diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 55ad660..080a019 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -93,12 +93,12 @@ 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 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(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 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); /* Controllers */ private final XboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID); @@ -127,32 +127,32 @@ public class RobotContainer { /* Default Commands */ // Swerve Drive with Input - m_robotSwerveDrive.setDefaultCommand( + /*m_robotSwerveDrive.setDefaultCommand( new RunCommand(() -> m_robotSwerveDrive.driveWithInput( getDriverController().getLeftX(), getDriverController().getLeftY(), getDriverController().getRightX(), getDriverController().getRightY(), true), - m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand")); + m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand"));*/ // Intake with Triggers m_robotIntake.setDefaultCommand( new RunCommand(() -> m_robotIntake.runWithTriggers( - getOperatorController().getLeftTriggerAxis(), - getOperatorController().getRightTriggerAxis()), + getDriverController().getLeftTriggerAxis(), + getDriverController().getRightTriggerAxis()), m_robotIntake).withName("Intake runWithTriggers defaultCommand")); // Storage Management - m_robotStorage.setDefaultCommand( + /*m_robotStorage.setDefaultCommand( new RunCommand(() -> m_robotStorage.manageStorage(), - m_robotStorage).withName("Storage manageStorage defaultCommand")); + m_robotStorage).withName("Storage manageStorage defaultCommand"));*/ // Serializer Management m_robotSerializer.setDefaultCommand( - new RunCommand(() -> m_robotSerializer.setSerializerStateWithBeam(), + new RunCommand(() -> m_robotSerializer.setSerializer(0.25),//m_robotSerializer.setSerializerStateWithBeam(), m_robotSerializer).withName("Serializer setSerializerStateWithBeam defaultCommand")); // Turret Manual - m_robotTurret.setDefaultCommand( + /*m_robotTurret.setDefaultCommand( new RunCommand(() -> m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()), - m_robotTurret).withName("Turret runTurretWithInput defaultCommand")); + m_robotTurret).withName("Turret runTurretWithInput defaultCommand"));*/ // m_robotTurret.setDefaultCommand( // new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry)); @@ -187,6 +187,14 @@ public class RobotContainer { new JoystickButton(getDriverController(), XboxController.Button.kRightBumper.value) .whenPressed(() -> m_robotSwerveDrive.highSpeed(true)); + new JoystickButton(getDriverController(), XboxController.Button.kA.value) + .whileHeld( new RunCommand(() -> m_robotSerializer.setSerializer(0.25))) + .whenReleased(new RunCommand(() -> m_robotSerializer.setSerializer(0.0))); + new JoystickButton(getDriverController(), XboxController.Button.kB.value) + .whileHeld(new RunCommand(() -> m_robotSerializer.setSerializer(-0.25))) + .whenReleased(new RunCommand(() -> m_robotSerializer.setSerializer(0.0))); + } + // new JoystickButton(getDriverController(), XboxController.Button.kA.value) // .whenPressed(() -> resetOdometry(new Pose2d(0, 0, new Rotation2d(0)))); @@ -199,25 +207,25 @@ public class RobotContainer { /* Operator Buttons */ // X > Extend Intake - new JoystickButton(getOperatorController(), XboxController.Button.kX.value) + /*new JoystickButton(getOperatorController(), XboxController.Button.kX.value) .whenPressed(() -> m_robotIntake.runExtender(true)); // Y > Retract Intake new JoystickButton(getOperatorController(), XboxController.Button.kY.value) - .whenPressed(() -> m_robotIntake.runExtender(false)); + .whenPressed(() -> m_robotIntake.runExtender(false));*/ // Right Bumper > Storage In - 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.kRightBumper.value) + .whileHeld(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED))) + .whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0))); // Left Bumper > Storage Out (note: neccessary?) new JoystickButton(getOperatorController(), XboxController.Button.kLeftBumper.value) - .whenPressed(() -> m_robotStorage.runStorage(-StorageConstants.STORAGE_SPEED)) - .whenReleased(() -> m_robotStorage.runStorage(0.0)); + .whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-StorageConstants.STORAGE_SPEED))) + .whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0))); // A > Shoot with Odo new JoystickButton(getOperatorController(), XboxController.Button.kA.value) .whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood)); // B > Shoot with Lime new JoystickButton(getOperatorController(), XboxController.Button.kB.value) - .whenPressed(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotSwerveDrive, m_robotVisionOdometry)); + .whenPressed(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotSwerveDrive, m_robotVisionOdometry));/* } /** diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index 47ee185..db64420 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -33,15 +33,15 @@ import frc4388.robot.subsystems.SwerveModule; public class RobotMap { public RobotMap() { - configureLEDMotorControllers(); + // configureLEDMotorControllers(); configureSwerveMotorControllers(); - configureShooterMotorControllers(); + // configureShooterMotorControllers(); } /* LED Subsystem */ - public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID); +// public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID); - void configureLEDMotorControllers() {} +// void configureLEDMotorControllers() {} /* Swerve Subsystem */ @@ -163,7 +163,7 @@ public class RobotMap { // Shooter Config /* Boom Boom Subsystem */ - public final WPI_TalonFX shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_LEFT_CAN_ID); + /*public final WPI_TalonFX shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_LEFT_CAN_ID); public final WPI_TalonFX shooterFalconRight = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_RIGHT_CAN_ID); // turret subsystem @@ -202,7 +202,7 @@ public class RobotMap { shooterFalconRight.configClosedLoopPeriod(0, ShooterConstants.CLOSED_LOOP_TIME_MS, ShooterConstants.SHOOTER_TIMEOUT_MS); shooterFalconRight.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, - ShooterConstants.SHOOTER_TIMEOUT_MS); + ShooterConstants.SHOOTER_TIMEOUT_MS);*/ // /* Turret Subsytem */ // shooterFalconRight.configStatorCurrentLimit(new @@ -213,9 +213,9 @@ public class RobotMap { // numbers out of our ass anymore // hood subsystem - angleAdjusterMotor.restoreFactoryDefaults(); - angleAdjusterMotor.setIdleMode(IdleMode.kBrake); - } + // angleAdjusterMotor.restoreFactoryDefaults(); + // angleAdjusterMotor.setIdleMode(IdleMode.kBrake); +// } @@ -229,7 +229,7 @@ public class RobotMap { public final CANSparkMax extenderMotor = new CANSparkMax(IntakeConstants.EXTENDER_MOTOR, MotorType.kBrushless); /* Storage Subsystem */ - public final CANSparkMax storageMotor = new CANSparkMax(StorageConstants.STORAGE_CAN_ID, MotorType.kBrushless); - public final DigitalInput beamShooter = new DigitalInput(StorageConstants.BEAM_SENSOR_SHOOTER); - public final DigitalInput beamIntake = new DigitalInput(StorageConstants.BEAM_SENSOR_INTAKE); +// public final CANSparkMax storageMotor = new CANSparkMax(StorageConstants.STORAGE_CAN_ID, MotorType.kBrushless); +// public final DigitalInput beamShooter = new DigitalInput(StorageConstants.BEAM_SENSOR_SHOOTER); +// public final DigitalInput beamIntake = new DigitalInput(StorageConstants.BEAM_SENSOR_INTAKE); } diff --git a/src/main/java/frc4388/robot/subsystems/Intake.java b/src/main/java/frc4388/robot/subsystems/Intake.java index 0c63afc..9cb587a 100644 --- a/src/main/java/frc4388/robot/subsystems/Intake.java +++ b/src/main/java/frc4388/robot/subsystems/Intake.java @@ -54,7 +54,7 @@ public class Intake extends SubsystemBase { * @param rightTrigger Right Trigger to Run + */ public void runWithTriggers(double leftTrigger, double rightTrigger) { - m_intakeMotor.set(rightTrigger - leftTrigger); + m_intakeMotor.set((rightTrigger - leftTrigger) * 0.25); } /** * Runs The Extender