Team4388/2023WayOfTheRobot
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Aarav
2023-03-02 16:56:37 -07:00
parent 9fea461b8f
commit 9111eefe68
4 changed files with 36 additions and 16 deletions
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src/main/java/frc4388/robot/Constants.java
+1 -1
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@@ -103,7 +103,7 @@ public final class Constants {
}
public static final class GyroConstants {
public static final int ID = 14; // TODO: find the actual ID
public static final int ID = 14;
}
public static final class ArmConstants {
src/main/java/frc4388/robot/RobotContainer.java
+21 -7
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@@ -7,19 +7,20 @@
package frc4388.robot;
import edu.wpi.first.wpilibj.PWM;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.subsystems.Arm;
import frc4388.robot.commands.AutoBalance;
import frc4388.robot.subsystems.Arm;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.robot.commands.JoystickRecorder;
import frc4388.robot.commands.PlaybackChooser;
import frc4388.utility.controller.DeadbandedXboxController;
import frc4388.utility.controller.XboxController;
import frc4388.utility.controller.XboxController;
/**
* This class is where the bulk of the robot should be declared. Since
@@ -33,15 +34,13 @@ public class RobotContainer {
public final RobotMap m_robotMap = new RobotMap();
/* Subsystems */
private final Arm m_robotArm = new Arm(m_robotMap.pivot, m_robotMap.tele, m_robotMap.pivotEncoder);
// private final LED m_robotLED = new LED(m_robotMap.LEDController);
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront,
m_robotMap.rightFront,
m_robotMap.leftBack,
m_robotMap.rightBack,
m_robotMap.gyro);
public final Arm m_robotArm = new Arm(m_robotMap.pivot, m_robotMap.tele, m_robotMap.pivotEncoder);
/* Controllers */
private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
@@ -50,7 +49,7 @@ public class RobotContainer {
/* Autos */
public SendableChooser<Command> chooser = new SendableChooser<>();
// private Command noAuto = new InstantCommand();
private Command noAuto = new InstantCommand();
// private Command balance = new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive);
@@ -63,6 +62,8 @@ public class RobotContainer {
// private Command taxi = new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt");
private PlaybackChooser playbackChooser;
private PWM servo = new PWM(0);
private boolean servo_open = true;
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
*/
@@ -76,12 +77,19 @@ public class RobotContainer {
true);
}, m_robotSwerveDrive)
.withName("SwerveDrive DefaultCommand"));
m_robotArm.setDefaultCommand(new RunCommand(() -> {
m_robotArm.setRotVel(getDeadbandedOperatorController().getLeftY());
m_robotArm.setTeleVel(getDeadbandedOperatorController().getRightY());
}, m_robotArm)
.withName("Arm DefaultCommand"));
// * Auto Commands
// chooser.setDefaultOption("NoAuto", noAuto);
// chooser.addOption("Blue1Path", blue1Path);
// chooser.addOption("Blue1PathWithBalance", blue1PathWithBalance);
// chooser.addOption("Red1Path", red1Path);
// chooser.addOption("Red1PathWithBalance", red1PathWithBalance);
@@ -121,6 +129,12 @@ public class RobotContainer {
.onFalse(new InstantCommand());
// * Operator Buttons
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> {
servo.setRaw(servo_open ? 1000 : 2000);
servo_open = !servo_open;
}));
}
/**
src/main/java/frc4388/robot/RobotMap.java
+3 -3
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@@ -128,9 +128,9 @@ public class RobotMap {
}
// arm stuff
public WPI_TalonFX pivot = new WPI_TalonFX(-1); // TODO: Add real id
public WPI_TalonFX tele = new WPI_TalonFX(-1); // TODO: Add real id
public CANCoder pivotEncoder = new CANCoder(-1);
public WPI_TalonFX pivot = new WPI_TalonFX(15);
public WPI_TalonFX tele = new WPI_TalonFX(16);
public CANCoder pivotEncoder = new CANCoder(17);
public void configArmMotors() {
// config factory default
src/main/java/frc4388/robot/subsystems/Arm.java
+11 -5
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@@ -33,6 +33,11 @@ public class Arm extends SubsystemBase {
pivotConfig.primaryPID.selectedFeedbackSensor = FeedbackDevice.RemoteSensor0;
pivot.configAllSettings(pivotConfig);
pivot.configForwardSoftLimitThreshold(ArmConstants.TELE_FORWARD_SOFT_LIMIT);
pivot.configReverseSoftLimitThreshold(ArmConstants.TELE_REVERSE_SOFT_LIMIT);
pivot.configForwardSoftLimitEnable(true);
pivot.configReverseSoftLimitEnable(true);
CANCoderConfiguration config = new CANCoderConfiguration();
config.magnetOffsetDegrees = ArmConstants.OFFSET;
m_pivotEncoder.configAllSettings(config);
@@ -46,11 +51,11 @@ public class Arm extends SubsystemBase {
}
public void setRotVel(double vel) {
m_pivot.set(ControlMode.Velocity, vel);
m_pivot.set(ControlMode.PercentOutput, vel / 5);
}
public void setTeleVel(double vel) {
m_tele.set(ControlMode.Velocity, vel);
m_tele.set(ControlMode.PercentOutput, vel);
}
public void armSetRotation(double rot) {
@@ -84,7 +89,7 @@ public class Arm extends SubsystemBase {
}
public void runPivotTele(double pivot, double tele) {
var rot = 0;
double rot = 0;
if (checkLimits(tele, rot)) {
armSetRotation(pivot);
@@ -112,7 +117,8 @@ public class Arm extends SubsystemBase {
@Override
public void periodic() {
if (m_debug)
SmartDashboard.putNumber("Arm Motor", m_tele.getSelectedSensorPosition());
// if (m_debug)
// SmartDashboard.putNumber("Arm Motor", m_tele.getSelectedSensorPosition());
SmartDashboard.putNumber("Pivot AbsPos", m_pivotEncoder.getAbsolutePosition());
}
}