @@ public class RobotContainer {
* passing it to a {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
*/
private void configureButtonBindings() {
/* Driver Buttons */
// "XboxController.Button.kBack" was undefined yet, 7 works just fine
new JoystickButton(getDriverController(), 7)
new JoystickButton(getDriverController(), XboxController.Button.kBack.value)
.whenPressed(m_robotSwerveDrive::resetGyro);
new JoystickButton(getDriverController(), XboxController.Button.kLeftBumper.value)
@@ -179,7 +200,8 @@ public class RobotContainer {
new JoystickButton(getDriverController(), XboxController.Button.kA.value)
.whenPressed(() -> resetOdometry(new Pose2d(0, 0, new Rotation2d(0))));
new JoystickButton(getDriverController(), XboxController.Button.kX.value)
new JoystickButton(getDriverController(), XboxController.Button.kX.value) //Temp
.whenPressed(() -> m_robotMap.leftFront.reset())
.whenPressed(() -> m_robotMap.rightFront.reset())
.whenPressed(() -> m_robotMap.leftBack.reset())
@@ -196,18 +218,30 @@ public class RobotContainer {
.whenPressed(new RunClaw(m_claws, ClawType.RIGHT, false));
/*
* new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
* .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
* .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
*
* new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
* .whenPressed(new InstantCommand());
*
* // activates "BoomBoom"
* new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
* .whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret,
* m_robotHood));
*/
//Extender
new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
.whenPressed(() -> m_robotIntake.runExtender(true));
new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
.whenPressed(() -> m_robotIntake.runExtender(false));
//Storage
new JoystickButton(getOperatorController(), XboxController.Button.kRightBumper.value)
.whenPressed(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED))
.whenReleased(() -> m_robotStorage.runStorage(0.0));
new JoystickButton(getOperatorController(), XboxController.Button.kLeftBumper.value)
.whenPressed(() -> m_robotStorage.runStorage(-StorageConstants.STORAGE_SPEED))
.whenReleased(() -> m_robotStorage.runStorage(0.0));
}
/**