Team4388/2023WayOfTheRobot
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cone mid alomst done

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This commit is contained in:
Aarav
2023-03-23 18:18:58 -06:00
parent 357adf860b
commit 4e922e5f35
3 changed files with 30 additions and 25 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+15 -14
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@@ -34,6 +34,7 @@ import frc4388.robot.commands.Autos.AutoBalance;
import frc4388.robot.commands.Autos.PlaybackChooser;
import frc4388.robot.commands.Placement.AprilRotAlign;
import frc4388.robot.commands.Placement.LimeAlign;
import frc4388.robot.commands.Swerve.JoystickPlayback;
import frc4388.robot.commands.Swerve.JoystickRecorder;
import frc4388.robot.commands.Swerve.RotateToAngle;
import frc4388.utility.controller.DeadbandedXboxController;
@@ -163,8 +164,8 @@ public class RobotContainer {
);
private SequentialCommandGroup placeConeMid = new SequentialCommandGroup(
new PivotCommand(m_robotArm, 0),
new TeleCommand(m_robotArm, 0),
new PivotCommand(m_robotArm, 189),
new TeleCommand(m_robotArm, 34500),
toggleClaw.asProxy(),
armToHome.asProxy()
);
@@ -264,8 +265,8 @@ public class RobotContainer {
// m_robotSwerveDrive.setToSlow();
// }));
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.setToSlow()));
// new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.setToSlow()));
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
.onTrue(new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive)); // final
@@ -279,11 +280,11 @@ public class RobotContainer {
// () -> getDeadbandedDriverController().getLeftY(),
// () -> getDeadbandedDriverController().getRightX(),
// () -> getDeadbandedDriverController().getRightY(),
// "Blue1Path.txt"))
// "Red1Balance.txt"))
// .onFalse(new InstantCommand());
// new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
// .onTrue(new JoystickPlayback(m_robotSwerveDrive, "Blue1Path.txt"))
// .onTrue(new JoystickPlayback(m_robotSwerveDrive, "Red1Balance.txt"))
// .onFalse(new InstantCommand());
// * Operator Buttons
@@ -307,22 +308,22 @@ public class RobotContainer {
.onTrue(new InstantCommand(() -> m_robotArm.killSoftLimits()));
// outtake
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_TRIGGER_AXIS) // final
.onTrue (new InstantCommand(() -> m_robotClaw.reversespinnyspin()))
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON) // final
.whileTrue (new RunCommand(() -> m_robotClaw.reversespinnyspin()))
.onFalse (new InstantCommand(() -> m_robotClaw.nospinnyspin()));
// intake
new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_TRIGGER_AXIS) // final
.onTrue (new InstantCommand(() -> m_robotClaw.yesspinnyspin()))
new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON) // final
.whileTrue (new RunCommand(() -> m_robotClaw.yesspinnyspin()))
.onFalse (new InstantCommand(() -> m_robotClaw.nospinnyspin()));
// arm to Home
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON) // final
.onTrue(armToHome.asProxy());
// new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON) // final
// .onTrue(armToHome.asProxy());
// interupt
new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON) // final
.onTrue(interruptCommand.asProxy());
// new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON) // final
// .onTrue(interruptCommand.asProxy());
// // place high
src/main/java/frc4388/robot/subsystems/Arm.java
+4
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@@ -8,6 +8,7 @@ import com.ctre.phoenix.sensors.CANCoder;
import com.ctre.phoenix.sensors.CANCoderConfiguration;
import frc4388.robot.Constants.ArmConstants;
import frc4388.utility.DeferredBlock;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Arm extends SubsystemBase {
@@ -146,6 +147,9 @@ public class Arm extends SubsystemBase {
tele_reset = true;
}
SmartDashboard.putNumber("Pivot CANCoder", getArmRotation());
SmartDashboard.putNumber("Tele Encoder", getArmLength());
// double x = Math.cos(Math.toRadians(degrees));
}
src/main/java/frc4388/robot/subsystems/Claw.java
+11 -11
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@@ -32,7 +32,7 @@ public class Claw extends SubsystemBase {
m_rightMotor = rightMotor;
m_spinnyspin = spinnyspin;
setClaw(false);
// setClaw(false);
}
public void setClaw(boolean open) {
@@ -52,16 +52,16 @@ public class Claw extends SubsystemBase {
// m_leftMotor.setRaw(m_open ? 1500 : 2000);
// m_rightMotor.setRaw(m_open ? 1500 : 1000);
if (m_open)
m_spinnyspin.set(0.2);
else
m_spinnyspin.set(-0.2);
new Timer().schedule(new TimerTask() {
@Override
public void run() {
nospinnyspin();
}
}, 750);
// if (m_open)
// m_spinnyspin.set(0.2);
// else
// m_spinnyspin.set(-0.2);
// new Timer().schedule(new TimerTask() {
// @Override
// public void run() {
// nospinnyspin();
// }
// }, 750);
}
public void toggle() {