Team4388/2023WayOfTheRobot
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claw pickup maybe done

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This commit is contained in:
Aarav
2023-03-23 16:25:30 -06:00
parent 357adf860b
commit 222c7e5112
2 changed files with 52 additions and 14 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+33 -7
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@@ -17,6 +17,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.ConditionalCommand;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
@@ -60,6 +61,7 @@ public class RobotContainer {
public final Arm m_robotArm = new Arm(m_robotMap.pivot, m_robotMap.tele, m_robotMap.pivotEncoder);
public final Claw m_robotClaw = new Claw(m_robotMap.leftClaw, m_robotMap.rightClaw, m_robotMap.spinnyspin);
private boolean isClawOpen = false;
public final Limelight m_robotLimeLight = new Limelight();
@@ -89,6 +91,18 @@ public class RobotContainer {
private SequentialCommandGroup armToHome = new SequentialCommandGroup(new TeleCommand(m_robotArm, 0), new PivotCommand(m_robotArm, 135));
private Command toggleClaw = new InstantCommand(() -> m_robotClaw.toggle(), m_robotClaw);
private ConditionalCommand toggleClawCube = new ConditionalCommand(
new ParallelCommandGroup(new InstantCommand(() -> m_robotClaw.pickupCube()), new RunCommand(() -> m_robotClaw.intake())),
new ParallelCommandGroup(new InstantCommand(() -> m_robotClaw.openClaw()), new RunCommand(() -> m_robotClaw.outtake())),
() -> isClawOpen
);
private ConditionalCommand toggleClawCone = new ConditionalCommand(
new ParallelCommandGroup(new InstantCommand(() -> m_robotClaw.pickupCone()), new RunCommand(() -> m_robotClaw.intake())),
new ParallelCommandGroup(new InstantCommand(() -> m_robotClaw.openClaw()), new RunCommand(() -> m_robotClaw.outtake())),
() -> isClawOpen
);
public boolean readyForPlacement = true;
private Boolean isPole = null;
@@ -299,26 +313,38 @@ public class RobotContainer {
.onFalse(interruptCommand.asProxy());
// toggle claw
// new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON) // final
// .onTrue(toggleClaw.asProxy());
// toggle claw cube
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON) // final
.onTrue(toggleClaw.asProxy());
.whileTrue (toggleClawCube.asProxy())
.onFalse (new InstantCommand(() -> m_robotClaw.nospinnyspin()))
.onFalse (new InstantCommand(() -> isClawOpen = !isClawOpen));
// toggle claw cone
new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON) // final
.onTrue (toggleClawCone.asProxy())
.onFalse (new InstantCommand(() -> m_robotClaw.nospinnyspin()))
.onFalse (new InstantCommand(() -> isClawOpen = !isClawOpen));
// kill soft limits
new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON) // final
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON) // final
.onTrue(new InstantCommand(() -> m_robotArm.killSoftLimits()));
// outtake
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_TRIGGER_AXIS) // final
.onTrue (new InstantCommand(() -> m_robotClaw.reversespinnyspin()))
.onTrue (new InstantCommand(() -> m_robotClaw.intake()))
.onFalse (new InstantCommand(() -> m_robotClaw.nospinnyspin()));
// intake
new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_TRIGGER_AXIS) // final
.onTrue (new InstantCommand(() -> m_robotClaw.yesspinnyspin()))
.onTrue (new InstantCommand(() -> m_robotClaw.outtake()))
.onFalse (new InstantCommand(() -> m_robotClaw.nospinnyspin()));
// arm to Home
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON) // final
.onTrue(armToHome.asProxy());
// arm to home
// new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON) // final
// .onTrue(armToHome.asProxy());
// interupt
new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON) // final
src/main/java/frc4388/robot/subsystems/Claw.java
+19 -7
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@@ -35,20 +35,22 @@ public class Claw extends SubsystemBase {
setClaw(false);
}
public void openClaw() {
m_leftMotor.setAngle(0);
m_rightMotor.setAngle(180);
}
public void setClaw(boolean open) {
// Open claw
m_open = open;
// m_leftMotor.setRaw(m_open ? 1000 : 2000);
// m_rightMotor.setRaw(m_open ? 2000 : 1000);
// m_leftMotor.setBounds(4000, 20000, 2000, 0, 0);
m_leftMotor.setAngle(m_open ? 0 : 180);
m_rightMotor.setAngle(m_open ? 180 : 0);
// m_leftMotor.setRaw(m_open ? 0 : 4000);
// m_rightMotor.setRaw(m_open ? 4000 : 0);
// m_leftMotor.setRaw(m_open ? 1500 : 2000);
// m_rightMotor.setRaw(m_open ? 1500 : 1000);
@@ -72,7 +74,17 @@ public class Claw extends SubsystemBase {
return m_open;
}
public void yesspinnyspin() {
public void pickupCube() { // ! left angle + right angle = 180
m_leftMotor.setAngle(0);
m_rightMotor.setAngle(0);
}
public void pickupCone() { // ! left angle + right angle = 180
m_leftMotor.setAngle(0);
m_rightMotor.setAngle(0);
}
public void outtake() {
m_spinnyspin.set(0.2);
}
@@ -80,7 +92,7 @@ public class Claw extends SubsystemBase {
m_spinnyspin.set(0);
}
public void reversespinnyspin() {
public void intake() {
m_spinnyspin.set(-0.2);
}