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Code Issues Packages Projects Releases Wiki Activity

Button Binding Fixes

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This commit is contained in:
Ryan Manley
2022-03-06 11:14:30 -07:00
parent 7cadbf5025
commit e871afa4a4
3 changed files with 44 additions and 36 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+31 -23
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@@ -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));/*
}
/**
src/main/java/frc4388/robot/RobotMap.java
+12 -12
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@@ -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);
}
src/main/java/frc4388/robot/subsystems/Intake.java
+1 -1
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@@ -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