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encoder reset thingies

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This commit is contained in:
aarav18
2022-03-06 18:02:04 -07:00
parent 1699ebeda8
commit b2b1451761
6 changed files with 117 additions and 45 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+13 -6
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@@ -95,10 +95,10 @@ public class RobotContainer {
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(m_robotMap.angleAdjusterMotor);
private final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret);
private final VisionOdometry m_robotVisionOdometry = new VisionOdometry(m_robotSwerveDrive, m_robotTurret);*/
private final BoomBoom m_robotBoomBoom = new BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight);
public final Hood m_robotHood = new Hood(m_robotMap.angleAdjusterMotor);
public final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret);
private final VisionOdometry m_robotVisionOdometry = new VisionOdometry(m_robotSwerveDrive, m_robotTurret);
/* Controllers */
private final XboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
@@ -214,6 +214,13 @@ public class RobotContainer {
// Y > Retract Intake
new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
.whenPressed(() -> m_robotIntake.runExtender(false));
new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
.whenPressed(new InstantCommand(() -> m_robotTurret.m_boomBoomRotateEncoder.setPosition(0)));
new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
.whenPressed(new InstantCommand(() -> m_robotHood.m_angleEncoder.setPosition(0)));
// Right Bumper > Storage In
// new JoystickButton(getOperatorController(), XboxController.Button.kRightBumper.value)
// .whileHeld(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED)))
@@ -402,8 +409,8 @@ public class RobotContainer {
Rotation2d rotation = m_robotSwerveDrive.m_gyro.getRotation2d();
// FIXME: Chassis speeds are created from joystick inputs and do not reflect
// actual robot velocity.
Translation2d velocity = new Translation2d(m_robotSwerveDrive.chassisSpeeds.vxMetersPerSecond,
m_robotSwerveDrive.chassisSpeeds.vyMetersPerSecond);
Translation2d velocity = new Translation2d(m_robotSwerveDrive.getChassisSpeeds()[0],
m_robotSwerveDrive.getChassisSpeeds()[1]);
Waypoint waypoint = new Waypoint(position, position, position, rotation.getDegrees(), false,
SwerveDriveConstants.PATH_RECORD_VELOCITY ? velocity.getNorm() : null, false);
pathPoints.add(waypoint);