Team4388/2024AcrossTheRidgebotiverse
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Almost Ready for Denver (im actually tweaking out of my mind please help me)

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Abhishrek05
2024-03-16 16:03:41 -06:00
parent 4efa4385ff
commit 037d2172d7
7 changed files with 77 additions and 61 deletions
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src/main/java/frc4388/robot/Constants.java
+2 -2
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@@ -25,7 +25,7 @@ public final class Constants {
public static final double MAX_ROT_SPEED = 3.5;
public static final double AUTO_MAX_ROT_SPEED = 1.5;
public static final double MIN_ROT_SPEED = 0.8;
public static final double MIN_ROT_SPEED = 1.0;
public static double ROTATION_SPEED = MAX_ROT_SPEED;
public static double PLAYBACK_ROTATION_SPEED = AUTO_MAX_ROT_SPEED;
public static double ROT_CORRECTION_SPEED = 10; // MIN_ROT_SPEED;
@@ -169,7 +169,7 @@ public final class Constants {
public static final int LEFT_SHOOTER_ID = 15; // final
public static final int RIGHT_SHOOTER_ID = 16; // final
public static final double SHOOTER_SPEED = 0.50; // final
public static final double SHOOTER_IDLE = 0.15; // final
public static final double SHOOTER_IDLE = 0.20; // final
public static final double SHOOTER_IDLE_LIMELIGHT = 0.20;
}
src/main/java/frc4388/robot/RobotContainer.java
+41 -38
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@@ -21,7 +21,9 @@ import edu.wpi.first.wpilibj2.command.WaitCommand;
import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import edu.wpi.first.wpilibj2.command.button.Trigger;
import frc4388.robot.Constants.IntakeConstants;
import frc4388.robot.Constants.OIConstants;
import frc4388.robot.Constants.ShooterConstants;
import frc4388.robot.commands.Autos.AutoAlign;
import frc4388.robot.commands.Autos.PlaybackChooser;
import frc4388.robot.commands.Swerve.JoystickPlayback;
@@ -145,7 +147,7 @@ public class RobotContainer {
private SequentialCommandGroup ampShoot = new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.ampPosition()),
new InstantCommand(() -> m_robotIntake.ampShoot(0.1)) //TODO: Find Actual Speed
new InstantCommand(() -> m_robotIntake.ampOuttake(0.1)) //TODO: Find Actual Speed
);
// ! /* Autos */
@@ -367,18 +369,18 @@ public class RobotContainer {
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.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());
// new JoystickButton(m_autoRecorderXbox, XboxController.RIGHT_BUMPER_BUTTON)
// .onTrue(new neoJoystickPlayback(m_robotSwerveDrive,
// () -> autoplaybackName.get(),
// new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
// true, false))
// .onFalse(new InstantCommand());
// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
// .whileTrue(new JoystickRecorder(m_robotSwerveDrive,
@@ -393,18 +395,24 @@ public class RobotContainer {
// .onTrue(new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"))
// .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.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 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()));
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
.whileTrue(new InstantCommand(() ->
m_robotSwerveDrive.driveWithInput(new Translation2d(0, 1),
new Translation2d(0, 0),
true), m_robotSwerveDrive));
// new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
// .whileTrue(new InstantCommand(() ->
// m_robotSwerveDrive.driveWithInput(new Translation2d(0, 1),
// new Translation2d(0, 0),
// true), m_robotSwerveDrive));
//? /* Operator Buttons */
@@ -427,14 +435,14 @@ public class RobotContainer {
// Override Intake Position encoder: out
new JoystickButton(getDeadbandedOperatorController(), XboxController.BACK_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(-59), m_robotIntake));
.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(-55), m_robotIntake));
// Override Intake Position encoder: in
new JoystickButton(getDeadbandedOperatorController(), XboxController.START_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(0), m_robotIntake));
.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(-6.2), m_robotIntake));
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter))
.onTrue(new InstantCommand(() -> m_robotShooter.spin(0.5), m_robotShooter))
.onFalse(turnOffShoot);
@@ -462,12 +470,7 @@ public class RobotContainer {
.onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
new Trigger(() -> getDeadbandedOperatorController().getPOV() == 0)
.onTrue(new InstantCommand(() -> m_robotClimber.climbOut()))
.onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
new Trigger(() -> getDeadbandedOperatorController().getPOV() == 180)
.onTrue(new InstantCommand(() -> m_robotClimber.climbIn()))
.onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
.onTrue(new InstantCommand(() -> m_robotIntake.ampOuttake(0.5)));
}
@@ -508,7 +511,7 @@ public class RobotContainer {
// Override Intake Position encoder: out
new JoystickButton(getVirtualOperatorController(), XboxController.BACK_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(-59), m_robotIntake));
.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(-53), m_robotIntake));
// Override Intake Position encoder: in
new JoystickButton(getVirtualOperatorController(), XboxController.START_BUTTON)
@@ -516,7 +519,7 @@ public class RobotContainer {
new JoystickButton(getVirtualOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter))
.onTrue(new InstantCommand(() -> m_robotShooter.spin(0.5), m_robotShooter))
.onFalse(turnOffShoot.asProxy());
@@ -543,11 +546,11 @@ public class RobotContainer {
*/
public Command getAutonomousCommand() {
//no auto
// return new neoJoystickPlayback(m_robotSwerveDrive,
// "2note.auto",
// new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
// true, false);
return playbackChooser.getCommand();
return new neoJoystickPlayback(m_robotSwerveDrive,
() -> autoplaybackName.get(),
new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
true, false);
//return playbackChooser.getCommand();
}
/**
src/main/java/frc4388/robot/subsystems/Climber.java
+5 -1
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@@ -7,6 +7,8 @@ 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;
@@ -23,6 +25,8 @@ public class Climber extends SubsystemBase {
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
@@ -53,6 +57,6 @@ public class Climber extends SubsystemBase {
@Override
public void periodic() {
// This method will be called once per scheduler run
SmartDashboard.putNumber("climber pos", climbMotor.getPosition().getValue());
//SmartDashboard.putNumber("climber pos", climbMotor.getPosition().getValue());
}
}
src/main/java/frc4388/robot/subsystems/Intake.java
+6 -6
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@@ -128,13 +128,13 @@ public class Intake extends SubsystemBase {
// ! Talon Methods
public void talonPIDIn() {
PositionVoltage request = new PositionVoltage(-59);
PositionVoltage request = new PositionVoltage(-53);
talonPivot.setControl(request.withPosition(0));
}
public void talonPIDOut() {
PositionVoltage request = new PositionVoltage(0);
talonPivot.setControl(request.withPosition(-59));
talonPivot.setControl(request.withPosition(-53));
}
public void talonPIDPosition(double out2) {
@@ -161,7 +161,7 @@ public class Intake extends SubsystemBase {
return false;
}
public void talonSetPivotEncoderPosition(int val) {
public void talonSetPivotEncoderPosition(double val) {
talonPivot.setPosition(val);
}
@@ -188,7 +188,7 @@ public class Intake extends SubsystemBase {
talonPivot.setControl(request.withPosition(-59)); //TODO: Find actual value
}
public void ampShoot(double speed) {
public void ampOuttake(double speed) {
talonSpinIntakeMotor(speed);
}
@@ -333,8 +333,8 @@ public class Intake extends SubsystemBase {
resetArmPosition();
//SmartDashboard.putNumber("Pivot Position", getArmPos());
// SmartDashboard.putNumber("Pivot Position", getArmPos());
smartDashboardOuttakeValue = SmartDashboard.getNumber("Outtake Speed", IntakeConstants.INTAKE_OUT_SPEED_UNPRESSED);
//smartDashboardOuttakeValue = SmartDashboard.getNumber("Outtake Speed", IntakeConstants.INTAKE_OUT_SPEED_UNPRESSED);
}
}
src/main/java/frc4388/robot/subsystems/Limelight.java
+6 -6
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@@ -71,12 +71,12 @@ public class Limelight extends SubsystemBase {
public void periodic() {
// This method will be called once per scheduler run
isTag = NetworkTableInstance.getDefault().getTable("limelight").getEntry("tv").getDouble(0.0) == 1.0;
double[] newPose = NetworkTableInstance.getDefault().getTable("limelight").getEntry("botpose").getDoubleArray(new double[6]);
//isTag = NetworkTableInstance.getDefault().getTable("limelight").getEntry("tv").getDouble(0.0) == 1.0;
//double[] newPose = NetworkTableInstance.getDefault().getTable("limelight").getEntry("botpose").getDoubleArray(new double[6]);
if(newPose != cameraPose){
cameraPose = newPose;
update();
}
//if(newPose != cameraPose){
// cameraPose = newPose;
//update();
//}
}
}
src/main/java/frc4388/robot/subsystems/Shooter.java
+7 -7
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@@ -103,12 +103,12 @@ public class Shooter extends SubsystemBase {
// 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();
}
// 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();
// }
}
}
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+10 -1
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@@ -34,6 +34,7 @@ public class SwerveDrive extends SubsystemBase {
private RobotGyro gyro;
public double speedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST; // * slow by default
public double rotSpeedAdjust = SwerveDriveConstants.MIN_ROT_SPEED;
public double autoSpeedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_SLOW;
public double rotTarget = 0.0;
@@ -81,7 +82,7 @@ public class SwerveDrive extends SubsystemBase {
// Translation2d cubedSpeed = new Translation2d(Math.pow(speed.getX(), 3.00), Math.pow(speed.getY(), 3.00));
// Convert field-relative speeds to robot-relative speeds.
chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), -1 * speed.getY(), rightStick.getX(), gyro.getRotation2d());//.times(-1));
chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), -1 * speed.getY(), rightStick.getX() * rotSpeedAdjust, gyro.getRotation2d());//.times(-1));
} else { // Create robot-relative speeds.
chassisSpeeds = new ChassisSpeeds(-1 * leftStick.getX(), -1 * leftStick.getY(), -1 * rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED);
}
@@ -279,6 +280,14 @@ public class SwerveDrive extends SubsystemBase {
}
}
public void shiftUpRot() {
rotSpeedAdjust = SwerveDriveConstants.ROTATION_SPEED;
}
public void shiftDownRot() {
rotSpeedAdjust = SwerveDriveConstants.MIN_ROT_SPEED;
}
}