mirror of
https://github.com/Team4388/2024AcrossTheRidgebotiverse.git
synced 2026-06-09 00:38:02 -06:00
Merge branch 'shooter-test' into AutoAlign
This commit is contained in:
Abhishrek05
@@ -7,12 +7,10 @@
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package frc4388.robot;
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import java.time.Instant;
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import edu.wpi.first.cameraserver.CameraServer;
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import edu.wpi.first.wpilibj.DriverStation;
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import edu.wpi.first.wpilibj.GenericHID;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.ConditionalCommand;
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import edu.wpi.first.wpilibj2.command.InstantCommand;
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import edu.wpi.first.wpilibj2.command.RunCommand;
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import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
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@@ -24,14 +22,16 @@ import frc4388.robot.commands.Autos.AutoAlign;
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import frc4388.robot.commands.Autos.PlaybackChooser;
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import frc4388.robot.commands.Swerve.JoystickPlayback;
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import frc4388.robot.commands.Swerve.JoystickRecorder;
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import frc4388.robot.commands.Swerve.neoJoystickPlayback;
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import frc4388.robot.commands.Swerve.neoJoystickRecorder;
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import frc4388.robot.commands.Intake.ArmIntakeIn;
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import frc4388.robot.commands.Intake.RotateIntakeToPosition;
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import frc4388.robot.subsystems.LED;
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import frc4388.robot.subsystems.Limelight;
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import frc4388.robot.subsystems.SwerveDrive;
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import frc4388.robot.subsystems.Shooter;
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import frc4388.robot.subsystems.Intake;
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import frc4388.utility.controller.DeadbandedXboxController;
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import frc4388.utility.controller.VirtualController;
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import frc4388.utility.controller.XboxController;
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/**
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@@ -65,17 +65,19 @@ public class RobotContainer {
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/* Controllers */
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private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
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private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
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/* Autos */
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// This shoud be in a SequentialCommandGroup vvv
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private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
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private final DeadbandedXboxController m_autoRecorderXbox = new DeadbandedXboxController(2);
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private Command taxi = new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt");
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private Command MoveToSpeaker = new JoystickPlayback(m_robotSwerveDrive, "MoveToSpeaker.txt");
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/* Virtual Controllers */
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private final VirtualController m_virtualDriver = new VirtualController(0);
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private final VirtualController m_virtualOperator = new VirtualController(1);
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private Limelight limelight = new Limelight();
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private Command intakeToShootStuff = new ArmIntakeIn(m_robotIntake, m_robotShooter);
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private SequentialCommandGroup intakeToShoot = new SequentialCommandGroup(
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new InstantCommand(() -> m_robotIntake.pidIn()),
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new InstantCommand(() -> m_robotIntake.talonPIDIn()),
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new InstantCommand(() -> m_robotShooter.spin())
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);
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@@ -94,7 +96,7 @@ public class RobotContainer {
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private AutoAlign autoAlign = new AutoAlign(m_robotSwerveDrive, limelight);
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private SequentialCommandGroup autoShoot = new SequentialCommandGroup(
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MoveToSpeaker,
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// MoveToSpeaker,
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autoAlign,
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new InstantCommand(() -> m_robotShooter.spin()),
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new WaitCommand(3.0),
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@@ -112,27 +114,88 @@ public class RobotContainer {
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private SequentialCommandGroup ejectToShoot = new SequentialCommandGroup(
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new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
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new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake)
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new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake)
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);
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private SequentialCommandGroup turnOffShoot = new SequentialCommandGroup(
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new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
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new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake)
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new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake)
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);
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/* Autos */
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private Command taxi = new InstantCommand(); // new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt");
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private Command startLeftMoveRight = new InstantCommand(); // new JoystickPlayback(m_robotSwerveDrive, "StartLeftMoveRight.txt");
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private Command startRightMoveLeft = new InstantCommand(); // new JoystickPlayback(m_robotSwerveDrive, "StartRightMoveLeft.txt");
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private SequentialCommandGroup oneNoteStartingSpeaker = new SequentialCommandGroup (
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new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
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new WaitCommand(1).asProxy(),
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new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
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new WaitCommand(1).asProxy(),
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new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
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new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake),
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new WaitCommand(1).asProxy(),
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new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt")
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);
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private SequentialCommandGroup oneNoteStartingSpeakerStationary = new SequentialCommandGroup (
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new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
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new WaitCommand(1).asProxy(),
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new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
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new WaitCommand(1).asProxy(),
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new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
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new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake)
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);
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private SequentialCommandGroup oneNoteStartingFromLeft = new SequentialCommandGroup(
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startLeftMoveRight.asProxy(),
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ejectToShoot.asProxy(),
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taxi.asProxy()
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);
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private SequentialCommandGroup oneNoteStartingFromRight = new SequentialCommandGroup(
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startRightMoveLeft.asProxy(),
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ejectToShoot.asProxy(),
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taxi.asProxy()
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);
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private SequentialCommandGroup twoNoteStartingFromSpeaker = new SequentialCommandGroup(
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new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
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new WaitCommand(1).asProxy(),
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new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
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new WaitCommand(1).asProxy(),
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new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
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new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake),
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intakeToShootStuff.asProxy(),
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new WaitCommand(1).asProxy(),
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new JoystickPlayback(m_robotSwerveDrive, "TwoNotePrt1.txt"),
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intakeToShoot.asProxy(),
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new WaitCommand(1).asProxy(),
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new JoystickPlayback(m_robotSwerveDrive, "TwoNotePrt2.txt"),
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new WaitCommand(0.5).asProxy(),
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new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
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new WaitCommand(1).asProxy(),
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new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
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new WaitCommand(1).asProxy(),
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new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
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new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake)
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);
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private PlaybackChooser playbackChooser = new PlaybackChooser(m_robotSwerveDrive)
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.addOption("Taxi Auto", new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"))
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.addOption("Taxi Auto", taxi.asProxy())
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.addOption("One Note Auto Starting in Front of Speaker", oneNoteStartingSpeaker)
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.addOption("One Note Auto Starting in Front of Speaker, But Stay", oneNoteStartingSpeakerStationary)
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.addOption("One Note Auto Starting from Left Position", oneNoteStartingFromLeft)
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.addOption("One Note Auto Starting from Right Position", oneNoteStartingFromRight)
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.buildDisplay();
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/**
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* The container for the robot. Contains subsystems, OI devices, and commands.
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*/
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public RobotContainer() {
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configureButtonBindings();
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configureButtonBindings();
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configureVirtualButtonBindings();
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DriverStation.silenceJoystickConnectionWarning(true);
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CameraServer.startAutomaticCapture();
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/* Default Commands */
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// drives the robot with a two-axis input from the driver controller
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@@ -145,10 +208,6 @@ public class RobotContainer {
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// continually sends updates to the Blinkin LED controller to keep the lights on
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m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
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SmartDashboard.putNumber("Velocity Output", m_robotIntake.getVelocity());
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// m_robotIntake.resetPostion();
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}
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/**
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@@ -162,8 +221,6 @@ public class RobotContainer {
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new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive));
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/* Auto Recording */
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// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
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// .whileTrue(new JoystickRecorder(m_robotSwerveDrive,
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@@ -171,84 +228,131 @@ public class RobotContainer {
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// () -> getDeadbandedDriverController().getLeftY(),
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// () -> getDeadbandedDriverController().getRightX(),
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// () -> getDeadbandedDriverController().getRightY(),
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// "IntenseTaxi.txt"))
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// () -> getDeadbandedOperatorController().getLeftBumper(),
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// () -> getDeadbandedOperatorController().getRightBumper(),
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// "TwoNotePrt1.txt"))
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// .onFalse(new InstantCommand());
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new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
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.onTrue(new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"))
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.onFalse(new InstantCommand());
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// new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
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// .onTrue(new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"))
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// .onFalse(new InstantCommand());
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new JoystickButton(m_autoRecorderXbox, XboxController.LEFT_BUMPER_BUTTON)
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.whileTrue(new neoJoystickRecorder(m_robotSwerveDrive,
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new DeadbandedXboxController[]{getDeadbandedDriverController(), getDeadbandedOperatorController()},
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"2note.auto"))
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.onFalse(new InstantCommand());
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/* Speed */
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new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
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// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast()));
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new JoystickButton(m_autoRecorderXbox, XboxController.RIGHT_BUMPER_BUTTON)
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.onTrue(new neoJoystickPlayback(m_robotSwerveDrive,
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"2note.auto",
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new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
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true, false))
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.onFalse(new InstantCommand());
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// /* Speed */
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// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
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// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
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// // .onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast()));
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new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
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// new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
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// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
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/* Operator Buttons */
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// new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
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// .onTrue(new InstantCommand(() -> m_robotIntake.spinIntakeMotor(), m_robotIntake))
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// .onFalse(new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake));
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// new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
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// .onTrue(new InstantCommand(() -> new RotateIntakeToPosition(m_robotIntake, 360).execute(), m_robotIntake))
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// .onFalse(new InstantCommand(() -> new RotateIntakeToPosition(m_robotIntake, 0).execute(), m_robotShooter));
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new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotIntake.pidIn()))
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.onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
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.onTrue(new InstantCommand(() -> m_robotIntake.talonPIDIn()))
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.onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor()));
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new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotIntake.pidOut()))
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.onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
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// //Pull arm in
|
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// new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
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// .onTrue(new InstantCommand(() -> m_robotIntake.pidIn(), m_robotIntake))
|
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// .onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor(), m_robotIntake));
|
||||
|
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// //Pull arm out
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||||
// new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
|
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// .onTrue(new InstantCommand(() -> m_robotIntake.pidOut(), m_robotIntake))
|
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// .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;
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user