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aarav18
2022-03-20 00:16:49 -06:00
parent 3d81c7d661
commit a467bd65d8
3 changed files with 33 additions and 31 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+22 -25
View File
@@ -112,7 +112,7 @@ public class RobotContainer {
public final RobotMap m_robotMap = new RobotMap();
/* Subsystems */
// public final Climber m_robotClimber = new Climber(m_robotMap.shoulder, m_robotMap.elbow, m_robotMap.gyro, false);
public final Climber m_robotClimber = new Climber(m_robotMap.shoulder, m_robotMap.elbow, m_robotMap.gyro, false);
public final Claws m_robotClaws = new Claws(m_robotMap.leftClaw, m_robotMap.rightClaw);
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);
@@ -128,7 +128,7 @@ public class RobotContainer {
private final WPI_TalonFX testShoulderMotor = new WPI_TalonFX(30);
private final WPI_TalonFX testElbowMotor = new WPI_TalonFX(31);
//public final Climber m_robotClimber = new Climber(testShoulderMotor, testElbowMotor);
// public final Climber m_robotClimber = new Climber(testShoulderMotor, testElbowMotor);
// Controllers
private final XboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
@@ -192,7 +192,7 @@ public class RobotContainer {
getOperatorController().getLeftTriggerAxis(),
getOperatorController().getRightTriggerAxis()),
m_robotIntake).withName("Intake runWithTriggers defaultCommand"));
m_robotBoomBoom.setDefaultCommand(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.35), m_robotBoomBoom));
m_robotBoomBoom.setDefaultCommand(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.0), m_robotBoomBoom));
// m_robotStorage.setDefaultCommand(
// new ManageStorage(m_robotStorage,
@@ -209,17 +209,17 @@ public class RobotContainer {
new RunCommand(() -> m_robotSerializer.setSerializer(getOperatorController().getLeftTriggerAxis() * 0.8),//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 RunCommand(() -> {
// if (this.currentControlMode.equals(ControlMode.SHOOTER)) {
// if (this.currentTurretMode.equals(TurretMode.MANUAL)) { m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()); }
// }
// if (this.currentControlMode.equals(ControlMode.CLIMBER)) { m_robotTurret.runTurretWithInput(0); }
// }, m_robotTurret));
// new RunCommand(() -> m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()),
// m_robotTurret).withName("Turret runTurretWithInput defaultCommand"));
m_robotTurret.setDefaultCommand(
new RunCommand(() -> {
if (this.currentControlMode.equals(ControlMode.SHOOTER)) {
if (this.currentTurretMode.equals(TurretMode.MANUAL)) { m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()); }
}
if (this.currentControlMode.equals(ControlMode.CLIMBER)) { m_robotTurret.runTurretWithInput(0); }
}, m_robotTurret));
m_robotHood.setDefaultCommand(
new RunCommand(() -> {
@@ -227,15 +227,12 @@ public class RobotContainer {
if (this.currentControlMode.equals(ControlMode.CLIMBER)) { m_robotHood.runHood(0); }
}, m_robotHood));
// m_robotClimber.setDefaultCommand(
// new RunCommand(() -> {
// if (this.currentControlMode.equals(ControlMode.SHOOTER)) { m_robotClimber.setMotors(0, 0); }
// if (this.currentControlMode.equals(ControlMode.CLIMBER)) { m_robotClimber.setJointSpeeds(getOperatorController().getLeftX() * 10000,
// getOperatorController().getRightY() * 10000); }}
// , m_robotClimber));
m_robotClimber.setDefaultCommand(
new RunCommand(() -> m_robotClimber.setMotors(0.0, getOperatorController().getRightY() * 0.5)
, m_robotClimber));
// m_robotTurret.setDefaultCommand(
// new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry));
// m_robotTurret.setDefaultCommand(
// new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry));
// continually sends updates to the Blinkin LED controller to keep the lights on
// m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, m_robotLED).withName("LED update defaultCommand"));
@@ -347,7 +344,7 @@ public class RobotContainer {
.whenPressed(new InstantCommand(() -> m_robotHood.calibrationSpeed = 0.3, m_robotHood))
.whenPressed(new InstantCommand(() -> m_robotExtender.setExtenderSoftLimits(false), m_robotExtender))
// .whenPressed(new InstantCommand(() -> m_robotClimber.setClimberSoftLimits(false), m_robotClimber))
.whenPressed(new InstantCommand(() -> m_robotClimber.setClimberSoftLimits(false), m_robotClimber))
.whenReleased(new InstantCommand(() -> m_robotTurret.setTurretSoftLimits(true), m_robotTurret))
.whenReleased(new InstantCommand(() -> m_robotTurret.calibrationSpeed = 1.0, m_robotTurret))
@@ -356,13 +353,13 @@ public class RobotContainer {
.whenReleased(new InstantCommand(() -> m_robotHood.calibrationSpeed = 1.0, m_robotHood))
.whenReleased(new InstantCommand(() -> m_robotExtender.setExtenderSoftLimits(true), m_robotExtender))
// .whenReleased(new InstantCommand(() -> m_robotClimber.setClimberSoftLimits(true), m_robotClimber))
.whenReleased(new InstantCommand(() -> m_robotClimber.setClimberSoftLimits(true), m_robotClimber))
.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.setEncoder(0), m_robotExtender))
.whenReleased(new InstantCommand(() -> ExtenderIntakeGroup.setDirectionToOut(), m_robotIntake, m_robotExtender));
// .whenReleased(new InstantCommand(() -> m_robotClimber.setEncoders(0), m_robotClimber));
.whenReleased(new InstantCommand(() -> ExtenderIntakeGroup.setDirectionToOut(), m_robotIntake, m_robotExtender))
.whenReleased(new InstantCommand(() -> m_robotClimber.setEncoders(0), m_robotClimber));
new JoystickButton(getButtonBox(), ButtonBox.Button.kMiddleSwitch.value)
.whenPressed(new InstantCommand(() -> this.currentControlMode = ControlMode.CLIMBER))
src/main/java/frc4388/robot/RobotMap.java
+2 -2
View File
@@ -196,8 +196,8 @@ public class RobotMap {
}
/* Climb Subsystem */
// public final WPI_TalonFX shoulder = new WPI_TalonFX(ClimberConstants.SHOULDER_ID); // TODO
// public final WPI_TalonFX elbow = new WPI_TalonFX(ClimberConstants.ELBOW_ID); // TODO
public final WPI_TalonFX shoulder = new WPI_TalonFX(ClimberConstants.SHOULDER_ID); // TODO
public final WPI_TalonFX elbow = new WPI_TalonFX(ClimberConstants.ELBOW_ID); // TODO
/* Hooks Subsystem */
// public final CANSparkMax leftClaw = new CANSparkMax(ClawConstants.LEFT_CLAW_ID, MotorType.kBrushless);
src/main/java/frc4388/robot/subsystems/Climber.java
+9 -4
View File
@@ -164,8 +164,8 @@ public class Climber extends SubsystemBase {
// }
public void setMotors(double shoulderOutput, double elbowOutput) {
m_shoulder.set(shoulderOutput * ClimberConstants.INPUT_MULTIPLIER * this.shoulderSpeedLimiter);
m_elbow.set(elbowOutput * ClimberConstants.INPUT_MULTIPLIER * this.elbowSpeedLimiter);
m_shoulder.set(shoulderOutput * ClimberConstants.INPUT_MULTIPLIER );//* this.shoulderSpeedLimiter);
m_elbow.set(elbowOutput * ClimberConstants.INPUT_MULTIPLIER);// * this.elbowSpeedLimiter);
}
public double[] getJointAngles() {
@@ -206,7 +206,11 @@ public class Climber extends SubsystemBase {
public void setJointSpeeds(double[] speeds) {
setJointSpeeds(speeds[0], speeds[1]);
}
/**
* Velocity PID set for joints
* @param shoulderSpeed
* @param elbowSpeed
*/
public void setJointSpeeds(double shoulderSpeed, double elbowSpeed) {
m_shoulder.set(TalonFXControlMode.Velocity, shoulderSpeed);
m_elbow.set(TalonFXControlMode.Velocity, elbowSpeed);
@@ -220,6 +224,7 @@ public class Climber extends SubsystemBase {
* @param yInput Rate of change of Y position of target point
* @deprecated use controlJointsWithInput() instead
*/
@Deprecated
public void controlWithInput(double xInput, double yInput) {
moving = xInput != 0 || yInput != 0;
@@ -310,7 +315,7 @@ public class Climber extends SubsystemBase {
* @return [shoulderAngle, elbowAngle] in radians
* @deprecated
* */
@Deprecated
public static double[] getTargetJointAngles(Point targetPoint, double tiltAngle) {
double [] angles = new double[2];