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Merge branch 'cleanup' of https://github.com/Team4388/2022NoWayHome into cleanup

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nathanrsxtn
2022-03-25 12:47:32 -06:00
parent e0e3abea48 7ad00c8b3f
commit f8183fab79
4 changed files with 42 additions and 45 deletions
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src/main/java/frc4388/robot/Robot.java
+1
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@@ -151,6 +151,7 @@ public class Robot extends TimedRobot {
@Override
public void disabledPeriodic() {
System.out.println((40.44 - 10.0) / 134.0);
}
/**
src/main/java/frc4388/robot/RobotContainer.java
+37 -42
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@@ -47,6 +47,7 @@ import frc4388.robot.commands.DriveCommands.DriveWithInputForTime;
import frc4388.robot.commands.ExtenderIntakeCommands.ExtenderIntakeGroup;
import frc4388.robot.commands.ShooterCommands.TrackTarget;
import frc4388.robot.subsystems.BoomBoom;
import frc4388.robot.subsystems.Camera;
import frc4388.robot.subsystems.Claws;
import frc4388.robot.subsystems.Climber;
import frc4388.robot.subsystems.Extender;
@@ -75,6 +76,7 @@ public class RobotContainer {
public final RobotMap m_robotMap = new RobotMap();
/* Subsystems */
public final Camera m_robotCamera = new Camera("driver", 0, 160, 120, 40);
public final Climber m_robotClimber = new Climber(m_robotMap.elbow);
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);
@@ -83,7 +85,7 @@ public class RobotContainer {
public final Extender m_robotExtender = new Extender(m_robotMap.extenderMotor);
public final Storage m_robotStorage = new Storage(m_robotMap.storageMotor);
// private final LED m_robotLED = new LED(m_robotMap.LEDController);
// private final LED m_robotLED = new LED(m_robotMap.LEDController); // ! no LED makes aarav sad
public 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);
@@ -112,6 +114,10 @@ public class RobotContainer {
private enum ClimberMode { MANUAL, AUTONOMOUS };
private ClimberMode currentClimberMode = ClimberMode.MANUAL;
// drive on off mode switching
private enum DriveMode { ON, OFF };
private DriveMode currentDriveMode = DriveMode.ON;
private SendableChooser<SequentialCommandGroup> quickAutoChooser = new SendableChooser<>();
/**
@@ -137,7 +143,6 @@ public class RobotContainer {
* The container for the robot. Contains subsystems, OI devices, and commands.
*/
public RobotContainer() {
// double turretDistanceFromFront = 10.0; // * distance of turret from the front of the robot in inches. might need to be somewhat accurate.
// double distancePerSecond = 134.0; // * assuming emulated joystick input magnitude is 1.0
@@ -222,21 +227,11 @@ public class RobotContainer {
/* Default Commands */
// Swerve Drive with Input
m_robotSwerveDrive.setDefaultCommand(
new RunCommand(() -> {
if (RobotContainer.currentControlMode.equals(ControlMode.SHOOTER)) {
m_robotSwerveDrive.driveWithInput( getDriverController().getLeftX(),
getDriverController().getLeftY(),
getDriverController().getRightX(),
getDriverController().getRightY(),
true); }
if (RobotContainer.currentControlMode.equals(ControlMode.CLIMBER)) {
m_robotSwerveDrive.driveWithInput( 0,
0,
0,
0,
false);
}}
, m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand"));
new RunCommand(() -> m_robotSwerveDrive.driveWithInput( getDriverController().getLeftX(),
getDriverController().getLeftY(),
getDriverController().getRightX(),
getDriverController().getRightY(),
true), m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand"));
// Intake with Triggers
m_robotIntake.setDefaultCommand(
@@ -387,15 +382,15 @@ public class RobotContainer {
// Middle Switch > Climber and Shooter mode switching
new JoystickButton(getButtonBox(), ButtonBox.Button.kMiddleSwitch.value)
.whenPressed(new InstantCommand(() -> this.currentControlMode = ControlMode.CLIMBER))
.whenReleased(new InstantCommand(() -> this.currentControlMode = ControlMode.SHOOTER));
.whenPressed(new InstantCommand(() -> currentControlMode = ControlMode.CLIMBER))
.whenReleased(new InstantCommand(() -> currentControlMode = ControlMode.SHOOTER));
new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value)
.whenPressed(new InstantCommand(() -> this.currentControlMode = ControlMode.CLIMBER))
.whenReleased(new InstantCommand(() -> this.currentControlMode = ControlMode.SHOOTER));
.whenPressed(new InstantCommand(() -> currentControlMode = ControlMode.CLIMBER))
.whenReleased(new InstantCommand(() -> currentControlMode = ControlMode.SHOOTER));
new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value)
.whileHeld(new InstantCommand(() -> m_robotExtender.invertExtender(-1.0)))
.whenReleased(new InstantCommand(() -> m_robotExtender.invertExtender(1.0)));
// new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value)
// .whileHeld(new InstantCommand(() -> currentDriveMode = DriveMode.OFF))
// .whenReleased(new InstantCommand(() -> currentDriveMode = DriveMode.ON));
// Left Button > Extender In
new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftButton.value)
@@ -492,14 +487,28 @@ public class RobotContainer {
new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage), 5.0)
)); // * weird way of shooting, i think we should make a new TrackTarget with built-in Storage control instead.
// ! DRIVE BACKWARDS AND SHOOT
// ! DRIVE BACKWARDS AND SHOOT (HOPEFULLY)
return new SequentialCommandGroup( new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive), // * reset gyro before moving
new DriveWithInputForTime(m_robotSwerveDrive, new double[] {1.0, 0.0, 0.0, 0.0}, (3.0 * 12) / SwerveDriveConstants.AUTO_INCHES_PER_SECOND_AT_FULL_POWER),//0.269), // * go backwards three feet
new DriveWithInputForTime(m_robotSwerveDrive, new double[] {1.0, 0.0, 0.0, 0.0}, (3.0 * 12) / distancePerSecond),//0.269), // * go backwards three feet
new InstantCommand(() -> m_robotSwerveDrive.stopModules(), m_robotSwerveDrive), // * brake
weirdAutoShootingGroup, // * shoot
new InstantCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage) // * stop running storage
);
new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), 0.5)); // * stop running storage
//);
// ! TWO BALL AUTO (HOPEFULLY)
// return new SequentialCommandGroup( new ExtenderIntakeGroup(m_robotIntake, m_robotExtender), // * extend out, in preparation of running intake
// new ParallelCommandGroup( new RunCommand(() -> m_robotIntake.runAtOutput(1.0), m_robotIntake), // * run intake all throughout path
// new SequentialCommandGroup( new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive), // * reset gyro before moving
// new DriveWithInputForTime(m_robotSwerveDrive, new double[] {-1.0, 0.0, 0.0, 0.0}, (40.44 - offset) / distancePerSecond), // * drive to first ball
// // new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(0.0, -1.0, 0.0, 0.0, true)), // * brake (see line 376),
// new InstantCommand(() -> m_robotSwerveDrive.stopModules(), m_robotSwerveDrive),
// new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID((180.0 / Math.PI) * Math.atan2(-(82.83 / 2.00) + 15.56, -(219.25 / 2.00) - 40.44 + 10.00)), m_robotTurret), 1.0, true), // * aim with turret to target
// weirdAutoShootingGroup, // * shoot
// new InstantCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage)))); // * stop running storage
// ! DRIVE OFF LINE, THEN SHOOT BALL (HOPEFULLY)
// return new SequentialCommandGroup( new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive), // * reset gyro before moving
@@ -517,20 +526,6 @@ public class RobotContainer {
// new InstantCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage) // * stop running storage
// );
// ! TWO BALL AUTO (HOPEFULLY)
// return new SequentialCommandGroup( new ExtenderIntakeGroup(m_robotIntake, m_robotExtender), // * extend out, in preparation of running intake
// new ParallelCommandGroup( new RunCommand(() -> m_robotIntake.runAtOutput(1.0), m_robotIntake), // * run intake all throughout path
// new SequentialCommandGroup( new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive), // * reset gyro before moving
// new DriveWithInputForTime(m_robotSwerveDrive, new double[] {-1.0, 0.0, 0.0, 0.0}, (40.44 - offset) / distancePerSecond), // * drive to first ball
// // new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(0.0, -1.0, 0.0, 0.0, true)), // * brake (see line 376),
// new InstantCommand(() -> m_robotSwerveDrive.stopModules(), m_robotSwerveDrive),
// new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID((180.0 / Math.PI) * Math.atan2(-(82.83 / 2.00) + 15.56, -(219.25 / 2.00) - 40.44 + 10.00)), m_robotTurret), 1.0, true), // * aim with turret to target
// weirdAutoShootingGroup, // * shoot
// new InstantCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage)))); // * stop running storage
// ! THREE BALL AUTO (HOPEFULLY)
// return new SequentialCommandGroup( new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID(-Math.atan2((219.25 / 2.00) - turretDistanceFromFront, (82.83 / 2.00) - 15.56)), m_robotTurret), 1.0, true), // * aim with turret to target
// weirdAutoShootingGroup, // * shoot
src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java
+2
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@@ -66,6 +66,7 @@ public class TrackTarget extends CommandBase {
addRequirements(m_turret, m_boomBoom, m_hood, m_visionOdometry);
SmartDashboard.putNumber("Distance Adjust", -35);
SmartDashboard.putBoolean("Target Locked", false);
}
public TrackTarget(Turret turret, BoomBoom boomBoom, Hood hood, VisionOdometry visionOdometry) {
@@ -190,6 +191,7 @@ public class TrackTarget extends CommandBase {
@Override
public void end(boolean interrupted) {
m_visionOdometry.setLEDs(false);
SmartDashboard.putBoolean("Target Locked", false);
}
// Returns true when the command should end.
src/main/java/frc4388/robot/subsystems/Camera.java
+2 -3
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@@ -8,6 +8,7 @@
package frc4388.robot.subsystems;
import edu.wpi.first.cscore.*;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -23,12 +24,10 @@ public class Camera extends SubsystemBase {
*/
public Camera(String name, int id, int width, int height, int brightness) {
try{
UsbCamera cam = new UsbCamera(name, id);
UsbCamera cam = CameraServer.startAutomaticCapture();//new UsbCamera(name, id);
cam.setResolution(width, height);
cam.setBrightness(brightness);
cam.setFPS(10);
VideoSource camera = cam;
CameraServer.startAutomaticCapture(camera);
}
catch(Exception e) {
System.err.println("Camera broken, pls nerf");