diff --git a/.gitignore b/.gitignore index 01960f5..b5b18bb 100644 --- a/.gitignore +++ b/.gitignore @@ -177,3 +177,4 @@ logs/ # Folder that has CTRE Phoenix Sim device config storage ctre_sim/ simgui.json +simgui-ds.json diff --git a/sample.auto b/sample.auto new file mode 100644 index 0000000..6b4c98b Binary files /dev/null and b/sample.auto differ diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index eed58d9..f870106 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -168,19 +168,19 @@ public final class Constants { public static final class ShooterConstants { public static final int LEFT_SHOOTER_ID = 15; // final public static final int RIGHT_SHOOTER_ID = 16; // final - - public static final double SHOOTER_SPEED = 1.0; // final + public static final double SHOOTER_SPEED = 0.35; // final public static final double SHOOTER_IDLE = 0.4; // final public static final double SHOOTER_IDLE_LIMELIGHT = 0.8; } public static final class IntakeConstants { - public static final int INTAKE_MOTOR_ID = 18; //TODO: - public static final int PIVOT_MOTOR_ID = 17; //TODO: - public static final double INTAKE_SPEED = 0.75; //TODO: - public static final double INTAKE_OUT_SPEED = 0.1; - public static final double HANDOFF_SPEED = 0.4; //TODO: - public static final double PIVOT_SPEED = 0.2; //TODO: + public static final int INTAKE_MOTOR_ID = 18; + public static final int PIVOT_MOTOR_ID = 17; + public static final double INTAKE_SPEED = 0.75; + public static final double INTAKE_OUT_SPEED_UNPRESSED = 1.0; + public static final double INTAKE_OUT_SPEED_PRESSED = 0.5; + public static final double HANDOFF_SPEED = 0.4; + public static final double PIVOT_SPEED = 0.2; public static final class ArmPID { public static final Gains INTAKE_GAINS = new Gains(0.05, 0, 0, 0, 0, 1.0); diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java index 4190119..7a67970 100644 --- a/src/main/java/frc4388/robot/Robot.java +++ b/src/main/java/frc4388/robot/Robot.java @@ -38,7 +38,6 @@ public class Robot extends TimedRobot { // Instantiate our RobotContainer. This will perform all our button bindings, and put our // autonomous chooser on the dashboard. m_robotContainer = new RobotContainer(); - CameraServer.startAutomaticCapture(); } /** @@ -84,20 +83,20 @@ public class Robot extends TimedRobot { */ @Override public void autonomousInit() { - // m_autonomousCommand = m_robotContainer.getAutonomousCommand(); + m_autonomousCommand = m_robotContainer.getAutonomousCommand(); - // /* - // * String autoSelected = SmartDashboard.getString("Auto Selector", - // * "Default"); switch(autoSelected) { case "My Auto": autonomousCommand - // * = new MyAutoCommand(); break; case "Default Auto": default: - // * autonomousCommand = new ExampleCommand(); break; } - // */ + /* + * String autoSelected = SmartDashboard.getString("Auto Selector", + * "Default"); switch(autoSelected) { case "My Auto": autonomousCommand + * = new MyAutoCommand(); break; case "Default Auto": default: + * autonomousCommand = new ExampleCommand(); break; } + */ - // // schedule the autonomous command (example) - // if (m_autonomousCommand != null) { - // m_autonomousCommand.schedule(); - // } - // m_robotTime.startMatchTime(); + // schedule the autonomous command (example) + if (m_autonomousCommand != null) { + m_autonomousCommand.schedule(); + } + m_robotTime.startMatchTime(); } /** diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 0b0f67f..bb321d4 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -7,12 +7,10 @@ package frc4388.robot; -import java.time.Instant; - +import edu.wpi.first.cameraserver.CameraServer; +import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.GenericHID; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; 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.RunCommand; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; @@ -24,14 +22,16 @@ import frc4388.robot.commands.Autos.AutoAlign; import frc4388.robot.commands.Autos.PlaybackChooser; import frc4388.robot.commands.Swerve.JoystickPlayback; import frc4388.robot.commands.Swerve.JoystickRecorder; +import frc4388.robot.commands.Swerve.neoJoystickPlayback; +import frc4388.robot.commands.Swerve.neoJoystickRecorder; import frc4388.robot.commands.Intake.ArmIntakeIn; -import frc4388.robot.commands.Intake.RotateIntakeToPosition; import frc4388.robot.subsystems.LED; import frc4388.robot.subsystems.Limelight; import frc4388.robot.subsystems.SwerveDrive; import frc4388.robot.subsystems.Shooter; import frc4388.robot.subsystems.Intake; import frc4388.utility.controller.DeadbandedXboxController; +import frc4388.utility.controller.VirtualController; import frc4388.utility.controller.XboxController; /** @@ -65,17 +65,19 @@ 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); - - /* Autos */ - // This shoud be in a SequentialCommandGroup vvv + private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID); + private final DeadbandedXboxController m_autoRecorderXbox = new DeadbandedXboxController(2); - private Command taxi = new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"); - private Command MoveToSpeaker = new JoystickPlayback(m_robotSwerveDrive, "MoveToSpeaker.txt"); + + /* Virtual Controllers */ + private final VirtualController m_virtualDriver = new VirtualController(0); + private final VirtualController m_virtualOperator = new VirtualController(1); + + private Limelight limelight = new Limelight(); private Command intakeToShootStuff = new ArmIntakeIn(m_robotIntake, m_robotShooter); private SequentialCommandGroup intakeToShoot = new SequentialCommandGroup( - new InstantCommand(() -> m_robotIntake.pidIn()), + new InstantCommand(() -> m_robotIntake.talonPIDIn()), new InstantCommand(() -> m_robotShooter.spin()) ); @@ -94,7 +96,7 @@ public class RobotContainer { private AutoAlign autoAlign = new AutoAlign(m_robotSwerveDrive, limelight); private SequentialCommandGroup autoShoot = new SequentialCommandGroup( - MoveToSpeaker, + // MoveToSpeaker, autoAlign, new InstantCommand(() -> m_robotShooter.spin()), new WaitCommand(3.0), @@ -112,27 +114,88 @@ public class RobotContainer { private SequentialCommandGroup ejectToShoot = new SequentialCommandGroup( new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter), - new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake) + new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake) ); private SequentialCommandGroup turnOffShoot = new SequentialCommandGroup( new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter), - new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake) + new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake) ); - - - + /* Autos */ + private Command taxi = new InstantCommand(); // new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"); + private Command startLeftMoveRight = new InstantCommand(); // new JoystickPlayback(m_robotSwerveDrive, "StartLeftMoveRight.txt"); + private Command startRightMoveLeft = new InstantCommand(); // new JoystickPlayback(m_robotSwerveDrive, "StartRightMoveLeft.txt"); + private SequentialCommandGroup oneNoteStartingSpeaker = new SequentialCommandGroup ( + new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter), + new WaitCommand(1).asProxy(), + new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake), + new WaitCommand(1).asProxy(), + new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter), + new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake), + new WaitCommand(1).asProxy(), + new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt") + ); + private SequentialCommandGroup oneNoteStartingSpeakerStationary = new SequentialCommandGroup ( + new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter), + new WaitCommand(1).asProxy(), + new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake), + new WaitCommand(1).asProxy(), + new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter), + new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake) + ); + private SequentialCommandGroup oneNoteStartingFromLeft = new SequentialCommandGroup( + startLeftMoveRight.asProxy(), + ejectToShoot.asProxy(), + taxi.asProxy() + ); + private SequentialCommandGroup oneNoteStartingFromRight = new SequentialCommandGroup( + startRightMoveLeft.asProxy(), + ejectToShoot.asProxy(), + taxi.asProxy() + ); + private SequentialCommandGroup twoNoteStartingFromSpeaker = new SequentialCommandGroup( + new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter), + new WaitCommand(1).asProxy(), + new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake), + new WaitCommand(1).asProxy(), + new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter), + new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake), + intakeToShootStuff.asProxy(), + new WaitCommand(1).asProxy(), + new JoystickPlayback(m_robotSwerveDrive, "TwoNotePrt1.txt"), + intakeToShoot.asProxy(), + new WaitCommand(1).asProxy(), + new JoystickPlayback(m_robotSwerveDrive, "TwoNotePrt2.txt"), + new WaitCommand(0.5).asProxy(), + new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter), + new WaitCommand(1).asProxy(), + new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake), + new WaitCommand(1).asProxy(), + new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter), + new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake) + ); private PlaybackChooser playbackChooser = new PlaybackChooser(m_robotSwerveDrive) - .addOption("Taxi Auto", new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt")) + .addOption("Taxi Auto", taxi.asProxy()) + .addOption("One Note Auto Starting in Front of Speaker", oneNoteStartingSpeaker) + .addOption("One Note Auto Starting in Front of Speaker, But Stay", oneNoteStartingSpeakerStationary) + .addOption("One Note Auto Starting from Left Position", oneNoteStartingFromLeft) + .addOption("One Note Auto Starting from Right Position", oneNoteStartingFromRight) .buildDisplay(); + + /** * The container for the robot. Contains subsystems, OI devices, and commands. */ public RobotContainer() { - configureButtonBindings(); + configureButtonBindings(); + configureVirtualButtonBindings(); + + + DriverStation.silenceJoystickConnectionWarning(true); + CameraServer.startAutomaticCapture(); /* Default Commands */ // drives the robot with a two-axis input from the driver controller @@ -145,10 +208,6 @@ public class RobotContainer { // continually sends updates to the Blinkin LED controller to keep the lights on m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED)); - - SmartDashboard.putNumber("Velocity Output", m_robotIntake.getVelocity()); - - // m_robotIntake.resetPostion(); } /** @@ -162,8 +221,6 @@ public class RobotContainer { new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON) .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive)); - - /* Auto Recording */ // new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // .whileTrue(new JoystickRecorder(m_robotSwerveDrive, @@ -171,84 +228,131 @@ public class RobotContainer { // () -> getDeadbandedDriverController().getLeftY(), // () -> getDeadbandedDriverController().getRightX(), // () -> getDeadbandedDriverController().getRightY(), - // "IntenseTaxi.txt")) + // () -> getDeadbandedOperatorController().getLeftBumper(), + // () -> getDeadbandedOperatorController().getRightBumper(), + // "TwoNotePrt1.txt")) // .onFalse(new InstantCommand()); - new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON) - .onTrue(new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt")) - .onFalse(new InstantCommand()); + // new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) + // .onTrue(new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt")) + // .onFalse(new InstantCommand()); + new JoystickButton(m_autoRecorderXbox, XboxController.LEFT_BUMPER_BUTTON) + .whileTrue(new neoJoystickRecorder(m_robotSwerveDrive, + new DeadbandedXboxController[]{getDeadbandedDriverController(), getDeadbandedOperatorController()}, + "2note.auto")) + .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(m_autoRecorderXbox, XboxController.RIGHT_BUMPER_BUTTON) + .onTrue(new neoJoystickPlayback(m_robotSwerveDrive, + "2note.auto", + 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 JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final + // .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown())); /* Operator Buttons */ - // new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON) - // .onTrue(new InstantCommand(() -> m_robotIntake.spinIntakeMotor(), m_robotIntake)) - // .onFalse(new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake)); - - // new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON) - // .onTrue(new InstantCommand(() -> new RotateIntakeToPosition(m_robotIntake, 360).execute(), m_robotIntake)) - // .onFalse(new InstantCommand(() -> new RotateIntakeToPosition(m_robotIntake, 0).execute(), m_robotShooter)); new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON) - .onTrue(new InstantCommand(() -> m_robotIntake.pidIn())) - .onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor())); + .onTrue(new InstantCommand(() -> m_robotIntake.talonPIDIn())) + .onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor())); - new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON) - .onTrue(new InstantCommand(() -> m_robotIntake.pidOut())) - .onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor())); - - // //Pull arm in - // new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON) - // .onTrue(new InstantCommand(() -> m_robotIntake.pidIn(), m_robotIntake)) - // .onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor(), m_robotIntake)); - - // //Pull arm out - // new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON) - // .onTrue(new InstantCommand(() -> m_robotIntake.pidOut(), m_robotIntake)) - // .onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor(), m_robotIntake)); - - // //Intake Note - // new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON) - // .onTrue(new InstantCommand(() -> m_robotIntake.spinIntakeMotor(), m_robotIntake)) - // .onFalse(new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake)); - - // //Outtake Note - // new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON) - // .onTrue(new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake)) - // .onFalse(new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake)); - - //Spin Shooter Motors new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON) + .onTrue(new InstantCommand(() -> m_robotIntake.talonPIDOut())) + .onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor())); + + new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON) + .onTrue(new InstantCommand(() -> m_robotIntake.talonSpinIntakeMotor())) + .onFalse(new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors())); + + + // Override Intake Position encoder: out + new JoystickButton(getDeadbandedOperatorController(), XboxController.BACK_BUTTON) + .onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(-53), m_robotIntake)); + + // Override Intake Position encoder: in + new JoystickButton(getDeadbandedOperatorController(), XboxController.START_BUTTON) + .onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(0), m_robotIntake)); + + //Spin Shooter Motors + new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON) .onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter)) .onFalse(new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter)); - // //Intake Note and ramp up shooter to 40% - // new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON) - // .onTrue(intakeToShoot); - - // //Ramps up shooter to 100% to Shooter - // new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON) - // .onTrue(outtakeToShootFull); - - new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON) .onTrue(ejectToShoot) .onFalse(turnOffShoot); new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON) + .onTrue(i) + .onFalse(new InstantCommand(() -> m_robotIntake.talonPIDIn())); + + //spins up shooter, no wind down + new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_JOYSTICK_BUTTON) + .onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter)); + + } + + private void configureVirtualButtonBindings() { + /* Driver Buttons */ + new JoystickButton(getVirtualDriverController(), XboxController.A_BUTTON) + .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive)); + + /* Speed */ + new JoystickButton(getVirtualDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final + .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp())); + // .onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast())); + + new JoystickButton(getVirtualDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final + .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown())); + + + + /* Operator Buttons */ + + new JoystickButton(getVirtualOperatorController(), XboxController.Y_BUTTON) + .onTrue(new InstantCommand(() -> m_robotIntake.pidIn())) + .onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor())); + + new JoystickButton(getVirtualOperatorController(), XboxController.A_BUTTON) + .onTrue(new InstantCommand(() -> m_robotIntake.pidOut())) + .onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor())); + + + // Override Intake Position encoder: out + new JoystickButton(getVirtualOperatorController(), XboxController.BACK_BUTTON) + .onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(-53), m_robotIntake)); + + // Override Intake Position encoder: in + new JoystickButton(getVirtualOperatorController(), XboxController.START_BUTTON) + .onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(0), m_robotIntake)); + + //Spin Shooter Motors + new JoystickButton(getVirtualOperatorController(), XboxController.X_BUTTON) + .onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter)) + .onFalse(new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter)); + + new JoystickButton(getVirtualOperatorController(), XboxController.LEFT_BUMPER_BUTTON) + .onTrue(ejectToShoot) + .onFalse(turnOffShoot); + + + new JoystickButton(getVirtualOperatorController(), XboxController.RIGHT_BUMPER_BUTTON) .onTrue(i) .onFalse(new InstantCommand(() -> m_robotIntake.pidIn())); + new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_JOYSTICK_BUTTON) + .onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter)); } /** @@ -257,8 +361,12 @@ public class RobotContainer { * @return the command to run in autonomous */ public Command getAutonomousCommand() { - //no auto - return playbackChooser.getCommand(); + //no auto + return new neoJoystickPlayback(m_robotSwerveDrive, + "2note.auto", + new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()}, + true, false); + //return playbackChooser.getCommand(); } /** @@ -271,4 +379,12 @@ public class RobotContainer { public DeadbandedXboxController getDeadbandedOperatorController() { return this.m_operatorXbox; } + + public VirtualController getVirtualDriverController() { + return m_virtualDriver; + } + + public VirtualController getVirtualOperatorController() { + return m_virtualOperator; + } } diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index 1259982..4f4d20f 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -70,8 +70,8 @@ public class RobotMap { public final TalonFX rightShooter = new TalonFX(ShooterConstants.RIGHT_SHOOTER_ID); /* Intake Subsystem */ - public final CANSparkMax intakeMotor = new CANSparkMax(IntakeConstants.INTAKE_MOTOR_ID, CANSparkLowLevel.MotorType.kBrushless); - public final CANSparkMax pivotMotor = new CANSparkMax(IntakeConstants.PIVOT_MOTOR_ID, CANSparkLowLevel.MotorType.kBrushless); + public final TalonFX intakeMotor = new TalonFX(IntakeConstants.INTAKE_MOTOR_ID); + public final TalonFX pivotMotor = new TalonFX(IntakeConstants.PIVOT_MOTOR_ID); void configureLEDMotorControllers() { } diff --git a/src/main/java/frc4388/robot/commands/Autos/PlaybackChooser.java b/src/main/java/frc4388/robot/commands/Autos/PlaybackChooser.java index a270d7b..f3d636d 100644 --- a/src/main/java/frc4388/robot/commands/Autos/PlaybackChooser.java +++ b/src/main/java/frc4388/robot/commands/Autos/PlaybackChooser.java @@ -42,6 +42,7 @@ public class PlaybackChooser { m_playback = m_choosers.get(0); nextChooser(); + // ! This does not work, why? Shuffleboard.getTab("Auto Chooser") .add("Add Sequence", new InstantCommand(() -> nextChooser())) .withPosition(4, 0); @@ -68,13 +69,13 @@ public class PlaybackChooser { String[] dirs = m_dir.list(); - if(dirs == null){ // Fix funny error - return; + if(dirs != null){ // Fix funny error + for (String auto : dirs) { + chooser.addOption(auto, new JoystickPlayback(m_swerve, auto)); + } } - for (String auto : dirs) { - chooser.addOption(auto, new JoystickPlayback(m_swerve, auto)); - } + for (var cmd_name : m_commandPool.keySet()) { chooser.addOption(cmd_name, m_commandPool.get(cmd_name)); } diff --git a/src/main/java/frc4388/robot/commands/Autos/neo AutoRecoding format.txt b/src/main/java/frc4388/robot/commands/Autos/neo AutoRecoding format.txt new file mode 100644 index 0000000..a65aea9 --- /dev/null +++ b/src/main/java/frc4388/robot/commands/Autos/neo AutoRecoding format.txt @@ -0,0 +1,20 @@ +AUTO file format + +HEADER static size 0x5 +0x00 BYTE NUM AXES: defualts to 6 +0x01 BYTE NUM POV: defualts to 1 +0x02 BYTE NUM CONTROLLERS: defualts to 2 +0x03 SHORT FRAMES: any value greator or equal than one. + +FRAME PER CONTROLLER: defualt size 0x34 +0x00 DOUBLE AXES[NUM AXES] +0x30 SHORT BUTTONS +0x32 SHORT POVs[NUM POV] + +FRAME: size varrys +FRAME PER CONTROLLER[NUM CONTROLLERS] +INT UNIXTIMESTAMP + +FILE: +HEADER +FRAME[FRAMES] \ No newline at end of file diff --git a/src/main/java/frc4388/robot/commands/Intake/ArmIntakeIn.java b/src/main/java/frc4388/robot/commands/Intake/ArmIntakeIn.java index 1952c2d..fc08304 100644 --- a/src/main/java/frc4388/robot/commands/Intake/ArmIntakeIn.java +++ b/src/main/java/frc4388/robot/commands/Intake/ArmIntakeIn.java @@ -28,8 +28,8 @@ public class ArmIntakeIn extends Command { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - robotIntake.pidOut(); - robotIntake.spinIntakeMotor(); + robotIntake.talonPIDOut(); + robotIntake.talonSpinIntakeMotor(); } // Called once the command ends or is interrupted. @@ -39,11 +39,14 @@ public class ArmIntakeIn extends Command { // Returns true when the command should end. @Override public boolean isFinished() { - if(robotIntake.getIntakeLimitSwtichState() == true) { - return true; - } else { - return false; - } - + return robotIntake.getTalonIntakeLimitSwitchState(); + // if(!(!robotIntake.getTalonIntakeLimitSwitchState() != !false) && ((-1.0 / 0.0) == (-2.0 / 0.0))) + // { + // return !true==true; + // } + // else + // { + // return !false==!(!(true)); + // } } } diff --git a/src/main/java/frc4388/robot/commands/Intake/RotateIntakeToPosition.java b/src/main/java/frc4388/robot/commands/Intake/RotateIntakeToPosition.java deleted file mode 100644 index 2dd7a55..0000000 --- a/src/main/java/frc4388/robot/commands/Intake/RotateIntakeToPosition.java +++ /dev/null @@ -1,38 +0,0 @@ -// 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 com.revrobotics.CANSparkMax; - -import edu.wpi.first.math.geometry.Translation2d; -import frc4388.robot.commands.PID; -import frc4388.robot.subsystems.SwerveDrive; -import edu.wpi.first.wpilibj.motorcontrol.Spark; - -import frc4388.robot.subsystems.Intake; -public class RotateIntakeToPosition extends PID { - - Intake intake; - double targetAngle; - - /** Creates a new PIDSparkMax. */ - public RotateIntakeToPosition(Intake intake, double targetAngle) { - super(0.3, 0.0, 0.0, 0.0, 1); - - this.intake = intake; - this.targetAngle = targetAngle; - - addRequirements(intake); - } - - @Override - public double getError() { - return targetAngle - (((intake.getEncoder().getPosition()) * (360))%360); - } - - @Override - public void runWithOutput(double output) { - intake.setVoltage(output / Math.abs(getError())); - } -} diff --git a/src/main/java/frc4388/robot/commands/Swerve/JoystickPlayback.java b/src/main/java/frc4388/robot/commands/Swerve/JoystickPlayback.java index 3752550..4a91f7a 100644 --- a/src/main/java/frc4388/robot/commands/Swerve/JoystickPlayback.java +++ b/src/main/java/frc4388/robot/commands/Swerve/JoystickPlayback.java @@ -102,7 +102,7 @@ public class JoystickPlayback extends Command { return; } lastIndex = i; - } + } // Why is this done rather than using the variable counter TimedOutput lastOut = outputs.get(lastIndex - 1); TimedOutput out = outputs.get(lastIndex); diff --git a/src/main/java/frc4388/robot/commands/Swerve/JoystickRecorder.java b/src/main/java/frc4388/robot/commands/Swerve/JoystickRecorder.java index 620dd86..56275b8 100644 --- a/src/main/java/frc4388/robot/commands/Swerve/JoystickRecorder.java +++ b/src/main/java/frc4388/robot/commands/Swerve/JoystickRecorder.java @@ -12,33 +12,66 @@ import java.util.function.Supplier; import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.InstantCommand; +import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; +import frc4388.robot.commands.Intake.ArmIntakeIn; +import frc4388.robot.subsystems.Intake; +import frc4388.robot.subsystems.Shooter; import frc4388.robot.subsystems.SwerveDrive; import frc4388.utility.UtilityStructs.TimedOutput; public class JoystickRecorder extends Command { public final SwerveDrive swerve; + public final Shooter m_robotShooter; + public final Intake m_robotIntake; public final Supplier leftX; public final Supplier leftY; public final Supplier rightX; public final Supplier rightY; + public final Supplier OPLB; + public final Supplier OPRB; + + private Command intakeToShootStuff; + private Command intakeToShoot; + private Command i; + + private boolean lastOPLB; + private boolean lastOPRB; + private String filename; public final ArrayList outputs = new ArrayList<>(); private long startTime = -1; /** Creates a new JoystickRecorder. */ - public JoystickRecorder(SwerveDrive swerve, Supplier leftX, Supplier leftY, + public JoystickRecorder(SwerveDrive swerve, Shooter m_robotShooter, Intake m_robotIntake, + Supplier leftX, Supplier leftY, Supplier rightX, Supplier rightY, + Supplier OPLB, Supplier OPRB, String filename) { this.swerve = swerve; + this.m_robotShooter = m_robotShooter; + this.m_robotIntake = m_robotIntake; + this.leftX = leftX; this.leftY = leftY; this.rightX = rightX; this.rightY = rightY; + this.OPLB = OPLB; + this.OPRB = OPRB; this.filename = filename; + intakeToShootStuff = new ArmIntakeIn(m_robotIntake, m_robotShooter); + intakeToShoot = new SequentialCommandGroup( + new InstantCommand(() -> m_robotIntake.pidIn()), + new InstantCommand(() -> m_robotShooter.spin()) + ); + i = new SequentialCommandGroup( + intakeToShootStuff, intakeToShoot + ); + addRequirements(this.swerve); } @@ -60,6 +93,8 @@ public class JoystickRecorder extends Command { inputs.leftY = leftY.get(); inputs.rightX = rightX.get(); inputs.rightY = rightY.get(); + inputs.OPLB = OPLB.get(); + inputs.OPRB = OPRB.get(); inputs.timedOffset = System.currentTimeMillis() - startTime; outputs.add(inputs); @@ -67,8 +102,23 @@ public class JoystickRecorder extends Command { swerve.driveWithInput(new Translation2d(inputs.leftX, inputs.leftY), new Translation2d(inputs.rightX, inputs.rightY), true); + + if(lastOPLB != inputs.OPLB && inputs.OPLB == true){ + m_robotShooter.spin(); + m_robotIntake.handoff(); + }else if(lastOPLB != inputs.OPLB && inputs.OPLB == false){ + + } + + if(lastOPRB != inputs.OPRB){ + m_robotShooter.spin(); + m_robotIntake.handoff(); + } System.out.println("RECORDING"); + + lastOPLB = inputs.OPLB; + lastOPRB = inputs.OPRB; } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc4388/robot/commands/Swerve/neoJoystickPlayback.java b/src/main/java/frc4388/robot/commands/Swerve/neoJoystickPlayback.java new file mode 100644 index 0000000..206a2b5 --- /dev/null +++ b/src/main/java/frc4388/robot/commands/Swerve/neoJoystickPlayback.java @@ -0,0 +1,145 @@ +package frc4388.robot.commands.Swerve; + +import java.io.FileInputStream; +import java.util.ArrayList; + +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.wpilibj2.command.Command; +import frc4388.robot.subsystems.SwerveDrive; +import frc4388.utility.DataUtils; +import frc4388.utility.UtilityStructs.AutoRecordingControllerFrame; +import frc4388.utility.UtilityStructs.AutoRecordingFrame; +import frc4388.utility.controller.VirtualController; + +public class neoJoystickPlayback extends Command { + private final SwerveDrive swerve; + private final String filename; + private final VirtualController[] controllers; + private final ArrayList frames = new ArrayList<>(); + private int frame_index = 0; + private long startTime = 0; + private long playbackTime = 0; + private boolean m_finished = false; // ! There is no better way. + private boolean m_shouldfree = false; // should free memory on ending + + private byte m_numAxes = 0; + private byte m_numPOVs = 0; + private byte m_numControllers = 0; + private short m_numFrames = -1; + + public neoJoystickPlayback(SwerveDrive swerve, String filename, VirtualController[] controllers, boolean shouldfree, boolean instantload) { + this.swerve = swerve; + this.filename = filename; + this.controllers = controllers; + this.m_shouldfree = shouldfree; + + if (instantload) loadAuto(); + addRequirements(this.swerve); + } + + public neoJoystickPlayback(SwerveDrive swerve, String filename, VirtualController[] controllers) { + this(swerve, filename, controllers, true, false); + } + + public boolean loadAuto() { + try (FileInputStream stream = new FileInputStream("/home/lvuser/autos/" + filename)) { + if (m_numFrames != -1 && m_numFrames == frames.size()) { + System.out.println("AUTOPLAYBACK: Auto Already loaded."); + return true; + } + + m_numAxes = stream.readNBytes(1)[0]; + m_numPOVs = stream.readNBytes(1)[0]; + m_numControllers = stream.readNBytes(1)[0]; + m_numFrames = DataUtils.byteArrayToShort(stream.readNBytes(2)); + + if (m_numControllers > controllers.length) { + System.out.println("AUTOPLAYBACK: The auto file `" + filename + "` wants " + m_numControllers + + " virtual controllers but only " + controllers.length + " were given"); + return false; + } + + for (int i = 0; i < m_numFrames; i++) { + AutoRecordingFrame frame = new AutoRecordingFrame(); + for (int j = 0; j < m_numControllers; j++) { + AutoRecordingControllerFrame controllerFrame = new AutoRecordingControllerFrame(); + double[] axes = new double[m_numAxes]; + for (int k = 0; k < m_numAxes; k++) { // we love third level for loops. + axes[k] = DataUtils.byteArrayToDouble(stream.readNBytes(8)); + } + short button = DataUtils.byteArrayToShort(stream.readNBytes(2)); + short[] POV = new short[m_numPOVs]; + for (int k = 0; k < m_numPOVs; k++) { + POV[k] = DataUtils.byteArrayToShort(stream.readNBytes(2)); + } + controllerFrame.axes = axes; + controllerFrame.button = button; + controllerFrame.POV = POV; + frame.controllerFrames[j] = controllerFrame; + } + frame.timeStamp = DataUtils.byteArrayToInt(stream.readNBytes(4)); + frames.add(frame); + } + + System.out.println("AUTOPLAYBACK: Read Auto `" + filename + "` that is " + m_numFrames + " frames long"); + return true; + + } catch (Exception e) { + e.printStackTrace(); + System.out.println("AUTOPLAYBACK: Unable to read auto file `" + filename + '`'); + return false; + } + } + + public void unloadAuto() { + System.out.println("AUTOPLAYBACK: Auto unloaded"); + frames.clear(); + } + + @Override + public void initialize() { + startTime = System.currentTimeMillis(); + playbackTime = 0; + frame_index = 0; + + m_finished = !loadAuto(); + } + + @Override + public void execute() { + if (frame_index >= m_numFrames) m_finished = true; + if (m_finished) return; + + // if (frame_index == 0) { + // startTime = System.currentTimeMillis(); + // playbackTime = 0; + // } else { + // playbackTime = System.currentTimeMillis() - startTime; + // } + + AutoRecordingFrame frame = frames.get(frame_index); + for (int i = 0; i < controllers.length; i++) { + AutoRecordingControllerFrame controllerFrame = frame.controllerFrames[i]; + controllers[i].setFrame(controllerFrame.axes, controllerFrame.button, controllerFrame.POV); + if (i == 0) { + this.swerve.driveWithInput( + new Translation2d(controllers[i].getRawAxis(0), controllers[i].getRawAxis(1)), + new Translation2d(controllers[i].getRawAxis(4), controllers[i].getRawAxis(5)), + true); + } + } + frame_index++; + } + + @Override + public void end(boolean interrupted) { + for (VirtualController controller : controllers) controller.zeroControls(); + swerve.stopModules(); + if (m_shouldfree) frames.clear(); + } + + @Override + public boolean isFinished() { + return m_finished; + } +} diff --git a/src/main/java/frc4388/robot/commands/Swerve/neoJoystickRecorder.java b/src/main/java/frc4388/robot/commands/Swerve/neoJoystickRecorder.java new file mode 100644 index 0000000..0ad4100 --- /dev/null +++ b/src/main/java/frc4388/robot/commands/Swerve/neoJoystickRecorder.java @@ -0,0 +1,105 @@ +package frc4388.robot.commands.Swerve; + +import java.io.FileOutputStream; +import java.util.ArrayList; + +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.wpilibj.XboxController; +import edu.wpi.first.wpilibj2.command.Command; +import frc4388.robot.subsystems.SwerveDrive; +import frc4388.utility.DataUtils; +import frc4388.utility.UtilityStructs.AutoRecordingControllerFrame; +import frc4388.utility.UtilityStructs.AutoRecordingFrame; +import frc4388.utility.controller.DeadbandedXboxController; + +public class neoJoystickRecorder extends Command { + private final SwerveDrive swerve; + private final XboxController[] controllers; + private final String filename; + private long startTime = -1; + private final ArrayList frames = new ArrayList<>(); + + public neoJoystickRecorder(SwerveDrive swerve, DeadbandedXboxController[] controllers, String filename) { + this.swerve = swerve; + this.controllers = controllers; + this.filename = filename; + + addRequirements(this.swerve); + } + + @Override + public void initialize() { + frames.clear(); + + this.startTime = System.currentTimeMillis(); + AutoRecordingFrame frame = new AutoRecordingFrame(); + frame.controllerFrames = new AutoRecordingControllerFrame[] {new AutoRecordingControllerFrame(), new AutoRecordingControllerFrame()}; + frames.add(frame); + } + + + @Override + public void execute() { + System.out.println("AUTORECORD: RECORDING"); + AutoRecordingFrame frame = new AutoRecordingFrame(); + frame.timeStamp = (int) (System.currentTimeMillis() - startTime); + for (int i = 0; i < controllers.length; i++) { + XboxController controller = controllers[i]; + AutoRecordingControllerFrame controllerFrame = new AutoRecordingControllerFrame(); + double[] axes = {controller.getLeftX(), controller.getLeftY(), + controller.getLeftTriggerAxis(), controller.getRightTriggerAxis(), + controller.getRightX(), controller.getRightY()}; + short button = 0; + for (int j = 0; j < 10; j++) + if (controller.getRawButton(j+1)) + button |= 1 << j; + short[] POV = {(short)(controller.getPOV())}; + controllerFrame.axes = axes; + controllerFrame.button = button; + controllerFrame.POV = POV; + frame.controllerFrames[i] = controllerFrame; + } + + frames.add(frame); + + swerve.driveWithInput(new Translation2d(frame.controllerFrames[0].axes[0], frame.controllerFrames[0].axes[1]), + new Translation2d(frame.controllerFrames[0].axes[4], frame.controllerFrames[0].axes[5]), + true); // Really jank way of doing this. + + } + @Override + public void end(boolean interrupted) { + try (FileOutputStream stream = new FileOutputStream("/home/lvuser/autos/" + filename)) { + // header: size of 0x5 + // byte Number of axes per controller + // byte Number of POVs per controller + // byte Number of controllers + // short Number of frames + stream.write(new byte[]{6, 1, (byte) controllers.length}); + stream.write(DataUtils.shortToByteArray((short) frames.size())); + + // frame + // controller frame * number of controllers + // int unix time stamp. + for (AutoRecordingFrame frame : frames) { + // controller frame + // double axis * Number of axes per controller + // short button states + // short POV * Number of POVs per controller + for (AutoRecordingControllerFrame controllerFrame: frame.controllerFrames) { + for (double axis: controllerFrame.axes) { + stream.write(DataUtils.doubleToByteArray(axis)); + } + stream.write(DataUtils.shortToByteArray(controllerFrame.button)); + for (short POV: controllerFrame.POV) { + stream.write(DataUtils.shortToByteArray(POV)); + } + } + stream.write(DataUtils.intToByteArray(frame.timeStamp)); + } + System.out.println("AUTORECORD: Wrote auto `" + filename + "` that is " + frames.size() + " frames long."); + } catch (Exception e) { + e.printStackTrace(); + } + } +} diff --git a/src/main/java/frc4388/robot/subsystems/Intake.java b/src/main/java/frc4388/robot/subsystems/Intake.java index 4bf31f6..c9c87b3 100644 --- a/src/main/java/frc4388/robot/subsystems/Intake.java +++ b/src/main/java/frc4388/robot/subsystems/Intake.java @@ -6,6 +6,20 @@ package frc4388.robot.subsystems; import java.util.function.BooleanSupplier; +import com.ctre.phoenix.motorcontrol.ControlMode; +import com.ctre.phoenix.motorcontrol.LimitSwitchNormal; +import com.ctre.phoenix.motorcontrol.can.TalonSRXPIDSetConfiguration; +import com.ctre.phoenix6.configs.HardwareLimitSwitchConfigs; +import com.ctre.phoenix6.configs.Slot0Configs; +import com.ctre.phoenix6.configs.TalonFXConfiguration; +import com.ctre.phoenix6.controls.PositionVoltage; +import com.ctre.phoenix6.hardware.CANcoder; +import com.ctre.phoenix6.hardware.TalonFX; +import com.ctre.phoenix6.signals.ForwardLimitTypeValue; +import com.ctre.phoenix6.signals.ForwardLimitValue; +import com.ctre.phoenix6.signals.NeutralModeValue; +import com.ctre.phoenix6.signals.ReverseLimitTypeValue; +import com.ctre.phoenix6.signals.ReverseLimitValue; import com.revrobotics.CANSparkBase; import com.revrobotics.CANSparkMax; import com.revrobotics.SparkLimitSwitch; @@ -13,6 +27,7 @@ import com.revrobotics.SparkPIDController; import com.revrobotics.RelativeEncoder; import edu.wpi.first.wpilibj.CAN; import edu.wpi.first.wpilibj.motorcontrol.Spark; +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; @@ -22,24 +37,34 @@ import frc4388.utility.Gains; public class Intake extends SubsystemBase { + //NEO private CANSparkMax intakeMotor; private CANSparkMax pivot; private SparkPIDController m_spedController; - private static Gains armGains = IntakeConstants.ArmPID.INTAKE_GAINS; private SparkLimitSwitch forwardLimit; private SparkLimitSwitch reverseLimit; private SparkLimitSwitch intakeforwardLimit; private SparkLimitSwitch intakereverseLimit; - private Shooter shooter; + //Talon + private TalonFX talonIntake; + private TalonFX talonPivot; + private CANcoder encoder; + private HardwareLimitSwitchConfigs l; + + TalonFXConfiguration doodooController = new TalonFXConfiguration(); + + + public static Gains armGains = IntakeConstants.ArmPID.INTAKE_GAINS; + private BooleanSupplier sup = () -> true; private BooleanSupplier dup = () -> false; - - + private double smartDashboardOuttakeValue; /** Creates a new Intake. */ + //For NEO public Intake(CANSparkMax intakeMotor, CANSparkMax pivot) { this.intakeMotor = intakeMotor; this.pivot = pivot; @@ -53,9 +78,6 @@ public class Intake extends SubsystemBase { reverseLimit.enableLimitSwitch(true); intakeMotor.restoreFactoryDefaults(); - intakeMotor.setIdleMode(CANSparkBase.IdleMode.kCoast); - - intakeforwardLimit = intakeMotor.getForwardLimitSwitch(SparkLimitSwitch.Type.kNormallyOpen); intakereverseLimit = intakeMotor.getReverseLimitSwitch(SparkLimitSwitch.Type.kNormallyOpen); @@ -67,8 +89,79 @@ public class Intake extends SubsystemBase { m_spedController.setP(armGains.kP); m_spedController.setI(armGains.kI); m_spedController.setD(armGains.kD); + + SmartDashboard.putNumber("Outtake Speed", IntakeConstants.INTAKE_OUT_SPEED_UNPRESSED); } + //For Talon + public Intake(TalonFX talonIntake, TalonFX talonPivot) { + this.talonIntake = talonIntake; + this.talonPivot = talonPivot; + + talonIntake.getConfigurator().apply(new TalonFXConfiguration()); + talonPivot.getConfigurator().apply(new TalonFXConfiguration()); + + talonIntake.setNeutralMode(NeutralModeValue.Brake); + talonPivot.setNeutralMode(NeutralModeValue.Brake); + + // talonPivot.getConfigurator().apply(new HardwareLimitSwitchConfigs()); + // talonIntake.getConfigurator().apply(new HardwareLimitSwitchConfigs()); + + + + // doodooController.Slot0.kP = armGains.kP; + // doodooController.Slot1.kI = armGains.kI; + // doodooController.Slot2.kD = armGains.kD; + + // in init function, set slot 0 gains + var slot0Configs = new Slot0Configs(); + slot0Configs.kP = 0.05; // An error of 0.5 rotations results in 12 V output + slot0Configs.kI = 0.0; // no output for integrated error + slot0Configs.kD = 0.0; // A velocity of 1 rps results in 0.1 V output + + talonPivot.getConfigurator().apply(slot0Configs); + + + } + + // ! Talon Methods + public void talonPIDIn() { + PositionVoltage request = new PositionVoltage(0).withSlot(0); + talonPivot.setControl(request.withPosition(53)); //TODO: Find actual value + } + + public void talonPIDOut() { + PositionVoltage request = new PositionVoltage(53).withSlot(53); + talonPivot.setControl(request.withPosition(0)); //TODO: Find actual value + } + + public void talonHandoff() { + talonIntake.set(-IntakeConstants.INTAKE_OUT_SPEED_UNPRESSED); + } + + public void talonSpinIntakeMotor() { + talonIntake.set(IntakeConstants.INTAKE_SPEED); + } + + public boolean getTalonIntakeLimitSwitchState() { + var r = talonIntake.getForwardLimit().getValue().value == 1; + return r; + } + + public void talonSetPivotEncoderPosition(int val) { + talonPivot.setPosition(val); + } + + public void talonStopIntakeMotors() { + talonIntake.set(0); + } + + public void talonStopArmMotor() { + talonPivot.set(0); + } + + + // ! NEO Methods //hanoff public void spinIntakeMotor() { intakeMotor.set(IntakeConstants.INTAKE_SPEED); @@ -76,7 +169,6 @@ public class Intake extends SubsystemBase { //Rotate robot in for handoff public void rotateArmIn() { - //pivot.set(IntakeConstants.PIVOT_SPEED); pivot.set(IntakeConstants.PIVOT_SPEED); } @@ -90,6 +182,10 @@ public class Intake extends SubsystemBase { m_spedController.setReference(2.5, CANSparkMax.ControlType.kPosition); //SmartDashboard.putNumber("Velocity Output", pivot.getEncoder().getVelocity()); } + + public void pidOut() { + m_spedController.setReference(-53, CANSparkMax.ControlType.kPosition); + } public void limitNote() { if (intakeforwardLimit.isPressed()) { @@ -99,10 +195,6 @@ public class Intake extends SubsystemBase { } } - public void pidOut() { - m_spedController.setReference(-53, CANSparkMax.ControlType.kPosition); - } - public void rotateArmOut2() { if(reverseLimit.isPressed()){ stopArmMotor(); @@ -120,7 +212,15 @@ public class Intake extends SubsystemBase { } public void handoff() { - intakeMotor.set(-IntakeConstants.INTAKE_OUT_SPEED); + intakeMotor.set(-IntakeConstants.INTAKE_OUT_SPEED_UNPRESSED); + } + + public void handoff2() { + if(intakeforwardLimit.isPressed()) { + intakeMotor.set(-smartDashboardOuttakeValue); + } else { + intakeMotor.set(-smartDashboardOuttakeValue); + } } public void stopIntakeMotors() { @@ -155,13 +255,13 @@ public class Intake extends SubsystemBase { return pivot.getEncoder().getVelocity(); } - public void resetPostion() { - pivot.getEncoder().setPosition(0); + public void setPivotEncoderPosition(int val) { + pivot.getEncoder().setPosition(val); } - public void resetPosition1() { + public void resetPosition() { if(forwardLimit.isPressed()) { - resetPostion(); + setPivotEncoderPosition(0); } } @@ -169,6 +269,10 @@ public class Intake extends SubsystemBase { return pivot.getEncoder().getPosition(); } + public double getIntakeVelocity() { + return intakeMotor.getEncoder().getVelocity(); + } + public void rotateArm() { } @@ -181,11 +285,20 @@ public class Intake extends SubsystemBase { } } + public void changeIntakeNeutralState() { + if(forwardLimit.isPressed()) { + intakeMotor.setIdleMode(CANSparkBase.IdleMode.kCoast); + } + } + @Override public void periodic() { // This method will be called once per scheduler run SmartDashboard.putNumber("Vel Output", getVelocity()); SmartDashboard.putNumber("Position", getPos()); - resetPosition1(); + resetPosition(); + changeIntakeNeutralState(); + + smartDashboardOuttakeValue = SmartDashboard.getNumber("Outtake Speed", IntakeConstants.INTAKE_OUT_SPEED_UNPRESSED); } } diff --git a/src/main/java/frc4388/robot/subsystems/LED.java b/src/main/java/frc4388/robot/subsystems/LED.java index 85919b5..e9e070c 100644 --- a/src/main/java/frc4388/robot/subsystems/LED.java +++ b/src/main/java/frc4388/robot/subsystems/LED.java @@ -33,7 +33,7 @@ public class LED extends SubsystemBase { if(m_self != null) return; m_led = new AddressableLED(9); - m_ledBuffer = new AddressableLEDBuffer(130); + m_ledBuffer = new AddressableLEDBuffer(10); m_led.setLength(m_ledBuffer.getLength()); m_led.setData(m_ledBuffer); m_led.start(); diff --git a/src/main/java/frc4388/robot/subsystems/Shooter.java b/src/main/java/frc4388/robot/subsystems/Shooter.java index 4eba3cb..c14d779 100644 --- a/src/main/java/frc4388/robot/subsystems/Shooter.java +++ b/src/main/java/frc4388/robot/subsystems/Shooter.java @@ -5,8 +5,10 @@ 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 com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; @@ -20,15 +22,6 @@ public class Shooter extends SubsystemBase { private TalonFX leftShooter; private TalonFX rightShooter; - private Limelight limelight; - - // 0 = Stop - // 1 = Idle, no limelight - // 2 = limelight - // 3 = Shooting - private int shooterMode; - - /** Creates a new Shooter. */ public Shooter(TalonFX leftTalonFX, TalonFX rightTalonFX, Limelight limelight) { leftShooter = leftTalonFX; @@ -38,16 +31,35 @@ public class Shooter extends SubsystemBase { 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); + } + + public void singleSpin(double speed) { + leftShooter.set(speed); } public void spin() { - shooterMode = 3; - spin(ShooterConstants.SHOOTER_SPEED); + spin(smartDashboardShooterSpeed); } public void spin(double speed) { leftShooter.set(-speed); - rightShooter.set(speed); + rightShooter.set(-speed); + } + + public void spin(double leftSpeed, double rightSpeed) { + leftShooter.set(leftSpeed); + rightShooter.set(-rightSpeed); } public void stop() { @@ -68,15 +80,10 @@ public class Shooter extends SubsystemBase { @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(limelight.isNearSpeaker() && shooterMode == 0){ - shooterMode = 1; - spin(ShooterConstants.SHOOTER_IDLE_LIMELIGHT); - } - - SmartDashboard.putNumber("Shooter Speed mode", shooterMode); - SmartDashboard.putNumber("Left Shooter RPM", leftShooter.getRotorVelocity().getValue()); - SmartDashboard.putNumber("Right Shooter RPM", rightShooter.getRotorVelocity().getValue()); } } diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index 86dd04b..7554671 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -4,6 +4,7 @@ package frc4388.robot.subsystems; +import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.kinematics.SwerveDriveKinematics; @@ -35,6 +36,7 @@ public class SwerveDrive extends SubsystemBase { public double speedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_SLOW; // * slow by default public double rotTarget = 0.0; + public Rotation2d orientRotTarget = new Rotation2d(); public ChassisSpeeds chassisSpeeds = new ChassisSpeeds(); /** Creates a new SwerveDrive. */ @@ -55,10 +57,11 @@ public class SwerveDrive extends SubsystemBase { double rot = 0; + // ! drift correction if (rightStick.getNorm() > 0.05) { rotTarget = gyro.getAngle(); rot = rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED; - SmartDashboard.putBoolean("drift correction", false); + // SmartDashboard.putBoolean("drift correction", false); stopped = false; } else if(leftStick.getNorm() > 0.05) { if (!stopped) { @@ -66,7 +69,7 @@ public class SwerveDrive extends SubsystemBase { stopped = true; } - SmartDashboard.putBoolean("drift correction", true); + // SmartDashboard.putBoolean("drift correction", true); rot = ((rotTarget - gyro.getAngle()) / 360) * SwerveDriveConstants.ROT_CORRECTION_SPEED; @@ -84,6 +87,24 @@ public class SwerveDrive extends SubsystemBase { setModuleStates(kinematics.toSwerveModuleStates(chassisSpeeds)); } + public void driveWithInputOrientation(Translation2d leftStick, Translation2d rightStick, boolean fieldRelative) { + + if(fieldRelative) { + double rot = 0; + if(rightStick.getNorm() > 0.5) { + orientRotTarget = rightStick.getAngle().minus(new Rotation2d(0, 1)); + rot = orientRotTarget.minus(gyro.getRotation2d()).getRadians(); + } + + Translation2d speed = leftStick.times(leftStick.getNorm() * speedAdjust); + + chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), -1 * speed.getY(), rot * SwerveDriveConstants.ROTATION_SPEED, gyro.getRotation2d());//.times(-1)); + } else { // Create robot-relative speeds. + chassisSpeeds = new ChassisSpeeds(-1 * leftStick.getX(), -1 * leftStick.getY(), -1 * rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED); + } + setModuleStates(kinematics.toSwerveModuleStates(chassisSpeeds)); + } + /** * Set each module of the swerve drive to the corresponding desired state. * @param desiredStates Array of module states to set. diff --git a/src/main/java/frc4388/utility/Configurable/ConfigurableDouble.java b/src/main/java/frc4388/utility/Configurable/ConfigurableDouble.java new file mode 100644 index 0000000..c0384db --- /dev/null +++ b/src/main/java/frc4388/utility/Configurable/ConfigurableDouble.java @@ -0,0 +1,23 @@ +package frc4388.utility.configurable; + +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; + +public class ConfigurableDouble { + private double defualtValue; + private String name; + + /** + * Creates an new ConfigurableDouble through Smart Dashboard. + * @param name the name of the Smart Dashboard key. + * @param defualtValue the initilization value + */ + public ConfigurableDouble(String name, double defualtValue) { + this.name = name; + this.defualtValue = defualtValue; + SmartDashboard.putNumber(name, defualtValue); + } + + public double get() { + return SmartDashboard.getNumber(name, defualtValue); + } +} diff --git a/src/main/java/frc4388/utility/DataUtils.java b/src/main/java/frc4388/utility/DataUtils.java new file mode 100644 index 0000000..3d998b6 --- /dev/null +++ b/src/main/java/frc4388/utility/DataUtils.java @@ -0,0 +1,35 @@ +package frc4388.utility; + +import java.nio.ByteBuffer; + +public class DataUtils { + public static byte[] doubleToByteArray(double value) { + byte[] bytes = new byte[8]; + ByteBuffer.wrap(bytes).putDouble(value); + return bytes; + } + + public static double byteArrayToDouble(byte[] bytes) { + return ByteBuffer.wrap(bytes).getDouble(); + } + + public static byte[] intToByteArray(int value) { + byte[] bytes = new byte[4]; + ByteBuffer.wrap(bytes).putInt(value); + return bytes; + } + + public static int byteArrayToInt(byte[] bytes) { + return ByteBuffer.wrap(bytes).getInt(); + } + + public static byte[] shortToByteArray(short value) { + byte[] bytes = new byte[2]; + ByteBuffer.wrap(bytes).putShort(value); + return bytes; + } + + public static short byteArrayToShort(byte[] bytes) { + return ByteBuffer.wrap(bytes).getShort(); + } +} diff --git a/src/main/java/frc4388/utility/UtilityStructs.java b/src/main/java/frc4388/utility/UtilityStructs.java index e8b10cc..935dbbe 100644 --- a/src/main/java/frc4388/utility/UtilityStructs.java +++ b/src/main/java/frc4388/utility/UtilityStructs.java @@ -6,7 +6,21 @@ public class UtilityStructs { public double leftY = 0.0; public double rightX = 0.0; public double rightY = 0.0; + + public boolean OPLB; + public boolean OPRB; + public long timedOffset = 0; } + public static class AutoRecordingControllerFrame { + public double[] axes = new double[6]; + public short button = 0; + public short[] POV = new short[1]; + + } + public static class AutoRecordingFrame { + public AutoRecordingControllerFrame[] controllerFrames = new AutoRecordingControllerFrame[2]; + public int timeStamp; + } } diff --git a/src/main/java/frc4388/utility/configurable/ConfigurableDouble.java b/src/main/java/frc4388/utility/configurable/ConfigurableDouble.java new file mode 100644 index 0000000..c0384db --- /dev/null +++ b/src/main/java/frc4388/utility/configurable/ConfigurableDouble.java @@ -0,0 +1,23 @@ +package frc4388.utility.configurable; + +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; + +public class ConfigurableDouble { + private double defualtValue; + private String name; + + /** + * Creates an new ConfigurableDouble through Smart Dashboard. + * @param name the name of the Smart Dashboard key. + * @param defualtValue the initilization value + */ + public ConfigurableDouble(String name, double defualtValue) { + this.name = name; + this.defualtValue = defualtValue; + SmartDashboard.putNumber(name, defualtValue); + } + + public double get() { + return SmartDashboard.getNumber(name, defualtValue); + } +} diff --git a/src/main/java/frc4388/utility/configurable/ConfigurableString.java b/src/main/java/frc4388/utility/configurable/ConfigurableString.java new file mode 100644 index 0000000..34c0290 --- /dev/null +++ b/src/main/java/frc4388/utility/configurable/ConfigurableString.java @@ -0,0 +1,23 @@ +package frc4388.utility.configurable; + +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; + +public class ConfigurableString { + private String defualtValue; + private String name; + + /** + * Creates an new ConfigurableString through Smart Dashboard. + * @param name the name of the Smart Dashboard key. + * @param defualtValue the initilization value + */ + public ConfigurableString(String name, String defualtValue) { + this.name = name; + this.defualtValue = defualtValue; + SmartDashboard.putString(name, defualtValue); + } + + public String get() { + return SmartDashboard.getString(name, defualtValue); + } +} diff --git a/src/main/java/frc4388/utility/controller/VirtualController.java b/src/main/java/frc4388/utility/controller/VirtualController.java new file mode 100644 index 0000000..12e98cf --- /dev/null +++ b/src/main/java/frc4388/utility/controller/VirtualController.java @@ -0,0 +1,110 @@ +package frc4388.utility.controller; + +import edu.wpi.first.wpilibj.GenericHID; + +public class VirtualController extends GenericHID { + private short m_buttonStates = 0; + private short m_buttonStatesLastFrame = 0; + private double[] m_axes = new double[6]; + private short[] m_pov = new short[1]; + + public VirtualController(int port) { + super(port); + } + + public void setFrame(double[] axes, short buttonFlags, short[] pov) { + m_axes = axes; + setOutputs(buttonFlags); + m_pov = pov; + } + + public void zeroControls() { + m_axes = new double[6]; + m_buttonStates = 0; + m_buttonStatesLastFrame = 0; + m_pov = new short[1]; + } + + public static boolean getFlag(int value, int index) { + return ((value & 1 << index) != 0); + } + + @Override + public boolean getRawButton(int button) { // man why are buttons indexed at 1. + return getFlag(m_buttonStates, button - 1); + } + + @Override + public boolean getRawButtonPressed(int button) { + return (!getFlag(m_buttonStatesLastFrame, button - 1) && getRawButton(button)); + } + + @Override + public boolean getRawButtonReleased(int button) { + return (getFlag(m_buttonStatesLastFrame, button - 1) && !getRawButton(button)); + } + + @Override + public double getRawAxis(int axis) { + return m_axes[axis]; + } + + @Override + public int getPOV(int pov) { + return m_pov[pov]; + } + + @Override + public int getAxisCount() { + return m_axes.length; + } + + @Override + public int getPOVCount() { + return m_pov.length; + } + + @Override + public int getButtonCount() { + return 10; + } + + @Override + public boolean isConnected() { + return true; + } + + @Override + public HIDType getType() { + return HIDType.kXInputGamepad; + } + + @Override + public String getName() { + return "Virtual Controller"; + } + + @Override + public int getAxisType(int axis) { + return 1; /* ! Warning, does not return accurate data. + Hopefully this isn't a problem */ + } + + @Override + public void setOutput(int outputNumber, boolean value) { + // do not use + //m_buttonStatesLastFrame[outputNumber - 1] = m_buttonStates[outputNumber - 1]; + //m_buttonStates[outputNumber - 1] = value; + } + + @Override + public void setOutputs(int value) { + m_buttonStatesLastFrame = m_buttonStates; + m_buttonStates = (short) value; + } + + @Override + public void setRumble(RumbleType type, double value) { + System.out.println("Why are you Setting rumble on an virtual controller?"); + } +} \ No newline at end of file