mirror of
https://github.com/Team4388/2024AcrossTheRidgebotiverse.git
synced 2026-06-09 00:38:02 -06:00
re add subsystems
This commit is contained in:
Michael Mikovsky
@@ -32,6 +32,7 @@ import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
|
||||
|
||||
// Autos
|
||||
import frc4388.robot.commands.Autos.PlaybackChooser;
|
||||
import frc4388.robot.commands.Intake.ArmIntakeIn;
|
||||
import frc4388.robot.commands.Swerve.JoystickPlayback;
|
||||
import frc4388.robot.commands.Swerve.JoystickRecorder;
|
||||
import frc4388.utility.controller.VirtualController;
|
||||
@@ -39,7 +40,10 @@ import frc4388.robot.commands.Swerve.neoJoystickPlayback;
|
||||
import frc4388.robot.commands.Swerve.neoJoystickRecorder;
|
||||
// import frc4388.robot.commands.Intake.ArmIntakeIn;
|
||||
//import frc4388.robot.commands.Autos.AutoAlign;
|
||||
|
||||
import frc4388.robot.subsystems.Climber;
|
||||
import frc4388.robot.subsystems.Intake;
|
||||
import frc4388.robot.subsystems.Limelight;
|
||||
import frc4388.robot.subsystems.Shooter;
|
||||
// Subsystems
|
||||
// import frc4388.robot.subsystems.LED;
|
||||
// import frc4388.robot.subsystems.Limelight;
|
||||
@@ -66,7 +70,7 @@ public class RobotContainer {
|
||||
/* Subsystems */
|
||||
// private final LED m_robotLED = new LED();
|
||||
|
||||
// private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.pivotMotor);
|
||||
private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.pivotMotor);
|
||||
|
||||
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront,
|
||||
m_robotMap.rightFront,
|
||||
@@ -78,27 +82,89 @@ public class RobotContainer {
|
||||
/* Controllers */
|
||||
private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
|
||||
private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
|
||||
// private final DeadbandedXboxController m_autoRecorderXbox = new DeadbandedXboxController(2);
|
||||
private final DeadbandedXboxController m_autoRecorderXbox = new DeadbandedXboxController(2);
|
||||
|
||||
private final Limelight limelight = new Limelight();
|
||||
|
||||
private final Shooter m_robotShooter = new Shooter(m_robotMap.leftShooter, m_robotMap.rightShooter, limelight);
|
||||
|
||||
private final Climber m_robotClimber = new Climber(m_robotMap.climbMotor);
|
||||
|
||||
|
||||
/* Virtual Controllers */
|
||||
// private final VirtualController m_virtualDriver = new VirtualController(0);
|
||||
// private final VirtualController m_virtualOperator = new VirtualController(1);
|
||||
private final VirtualController m_virtualDriver = new VirtualController(0);
|
||||
private final VirtualController m_virtualOperator = new VirtualController(1);
|
||||
|
||||
// private Command intakeToShootStuff = new ArmIntakeIn(m_robotIntake, m_robotShooter);
|
||||
// private Command interrupt = new InstantCommand(() -> {}, m_robotIntake, m_robotShooter);
|
||||
private Command intakeToShootStuff = new ArmIntakeIn(m_robotIntake, m_robotShooter);
|
||||
private Command interrupt = new InstantCommand(() -> {}, m_robotIntake, m_robotShooter);
|
||||
|
||||
// private SequentialCommandGroup intakeToShoot = new SequentialCommandGroup(
|
||||
// new InstantCommand(() -> m_robotIntake.PIDIn()),
|
||||
// new InstantCommand(() -> m_robotShooter.idle())
|
||||
// // new InstantCommand(() -> m_driverXbox.setRumble(RumbleType.kRightRumble, 1.0)).andThen(new WaitCommand(0.2)).andThen(new InstantCommand(() -> m_driverXbox.setRumble(RumbleType.kRightRumble, 0.0))),
|
||||
// // new InstantCommand(() -> m_robotShooter.spin())
|
||||
// );
|
||||
private SequentialCommandGroup intakeToShoot = new SequentialCommandGroup(
|
||||
new InstantCommand(() -> m_robotIntake.PIDIn()),
|
||||
new InstantCommand(() -> m_robotShooter.idle())
|
||||
// new InstantCommand(() -> m_driverXbox.setRumble(RumbleType.kRightRumble, 1.0)).andThen(new WaitCommand(0.2)).andThen(new InstantCommand(() -> m_driverXbox.setRumble(RumbleType.kRightRumble, 0.0))),
|
||||
// new InstantCommand(() -> m_robotShooter.spin())
|
||||
);
|
||||
|
||||
|
||||
// ! Teleop Commands
|
||||
private SequentialCommandGroup autoShoot = new SequentialCommandGroup(
|
||||
// MoveToSpeaker,
|
||||
//autoAlign,
|
||||
new InstantCommand(() -> m_robotShooter.spin()),
|
||||
new WaitCommand(3.0),
|
||||
new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake),
|
||||
new WaitCommand(3.0),
|
||||
new InstantCommand(() -> m_robotShooter.idle())
|
||||
// new InstantCommand(() -> autoAlign.reverse()),
|
||||
// autoAlign.asProxy()
|
||||
);
|
||||
|
||||
//private AutoAlign autoAlign = new AutoAlign(m_robotSwerveDrive, limelight);
|
||||
|
||||
private SequentialCommandGroup i = new SequentialCommandGroup(
|
||||
intakeToShootStuff, intakeToShoot,
|
||||
new InstantCommand(() -> m_robotShooter.idle())
|
||||
);
|
||||
|
||||
private SequentialCommandGroup ejectToShoot = new SequentialCommandGroup(
|
||||
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
|
||||
new WaitCommand(0.75),
|
||||
new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake)
|
||||
);
|
||||
|
||||
private SequentialCommandGroup turnOffShoot = new SequentialCommandGroup(
|
||||
new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter)
|
||||
// new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake)
|
||||
);
|
||||
|
||||
private SequentialCommandGroup emergencyRetract = new SequentialCommandGroup(
|
||||
interrupt,
|
||||
new InstantCommand(() -> m_robotIntake.PIDIn(), m_robotIntake),
|
||||
new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake)
|
||||
);
|
||||
|
||||
private SequentialCommandGroup ampShoot = new SequentialCommandGroup(
|
||||
new InstantCommand(() -> m_robotIntake.ampPosition()),
|
||||
new InstantCommand(() -> m_robotIntake.ampOuttake(0.1)) //TODO: Find Actual Speed
|
||||
);
|
||||
|
||||
// ! /* Autos */
|
||||
// private Command taxi = new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt");
|
||||
private String lastAutoName = "final_red_center_4note_taxi.auto";
|
||||
private ConfigurableString autoplaybackName = new ConfigurableString("Auto Playback Name", lastAutoName);
|
||||
private neoJoystickPlayback autoPlayback = new neoJoystickPlayback(m_robotSwerveDrive,
|
||||
() -> autoplaybackName.get(), // lastAutoName
|
||||
new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
|
||||
true, false);
|
||||
|
||||
// private PlaybackChooser playbackChooser = new PlaybackChooser(m_robotSwerveDrive)
|
||||
// .addOption("Taxi Auto", taxi.asProxy())
|
||||
// .addOption("One Note Auto Starting in Front of Speaker", oneNoteStartingSpeaker.asProxy())
|
||||
// .addOption("Stay One Note Auto Starting in Front of Speaker", oneNoteStartingSpeakerStationary.asProxy())
|
||||
// // .addOption("One Note Auto Starting from Left Position", oneNoteStartingFromLeft.asProxy())
|
||||
// // .addOption("One Note Auto Starting from Right Position", oneNoteStartingFromRight.asProxy())
|
||||
// .addOption("Two Note Starting in Front of Speaker", twoNoteStartingFromSpeaker.asProxy())
|
||||
// .addOption("Stay Two Note Starting in Front of Speaker", stayTwoNoteStartingFromSpeaker.asProxy())
|
||||
// .buildDisplay();
|
||||
|
||||
// private SequentialCommandGroup autoShoot = new SequentialCommandGroup(
|
||||
// // MoveToSpeaker,
|
||||
@@ -179,8 +245,170 @@ public class RobotContainer {
|
||||
* passing it to a {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
|
||||
*/
|
||||
private void configureButtonBindings() {
|
||||
new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
|
||||
|
||||
// ? /* Driver Buttons */
|
||||
|
||||
DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.A_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroFlip(), m_robotSwerveDrive));
|
||||
|
||||
DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.BACK_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroRightBlue()))
|
||||
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.add180()));
|
||||
|
||||
DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.START_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroRightAmp()))
|
||||
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.add180()));
|
||||
|
||||
// * /* D-Pad Stuff */
|
||||
// new Trigger(() -> getDeadbandedDriverController().getRawAxis(XboxController.TOP_BOTTOM_DPAD_AXIS) > 0.9)
|
||||
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 1),
|
||||
// new Translation2d(0, 0),
|
||||
// true)))
|
||||
// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
|
||||
// new Translation2d(0, 0),
|
||||
// true)));
|
||||
|
||||
// new Trigger(() -> getDeadbandedDriverController().getRawAxis(XboxController.TOP_BOTTOM_DPAD_AXIS) > -0.9)
|
||||
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, -1),
|
||||
// new Translation2d(0, 0),
|
||||
// true)))
|
||||
// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
|
||||
// new Translation2d(0, 0),
|
||||
// true)));
|
||||
|
||||
// new Trigger(() -> getDeadbandedDriverController().getRawAxis(XboxController.LEFT_RIGHT_DPAD_AXIS) > 0.9)
|
||||
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(1, 0),
|
||||
// new Translation2d(0, 0),
|
||||
// true)))
|
||||
// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
|
||||
// new Translation2d(0, 0),
|
||||
// true)));
|
||||
|
||||
// new Trigger(() -> getDeadbandedDriverController().getRawAxis(XboxController.LEFT_RIGHT_DPAD_AXIS) > -0.9)
|
||||
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(-1, 0),
|
||||
// new Translation2d(0, 0),
|
||||
// true)))
|
||||
// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
|
||||
// new Translation2d(0, 0),
|
||||
// true)));
|
||||
|
||||
// ! /* Auto Recording */
|
||||
// new JoystickButton(m_autoRecorderXbox, XboxController.LEFT_BUMPER_BUTTON)
|
||||
// .whileTrue(new neoJoystickRecorder(m_robotSwerveDrive,
|
||||
// new DeadbandedXboxController[]{getDeadbandedDriverController(), getDeadbandedOperatorController()},
|
||||
// () -> autoplaybackName.get()))
|
||||
// .onFalse(new InstantCommand());
|
||||
|
||||
// new JoystickButton(m_autoRecorderXbox, XboxController.RIGHT_BUMPER_BUTTON)
|
||||
// .onTrue(new neoJoystickPlayback(m_robotSwerveDrive,
|
||||
// () -> autoplaybackName.get(),
|
||||
// new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
|
||||
// true, false))
|
||||
// .onFalse(new InstantCommand());
|
||||
|
||||
// ! /* Speed */
|
||||
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
|
||||
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
|
||||
// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast()));
|
||||
|
||||
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
|
||||
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
|
||||
|
||||
new Trigger(() -> getDeadbandedDriverController().getPOV() == 270)
|
||||
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDownRot()));
|
||||
|
||||
new Trigger(() -> getDeadbandedDriverController().getPOV() == 90)
|
||||
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUpRot()));
|
||||
|
||||
|
||||
|
||||
//? /* Operator Buttons */
|
||||
|
||||
DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.Y_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> m_robotIntake.PIDIn()))
|
||||
.onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
|
||||
|
||||
DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.X_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> m_robotIntake.PIDOut()))
|
||||
.onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
|
||||
|
||||
DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.A_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> m_robotIntake.handoff()))
|
||||
.onFalse(new InstantCommand(() -> m_robotIntake.stopIntakeMotors()));
|
||||
|
||||
DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.B_BUTTON)
|
||||
.onTrue(emergencyRetract);
|
||||
|
||||
|
||||
// Override Intake Position encoder: out
|
||||
new JoystickButton(getDeadbandedOperatorController(), XboxController.BACK_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(-55), m_robotIntake));
|
||||
|
||||
// Override Intake Position encoder: in
|
||||
new JoystickButton(getDeadbandedOperatorController(), XboxController.START_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(-6.2), m_robotIntake));
|
||||
|
||||
DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> m_robotShooter.spin(0.5), m_robotShooter))
|
||||
.onFalse(turnOffShoot);
|
||||
|
||||
|
||||
DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
|
||||
.onTrue(i)
|
||||
.onFalse(new InstantCommand(() -> m_robotIntake.PIDIn()));
|
||||
|
||||
//spins up shooter, no wind down
|
||||
DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.LEFT_JOYSTICK_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter));
|
||||
|
||||
DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.RIGHT_JOYSTICK_BUTTON)
|
||||
.onTrue(emergencyRetract);
|
||||
|
||||
new Trigger(() -> getDeadbandedOperatorController().getRawAxis(XboxController.RIGHT_TRIGGER_AXIS) > 0.5)
|
||||
.onTrue(new InstantCommand(() -> m_robotClimber.climbOut()))
|
||||
.onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
|
||||
|
||||
new Trigger(() -> getDeadbandedOperatorController().getRawAxis(XboxController.LEFT_TRIGGER_AXIS) > 0.5)
|
||||
.onTrue(new InstantCommand(() -> m_robotClimber.climbIn()))
|
||||
.onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
|
||||
|
||||
new Trigger(() -> getDeadbandedOperatorController().getPOV() == 0)
|
||||
.onTrue(new InstantCommand(() -> m_robotIntake.ampOuttake(0.5)));
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* This method is used to replcate {@link Trigger Triggers} for {@link VirtualController Virtual Controllers}. <p/>
|
||||
* Please use {@link RobotContainer#DualJoystickButton} in {@link RobotContainer#configureButtonBindings} for standard buttons.
|
||||
*/
|
||||
private void configureVirtualButtonBindings() {
|
||||
|
||||
// ? /* Driver Buttons */
|
||||
|
||||
/* Notice: the following buttons have not been replicated
|
||||
* Swerve Drive Slow and Fast mode Gear Shifts : Fast mode is known to cause drift, so we disable that feature in Autoplayback
|
||||
* Swerve Drive Rotation Gear Shifts : Same reason as Slow and Fast mode.
|
||||
* Auto Recording controls : We don't want an Null Ouroboros for an auto.
|
||||
*/
|
||||
|
||||
// ? /* Operator Buttons */
|
||||
|
||||
/* Notice: the following buttons have not been replicated
|
||||
* Override Intake Position Encoder : It's an emergancy overide, for when the position of intake when the robot boots, the intake is not inside the robot.
|
||||
* We don't need it in an auto.
|
||||
* Climbing controls : We don't need to climb in auto.
|
||||
*/
|
||||
|
||||
// new Trigger(() -> getVirtualOperatorController().getRawAxis(XboxController.RIGHT_TRIGGER_AXIS) > 0.5)
|
||||
// .onTrue(new InstantCommand(() -> m_robotClimber.climbOut()))
|
||||
// .onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
|
||||
|
||||
// new Trigger(() -> getVirtualOperatorController().getRawAxis(XboxController.LEFT_TRIGGER_AXIS) > 0.5)
|
||||
// .onTrue(new InstantCommand(() -> m_robotClimber.climbIn()))
|
||||
// .onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
|
||||
|
||||
new Trigger(() -> getVirtualOperatorController().getPOV() == 0)
|
||||
.onTrue(new InstantCommand(() -> m_robotIntake.ampOuttake(0.5)));
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -216,11 +444,11 @@ public class RobotContainer {
|
||||
return this.m_operatorXbox;
|
||||
}
|
||||
|
||||
// public VirtualController getVirtualDriverController() {
|
||||
// return m_virtualDriver;
|
||||
// }
|
||||
public VirtualController getVirtualDriverController() {
|
||||
return m_virtualDriver;
|
||||
}
|
||||
|
||||
// public VirtualController getVirtualOperatorController() {
|
||||
// return m_virtualOperator;
|
||||
// }
|
||||
public VirtualController getVirtualOperatorController() {
|
||||
return m_virtualOperator;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -71,15 +71,15 @@ public class RobotMap {
|
||||
public final CANcoder rightBackEncoder = new CANcoder(SwerveDriveConstants.IDs.RIGHT_BACK_ENCODER_ID);
|
||||
|
||||
/* Shooter Subsystem */
|
||||
// public final TalonFX leftShooter = new TalonFX(ShooterConstants.LEFT_SHOOTER_ID);
|
||||
// public final TalonFX rightShooter = new TalonFX(ShooterConstants.RIGHT_SHOOTER_ID);
|
||||
public final TalonFX leftShooter = new TalonFX(ShooterConstants.LEFT_SHOOTER_ID);
|
||||
public final TalonFX rightShooter = new TalonFX(ShooterConstants.RIGHT_SHOOTER_ID);
|
||||
|
||||
/* Intake Subsystem */
|
||||
// public final TalonFX intakeMotor = new TalonFX(IntakeConstants.INTAKE_MOTOR_ID);
|
||||
// public final TalonFX pivotMotor = new TalonFX(IntakeConstants.PIVOT_MOTOR_ID);
|
||||
public final TalonFX intakeMotor = new TalonFX(IntakeConstants.INTAKE_MOTOR_ID);
|
||||
public final TalonFX pivotMotor = new TalonFX(IntakeConstants.PIVOT_MOTOR_ID);
|
||||
|
||||
/* Climber Subsystem */
|
||||
// public final TalonFX climbMotor = new TalonFX(ClimbConstants.CLIMB_MOTOR_ID);
|
||||
public final TalonFX climbMotor = new TalonFX(ClimbConstants.CLIMB_MOTOR_ID);
|
||||
|
||||
void configureLEDMotorControllers() {
|
||||
}
|
||||
|
||||
@@ -0,0 +1,53 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
package frc4388.robot.commands.Intake;
|
||||
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import frc4388.robot.subsystems.Intake;
|
||||
import frc4388.robot.subsystems.Shooter;
|
||||
import frc4388.robot.subsystems.SwerveDrive;
|
||||
|
||||
public class ArmIntakeIn extends Command {
|
||||
/** Creates a new ArmIntakeIn. */
|
||||
private Intake robotIntake;
|
||||
private Shooter robotShooter;
|
||||
|
||||
public ArmIntakeIn(Intake robotIntake, Shooter robotShooter) {
|
||||
// Use addRequirements() here to declare subsystem dependencies.
|
||||
this.robotIntake = robotIntake;
|
||||
this.robotShooter = robotShooter;
|
||||
|
||||
addRequirements(this.robotIntake, this.robotShooter);
|
||||
}
|
||||
|
||||
// Called when the command is initially scheduled.
|
||||
@Override
|
||||
public void initialize() {}
|
||||
|
||||
// Called every time the scheduler runs while the command is scheduled.
|
||||
@Override
|
||||
public void execute() {
|
||||
robotIntake.PIDOut();
|
||||
robotIntake.spinIntakeMotor();
|
||||
}
|
||||
|
||||
// Called once the command ends or is interrupted.
|
||||
@Override
|
||||
public void end(boolean interrupted) {}
|
||||
|
||||
// Returns true when the command should end.
|
||||
@Override
|
||||
public boolean isFinished() {
|
||||
return robotIntake.getIntakeLimitSwitchState();
|
||||
// if(!(!robotIntake.getTalonIntakeLimitSwitchState() != !false) && ((-1.0 / 0.0) == (-2.0 / 0.0)))
|
||||
// {
|
||||
// return !true==true;
|
||||
// }
|
||||
// else
|
||||
// {
|
||||
// return !false==!(!(true));
|
||||
// }
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,62 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
package frc4388.robot.subsystems;
|
||||
|
||||
import com.ctre.phoenix6.configs.Slot0Configs;
|
||||
import com.ctre.phoenix6.controls.PositionVoltage;
|
||||
import com.ctre.phoenix6.hardware.TalonFX;
|
||||
import com.ctre.phoenix6.signals.NeutralModeValue;
|
||||
|
||||
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
||||
|
||||
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
||||
import frc4388.robot.Constants;
|
||||
import frc4388.robot.Constants.ClimbConstants;
|
||||
import frc4388.robot.Constants.IntakeConstants;
|
||||
|
||||
//! 6.5C Scoring Criteria for Stage
|
||||
|
||||
public class Climber extends SubsystemBase {
|
||||
/** Creates a new Climber. */
|
||||
TalonFX climbMotor;
|
||||
|
||||
public Climber(TalonFX climbMotor) {
|
||||
this.climbMotor = climbMotor;
|
||||
this.climbMotor.setInverted(true);
|
||||
|
||||
climbMotor.setNeutralMode(NeutralModeValue.Brake);
|
||||
|
||||
var slot0Configs = new Slot0Configs();
|
||||
slot0Configs.kP = 0.7; // An error of 0.5 rotations results in 12 V output
|
||||
slot0Configs.kI = 0.0; // no output for integrated error
|
||||
slot0Configs.kD = 0.06; // A velocity of 1 rps results in 0.1 V output
|
||||
|
||||
climbMotor.getConfigurator().apply(slot0Configs);
|
||||
}
|
||||
|
||||
public void climbOut() {
|
||||
//PositionVoltage request = new PositionVoltage(0);
|
||||
//climbMotor.setControl(request.withPosition(-520));
|
||||
|
||||
climbMotor.set(Constants.ClimbConstants.CLIMB_OUT_SPEED);
|
||||
}
|
||||
|
||||
public void climbIn() {
|
||||
//PositionVoltage request = new PositionVoltage(-520);
|
||||
//climbMotor.setControl(request.withPosition(0));
|
||||
climbMotor.set(Constants.ClimbConstants.CLIMB_IN_SPEED);
|
||||
;
|
||||
}
|
||||
|
||||
public void stopClimb() {
|
||||
climbMotor.set(0.d);
|
||||
}
|
||||
|
||||
@Override
|
||||
public void periodic() {
|
||||
// This method will be called once per scheduler run
|
||||
//SmartDashboard.putNumber("climber pos", climbMotor.getPosition().getValue());
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,110 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
package frc4388.robot.subsystems;
|
||||
|
||||
import com.ctre.phoenix6.configs.Slot0Configs;
|
||||
import com.ctre.phoenix6.configs.TalonFXConfiguration;
|
||||
import com.ctre.phoenix6.controls.PositionVoltage;
|
||||
import com.ctre.phoenix6.hardware.TalonFX;
|
||||
import com.ctre.phoenix6.signals.NeutralModeValue;
|
||||
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
||||
import frc4388.robot.Constants.IntakeConstants;
|
||||
import frc4388.utility.Gains;
|
||||
|
||||
public class Intake extends SubsystemBase {
|
||||
private TalonFX intakeMotor;
|
||||
private TalonFX pivotMotor;
|
||||
public static Gains armGains = IntakeConstants.ArmPID.INTAKE_GAINS;
|
||||
|
||||
/** Creates a new Intake. */
|
||||
public Intake(TalonFX intakeMotor, TalonFX pivotMotor) {
|
||||
this.intakeMotor = intakeMotor;
|
||||
this.pivotMotor = pivotMotor;
|
||||
|
||||
intakeMotor.getConfigurator().apply(new TalonFXConfiguration());
|
||||
pivotMotor.getConfigurator().apply(new TalonFXConfiguration());
|
||||
|
||||
intakeMotor.setNeutralMode(NeutralModeValue.Brake);
|
||||
pivotMotor.setNeutralMode(NeutralModeValue.Brake);
|
||||
|
||||
// in init function, set slot 0 gains
|
||||
var slot0Configs = new Slot0Configs();
|
||||
slot0Configs.kP = 1.3; // An error of 0.5 rotations results in 12 V output
|
||||
slot0Configs.kI = 0.0; // no output for integrated error
|
||||
slot0Configs.kD = 0.21; // A velocity of 1 rps results in 0.1 V output
|
||||
|
||||
pivotMotor.getConfigurator().apply(slot0Configs);
|
||||
}
|
||||
|
||||
// ! Talon Methods
|
||||
public void PIDIn() {
|
||||
PIDPosition(0);
|
||||
}
|
||||
|
||||
public void PIDOut() {
|
||||
PIDPosition(-53);
|
||||
}
|
||||
|
||||
public void PIDPosition(double pos) {
|
||||
PositionVoltage request = new PositionVoltage(pos);
|
||||
pivotMotor.setControl(request);
|
||||
}
|
||||
|
||||
public void handoff() {
|
||||
intakeMotor.set(-IntakeConstants.INTAKE_OUT_SPEED_UNPRESSED);
|
||||
}
|
||||
|
||||
public void spinIntakeMotor() {
|
||||
intakeMotor.set(IntakeConstants.INTAKE_SPEED);
|
||||
}
|
||||
|
||||
public void spinIntakeMotor(double speed) {
|
||||
intakeMotor.set(speed);
|
||||
}
|
||||
|
||||
public boolean getIntakeLimitSwitchState() {
|
||||
return intakeMotor.getForwardLimit().getValue().value == 0;
|
||||
}
|
||||
|
||||
public void setPivotEncoderPosition(double val) {
|
||||
pivotMotor.setPosition(val);
|
||||
}
|
||||
|
||||
public void stopIntakeMotors() {
|
||||
intakeMotor.set(0);
|
||||
}
|
||||
|
||||
public void stopArmMotor() {
|
||||
pivotMotor.set(0);
|
||||
}
|
||||
|
||||
public void stop() {
|
||||
intakeMotor.set(0);
|
||||
pivotMotor.set(0);
|
||||
}
|
||||
|
||||
public double getArmPos() {
|
||||
return pivotMotor.getPosition().getValue();
|
||||
}
|
||||
|
||||
public void resetArmPosition() {
|
||||
if (getIntakeLimitSwitchState()) {
|
||||
// talonPivot.setPosition(0);
|
||||
}
|
||||
}
|
||||
|
||||
public void ampPosition() {
|
||||
PIDPosition(-59); //TODO: Find actual value
|
||||
}
|
||||
|
||||
public void ampOuttake(double speed) {
|
||||
spinIntakeMotor(speed);
|
||||
}
|
||||
|
||||
@Override
|
||||
public void periodic() {
|
||||
resetArmPosition();
|
||||
}
|
||||
}
|
||||
@@ -7,6 +7,8 @@
|
||||
|
||||
package frc4388.robot.subsystems;
|
||||
|
||||
import edu.wpi.first.wpilibj.AddressableLED;
|
||||
import edu.wpi.first.wpilibj.AddressableLEDBuffer;
|
||||
import edu.wpi.first.wpilibj.motorcontrol.Spark;
|
||||
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
||||
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
||||
@@ -20,44 +22,69 @@ import frc4388.utility.LEDPatterns;
|
||||
*/
|
||||
public class LED extends SubsystemBase {
|
||||
|
||||
private LEDPatterns m_currentPattern;
|
||||
private Spark m_LEDController;
|
||||
|
||||
static AddressableLED m_led;
|
||||
static AddressableLEDBuffer m_ledBuffer;
|
||||
static LED m_self;
|
||||
/**
|
||||
* Add your docs here.
|
||||
*/
|
||||
public LED(Spark LEDController){
|
||||
m_LEDController = LEDController;
|
||||
setPattern(LEDConstants.DEFAULT_PATTERN);
|
||||
updateLED();
|
||||
|
||||
public LED(){
|
||||
if(m_self != null)
|
||||
return;
|
||||
m_led = new AddressableLED(9);
|
||||
m_ledBuffer = new AddressableLEDBuffer(10);
|
||||
m_led.setLength(m_ledBuffer.getLength());
|
||||
m_led.setData(m_ledBuffer);
|
||||
m_led.start();
|
||||
System.err.println("In the Beginning, there was Joe.\nAnd he said, 'Let there be LEDs.'\nAnd it was good.");
|
||||
}
|
||||
|
||||
public static LED getInstance() {
|
||||
if(m_self == null)
|
||||
m_self = new LED();
|
||||
return m_self;
|
||||
}
|
||||
@Override
|
||||
public void periodic(){
|
||||
SmartDashboard.putNumber("LED", m_currentPattern.getValue());
|
||||
//gamermode();
|
||||
//SmartDashboard.putNumber("LED", m_currentPattern.getValue());
|
||||
return;
|
||||
}
|
||||
static int firstcolor = 0;
|
||||
static void gamermode() {
|
||||
for(int i = 0; i < m_ledBuffer.getLength(); i++) {
|
||||
final int hue = (firstcolor + (i * 180 / m_ledBuffer.getLength())) % 180;
|
||||
setLEDHSV(i, hue, 255, 128);
|
||||
}
|
||||
firstcolor +=3;
|
||||
firstcolor %= 180;
|
||||
}
|
||||
/**
|
||||
* Add your docs here.
|
||||
*/
|
||||
public static void updateLED (){
|
||||
gamermode();
|
||||
// m_LEDController.set(m_currentPattern.getValue());
|
||||
}
|
||||
|
||||
/**
|
||||
* Add your docs here.
|
||||
*/
|
||||
public void updateLED(){
|
||||
m_LEDController.set(m_currentPattern.getValue());
|
||||
public static void setLEDRGB(int lednum, int r, int g, int b){
|
||||
m_ledBuffer.setRGB(lednum, r, g, b);
|
||||
//m_currentPattern = pattern;
|
||||
// m_LEDController.set(m_currentPattern.getValue());
|
||||
}
|
||||
|
||||
/**
|
||||
* Add your docs here.
|
||||
*/
|
||||
public void setPattern(LEDPatterns pattern){
|
||||
m_currentPattern = pattern;
|
||||
m_LEDController.set(m_currentPattern.getValue());
|
||||
public static void setLEDHSV(int lednum, int hue, int sat, int val){
|
||||
m_ledBuffer.setRGB(lednum, hue, sat, val);
|
||||
//m_currentPattern = pattern;
|
||||
// m_LEDController.set(m_currentPattern.getValue());
|
||||
}
|
||||
|
||||
/**
|
||||
* Add your docs here.
|
||||
* @return
|
||||
*/
|
||||
public LEDPatterns getPattern() {
|
||||
return m_currentPattern;
|
||||
public AddressableLEDBuffer getBuffer() {
|
||||
return m_ledBuffer;
|
||||
}
|
||||
}
|
||||
@@ -1,165 +1,82 @@
|
||||
// // Copyright (c) FIRST and other WPILib contributors.
|
||||
// // Open Source Software; you can modify and/or share it under the terms of
|
||||
// // the WPILib BSD license file in the root directory of this project.
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
package frc4388.robot.subsystems;
|
||||
import edu.wpi.first.math.geometry.Pose2d;
|
||||
import edu.wpi.first.math.geometry.Rotation2d;
|
||||
import edu.wpi.first.networktables.NetworkTableInstance;
|
||||
import edu.wpi.first.wpilibj.DriverStation;
|
||||
import edu.wpi.first.wpilibj.DriverStation.Alliance;
|
||||
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
||||
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
||||
|
||||
// import java.io.IOException;
|
||||
// import java.util.ArrayList;
|
||||
// import java.util.List;
|
||||
// import java.util.Optional;
|
||||
import frc4388.robot.Constants.VisionConstants;
|
||||
|
||||
// // import org.photonvision.EstimatedRobotPose;
|
||||
// // import org.photonvision.PhotonCamera;
|
||||
// // import org.photonvision.PhotonPoseEstimator;
|
||||
// // import org.photonvision.PhotonPoseEstimator.PoseStrategy;
|
||||
// // import org.photonvision.common.hardware.VisionLEDMode;
|
||||
// // import org.photonvision.targeting.PhotonPipelineResult;
|
||||
// // import org.photonvision.targeting.PhotonTrackedTarget;
|
||||
// // import org.photonvision.targeting.TargetCorner;
|
||||
// Look at vvv for networktables stuff
|
||||
// https://docs.limelightvision.io/docs/docs-limelight/apis/complete-networktables-api#apriltag-and-3d-data
|
||||
|
||||
// import edu.wpi.first.apriltag.AprilTag;
|
||||
// import edu.wpi.first.apriltag.AprilTagFieldLayout;
|
||||
// import edu.wpi.first.apriltag.AprilTagFields;
|
||||
// import edu.wpi.first.math.geometry.Pose2d;
|
||||
// import edu.wpi.first.wpilibj.DriverStation;
|
||||
// import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
||||
// import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
||||
// import frc4388.robot.Constants.VisionConstants;
|
||||
public class Limelight extends SubsystemBase {
|
||||
|
||||
// public class Limelight extends SubsystemBase {
|
||||
|
||||
// // private PhotonCamera cam;
|
||||
// // private PhotonPoseEstimator photonPoseEstimator;
|
||||
// // [X, Y, Z, Roll, Pitch, Yaw]
|
||||
// private double[] cameraPose;
|
||||
// private boolean isTag;
|
||||
|
||||
// private boolean lightOn;
|
||||
// private Pose2d pose;
|
||||
// private boolean isNearSpeaker;
|
||||
|
||||
// /** Creates a new Limelight. */
|
||||
// public Limelight() {
|
||||
// // cam = new PhotonCamera(VisionConstants.NAME);
|
||||
// // cam.setDriverMode(false);
|
||||
// }
|
||||
// public boolean getIsTag() {
|
||||
// return isTag;
|
||||
// }
|
||||
|
||||
// public void setLEDs(boolean on) {
|
||||
// lightOn = on;
|
||||
// // cam.setLED(lightOn ? VisionLEDMode.kOn : VisionLEDMode.kOff);
|
||||
// }
|
||||
// private void update() {
|
||||
// SmartDashboard.putBoolean("Apriltag", isTag);
|
||||
// if(!isTag){
|
||||
// return;
|
||||
// }
|
||||
|
||||
// public void toggleLEDs() {
|
||||
// lightOn = !lightOn;
|
||||
// // cam.setLED(lightOn ? VisionLEDMode.kOn : VisionLEDMode.kOff);
|
||||
// }
|
||||
// double x = cameraPose[0];
|
||||
// double y = cameraPose[1];
|
||||
// double yaw = cameraPose[5];
|
||||
|
||||
// public void setDriverMode(boolean driverMode) {
|
||||
// // cam.setDriverMode(driverMode);
|
||||
// }
|
||||
// Rotation2d rot = Rotation2d.fromDegrees(yaw);
|
||||
|
||||
// public void setToLimePipeline() {
|
||||
// // cam.setPipelineIndex(1);
|
||||
// setLEDs(true);
|
||||
// }
|
||||
// pose = new Pose2d(x, y, rot);
|
||||
|
||||
// public void setToAprilPipeline() {
|
||||
// // cam.setPipelineIndex(0);
|
||||
// setLEDs(false);
|
||||
// }
|
||||
|
||||
// public PhotonTrackedTarget getAprilPoint() {
|
||||
// // if (!cam.isConnected()) return null;
|
||||
|
||||
// // PhotonPipelineResult result = cam.getLatestResult();
|
||||
|
||||
// // if (!result.hasTargets()) return null;
|
||||
|
||||
// return result.getBestTarget();
|
||||
// }
|
||||
|
||||
// private List<TargetCorner> getAprilCorners() {
|
||||
// if (!cam.isConnected()) return null;
|
||||
|
||||
// PhotonPipelineResult result = cam.getLatestResult();
|
||||
|
||||
// if (!result.hasTargets()) return null;
|
||||
|
||||
// return result.getBestTarget().getDetectedCorners();
|
||||
// }
|
||||
|
||||
// public double getAprilSkew() {
|
||||
// List<TargetCorner> corners = getAprilCorners();
|
||||
// ArrayList<TargetCorner> bottomSide = getAprilBottomSide(corners);
|
||||
|
||||
// if (bottomSide == null) return 0;
|
||||
|
||||
// TargetCorner bottomRight = bottomSide.get(0).x > bottomSide.get(1).x ? bottomSide.get(0) : bottomSide.get(1);
|
||||
// TargetCorner bottomLeft = bottomRight.x == bottomSide.get(0).x ? bottomSide.get(1) : bottomSide.get(0);
|
||||
|
||||
// return bottomLeft.y - bottomRight.y;
|
||||
// }
|
||||
|
||||
// private ArrayList<TargetCorner> getAprilBottomSide(List<TargetCorner> box) {
|
||||
// if (box == null) return null;
|
||||
|
||||
// ArrayList<TargetCorner> bottomSide = new ArrayList<>();
|
||||
|
||||
// TargetCorner l1 = new TargetCorner(-1, -1);
|
||||
// TargetCorner l2 = new TargetCorner(-1, -1);
|
||||
// boolean isRed = DriverStation.getAlliance().get() == Alliance.Red;
|
||||
|
||||
// for (TargetCorner c : box) {
|
||||
// if (c.y > l1.y) l1 = c;
|
||||
// }
|
||||
// double distance;
|
||||
|
||||
// for (TargetCorner c : box) {
|
||||
// if (c.y == l1.y) continue;
|
||||
// if (c.y > l2.y) l2 = c;
|
||||
// }
|
||||
// if(isRed){
|
||||
// distance = pose.getTranslation().getDistance(VisionConstants.RedSpeakerCenter);
|
||||
// }else{
|
||||
// distance = pose.getTranslation().getDistance(VisionConstants.BlueSpeakerCenter);
|
||||
// }
|
||||
|
||||
// isNearSpeaker = distance <= VisionConstants.SpeakerBubbleDistance;
|
||||
|
||||
// bottomSide.add(l1);
|
||||
// bottomSide.add(l2);
|
||||
// //SmartDashboard.putBoolean("nearSpeaker", isNearSpeaker);
|
||||
// //SmartDashboard.putNumber("speakerDistance", distance);
|
||||
// }
|
||||
|
||||
// return bottomSide;
|
||||
// }
|
||||
// public Pose2d getPose() {
|
||||
// return pose;
|
||||
// }
|
||||
|
||||
// public double getDistanceToApril() {
|
||||
// PhotonTrackedTarget aprilPoint = getAprilPoint();
|
||||
// if (aprilPoint == null) return -1;
|
||||
// public boolean isNearSpeaker() {
|
||||
// return isNearSpeaker;
|
||||
// }
|
||||
|
||||
// double aprilHeight = VisionConstants.APRIL_HEIGHT - VisionConstants.LIME_HEIGHT;
|
||||
// double theta = 35.0 + aprilPoint.getPitch();
|
||||
// @Override
|
||||
// public void periodic() {
|
||||
// // This method will be called once per scheduler run
|
||||
|
||||
// double distanceToApril = aprilHeight / Math.tan(Math.toRadians(theta));
|
||||
// return distanceToApril;
|
||||
// }
|
||||
// //isTag = NetworkTableInstance.getDefault().getTable("limelight").getEntry("tv").getDouble(0.0) == 1.0;
|
||||
// //double[] newPose = NetworkTableInstance.getDefault().getTable("limelight").getEntry("botpose").getDoubleArray(new double[6]);
|
||||
|
||||
// public PhotonTrackedTarget getLowestTape() {
|
||||
// if (!cam.isConnected()) return null;
|
||||
|
||||
// PhotonPipelineResult result = cam.getLatestResult();
|
||||
|
||||
// if (!result.hasTargets()) return null;
|
||||
|
||||
// ArrayList<PhotonTrackedTarget> points = (ArrayList<PhotonTrackedTarget>) result.getTargets();
|
||||
|
||||
// PhotonTrackedTarget lowest = points.get(0);
|
||||
// for (PhotonTrackedTarget point : points) {
|
||||
// if (point.getPitch() < lowest.getPitch()) {
|
||||
// lowest = point;
|
||||
// }
|
||||
// }
|
||||
|
||||
// return lowest;
|
||||
// }
|
||||
|
||||
// public double getDistanceToTape() {
|
||||
// PhotonTrackedTarget tapePoint = getLowestTape();
|
||||
// if (tapePoint == null) return -1;
|
||||
|
||||
// double tapeHeight = VisionConstants.MID_TAPE_HEIGHT - VisionConstants.LIME_HEIGHT;
|
||||
// double theta = 35.0 + tapePoint.getPitch();
|
||||
|
||||
// double distanceToTape = tapeHeight / Math.tan(Math.toRadians(theta));
|
||||
// return distanceToTape;
|
||||
// }
|
||||
|
||||
// @Override
|
||||
// public void periodic() {}
|
||||
// }
|
||||
// //if(newPose != cameraPose){
|
||||
// // cameraPose = newPose;
|
||||
// //update();
|
||||
// //}
|
||||
// }
|
||||
}
|
||||
@@ -0,0 +1,114 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
package frc4388.robot.subsystems;
|
||||
|
||||
import edu.wpi.first.wpilibj.Encoder;
|
||||
import edu.wpi.first.wpilibj.motorcontrol.Talon;
|
||||
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
||||
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
||||
import frc4388.robot.Constants.IntakeConstants;
|
||||
import frc4388.robot.Constants.ShooterConstants;
|
||||
|
||||
import frc4388.robot.subsystems.Limelight;
|
||||
|
||||
// import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
|
||||
import com.ctre.phoenix6.hardware.TalonFX;
|
||||
import com.ctre.phoenix6.signals.NeutralModeValue;
|
||||
// import com.ctre.phoenix.motorcontrol.NeutralMode;
|
||||
|
||||
|
||||
public class Shooter extends SubsystemBase {
|
||||
|
||||
private TalonFX leftShooter;
|
||||
private TalonFX rightShooter;
|
||||
|
||||
private Limelight limelight;
|
||||
|
||||
private int spinMode = 0;
|
||||
// 0 = Stop / Coast
|
||||
// 1 = Idle
|
||||
// 2 = Idle Near Speaker
|
||||
// 3 = Spin
|
||||
// 4 = SingleSpin
|
||||
|
||||
private double smartDashboardShooterSpeed;
|
||||
|
||||
/** Creates a new Shooter. */
|
||||
public Shooter(TalonFX leftTalonFX, TalonFX rightTalonFX, Limelight tmplimelight) {
|
||||
leftShooter = leftTalonFX;
|
||||
rightShooter = rightTalonFX;
|
||||
|
||||
limelight = tmplimelight;
|
||||
|
||||
leftShooter.setNeutralMode(NeutralModeValue.Coast);
|
||||
rightShooter.setNeutralMode(NeutralModeValue.Coast);
|
||||
SmartDashboard.putNumber("Shooter Speed", ShooterConstants.SHOOTER_SPEED);
|
||||
|
||||
}
|
||||
|
||||
public Shooter(TalonFX leftShooter) {
|
||||
this.leftShooter = leftShooter;
|
||||
leftShooter.setNeutralMode(NeutralModeValue.Coast);
|
||||
}
|
||||
|
||||
public void singleSpin() {
|
||||
leftShooter.set(1.0);
|
||||
spinMode = 4;
|
||||
}
|
||||
|
||||
public void singleSpin(double speed) {
|
||||
leftShooter.set(speed);
|
||||
spinMode = 4;
|
||||
}
|
||||
|
||||
public void spin() {
|
||||
spin(smartDashboardShooterSpeed);
|
||||
spinMode = 3;
|
||||
}
|
||||
|
||||
public void spin(double speed) {
|
||||
leftShooter.set(-speed);
|
||||
rightShooter.set(-speed);
|
||||
spinMode = 3;
|
||||
}
|
||||
|
||||
public void spin(double leftSpeed, double rightSpeed) {
|
||||
leftShooter.set(leftSpeed);
|
||||
rightShooter.set(-rightSpeed);
|
||||
spinMode = 3;
|
||||
}
|
||||
|
||||
public void stop() {
|
||||
spin(0.d);
|
||||
spinMode = 0;
|
||||
}
|
||||
|
||||
public void idle() {
|
||||
spin(ShooterConstants.SHOOTER_IDLE);
|
||||
spinMode = 1;
|
||||
}
|
||||
|
||||
public int getMode(){
|
||||
return spinMode;
|
||||
}
|
||||
|
||||
@Override
|
||||
public void periodic() {
|
||||
// This method will be called once per scheduler run
|
||||
// SmartDashboard.putNumber("Left Shooter RPM", leftShooter.getRotorVelocity().getValue());
|
||||
//SmartDashboard.putNumber("Right Shooter RPM", rightShooter.getRotorVelocity().getValue());
|
||||
//smartDashboardShooterSpeed = SmartDashboard.getNumber("Shooter Speed", ShooterConstants.SHOOTER_SPEED);
|
||||
|
||||
// If the robot is near the speaker, and is stopped, or idled, set to limelight idle speed.
|
||||
// Else if the robot is not near the speaker, then set the speed back to idle.
|
||||
// if(limelight.isNearSpeaker() && (spinMode == 0 || spinMode == 1)){
|
||||
// leftShooter.set(-ShooterConstants.SHOOTER_IDLE_LIMELIGHT);
|
||||
// rightShooter.set(-ShooterConstants.SHOOTER_IDLE_LIMELIGHT);
|
||||
// spinMode = 2;
|
||||
// }else if(!limelight.isNearSpeaker() && spinMode == 2){
|
||||
// idle();
|
||||
// }
|
||||
}
|
||||
}
|
||||
@@ -7,19 +7,19 @@
|
||||
|
||||
package frc4388.utility;
|
||||
|
||||
import com.ctre.phoenix.sensors.WPI_Pigeon2;
|
||||
// import com.ctre.phoenix.sensors.WPI_Pigeon2;
|
||||
import com.ctre.phoenix6.hardware.Pigeon2;
|
||||
import com.kauailabs.navx.frc.AHRS;
|
||||
|
||||
// import edu.wpi.first.wpilibj.GyroBase;
|
||||
import edu.wpi.first.wpilibj.interfaces.Gyro;
|
||||
// import edu.wpi.first.wpilibj.interfaces.Gyro;
|
||||
import edu.wpi.first.math.MathUtil;
|
||||
import edu.wpi.first.math.geometry.Rotation2d;
|
||||
|
||||
/**
|
||||
* Gyro class that allows for interchangeable use between a pigeon and a navX
|
||||
*/
|
||||
public class RobotGyro implements Gyro {
|
||||
public class RobotGyro {
|
||||
private RobotTime m_robotTime = RobotTime.getInstance();
|
||||
|
||||
private Pigeon2 m_pigeon = null;
|
||||
@@ -86,7 +86,6 @@ public class RobotGyro implements Gyro {
|
||||
* is typically done when the robot is first turned on while it's sitting at rest before the
|
||||
* competition starts.
|
||||
*/
|
||||
@Override
|
||||
public void calibrate() {
|
||||
return;
|
||||
// if (m_isGyroAPigeon) {
|
||||
@@ -96,7 +95,6 @@ public class RobotGyro implements Gyro {
|
||||
// }
|
||||
}
|
||||
|
||||
@Override
|
||||
public void reset() {
|
||||
resetZeroValues();
|
||||
|
||||
@@ -189,12 +187,10 @@ public class RobotGyro implements Gyro {
|
||||
return new double[] {RobotUnits.radiansToDegrees(rotation.getX() - rollZero), RobotUnits.radiansToDegrees(rotation.getY() - pitchZero), RobotUnits.radiansToDegrees(rotation.getZ())};
|
||||
}
|
||||
|
||||
@Override
|
||||
public Rotation2d getRotation2d() {
|
||||
return m_pigeon.getRotation2d();
|
||||
}
|
||||
|
||||
@Override
|
||||
public double getAngle() {
|
||||
if (m_isGyroAPigeon) {
|
||||
return getPigeonAngles()[2];
|
||||
@@ -251,7 +247,6 @@ public class RobotGyro implements Gyro {
|
||||
}
|
||||
}
|
||||
|
||||
@Override
|
||||
public double getRate() {
|
||||
if (m_isGyroAPigeon) {
|
||||
return m_deltaPigeonAngle / m_robotTime.m_deltaTime * 1000;
|
||||
@@ -268,7 +263,6 @@ public class RobotGyro implements Gyro {
|
||||
return m_navX;
|
||||
}
|
||||
|
||||
@Override
|
||||
public void close() throws Exception {
|
||||
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user