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locked motors + shoot kinda works

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This commit is contained in:
aarav18
2022-03-19 19:58:21 -06:00
parent dbc1e070e0
commit be850585ec
7 changed files with 87 additions and 54 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+36 -29
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@@ -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);
@@ -172,9 +172,9 @@ public class RobotContainer {
/* Default Commands */
// IK command
m_robotClimber.setDefaultCommand(
new RunCommand(() -> m_robotClimber.setJointSpeeds(getOperatorController().getLeftX() * 10000,
getOperatorController().getRightY() * 10000), m_robotClimber).withName("Climber controlWithInput defaultCommand"));
// m_robotClimber.setDefaultCommand(
// new RunCommand(() -> m_robotClimber.setJointSpeeds(getOperatorController().getLeftX() * 10000,
// getOperatorController().getRightY() * 10000), m_robotClimber).withName("Climber controlWithInput defaultCommand"));
// Swerve Drive with Input
m_robotSwerveDrive.setDefaultCommand(
@@ -208,17 +208,17 @@ 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(() -> {
@@ -226,12 +226,12 @@ 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(() -> {
// 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_robotTurret.setDefaultCommand(
// new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry));
@@ -269,15 +269,22 @@ public class RobotContainer {
new JoystickButton(getDriverController(), XboxController.Button.kA.value)
.whileHeld(() -> m_robotSwerveDrive.driveWithInput(0.0, 0.0, 1.0, 0.0, true))
.whenReleased(() -> m_robotSwerveDrive.stopModules());
new JoystickButton(getDriverController(), XboxController.Button.kB.value)
.whileHeld(new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry))
.whenReleased(new InstantCommand(() -> m_robotTurret.runTurretWithInput(0.0), m_robotTurret));
new JoystickButton(getDriverController(), XboxController.Button.kY.value)
.whileHeld(new RunCommand(() -> m_robotTurret.runShooterRotatePID(-45), m_robotTurret))
.whenReleased(new InstantCommand(() -> m_robotTurret.runTurretWithInput(0.0), m_robotTurret));
new JoystickButton(getDriverController(), XboxController.Button.kY.value)
.whileHeld(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood))
.whenReleased(new InstantCommand(() -> m_robotTurret.runTurretWithInput(0.0), m_robotTurret))
.whenReleased(() -> m_robotSwerveDrive.stopModules());
new JoystickButton(getDriverController(), XboxController.Button.kX.value)
.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_robotHood.runHood(0.0), m_robotHood))
.whenReleased(new InstantCommand(() -> m_robotBoomBoom.runDrumShooter(0.0), m_robotBoomBoom));
/* Operator Buttons */
new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
@@ -335,18 +342,18 @@ public class RobotContainer {
.whenPressed(new InstantCommand(() -> m_robotTurret.setTurretSoftLimits(false), m_robotTurret))
.whenPressed(new InstantCommand(() -> m_robotHood.setHoodSoftLimits(false), 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_robotHood.setHoodSoftLimits(true), 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))