Team4388/2024AcrossTheRidgebotiverse
1
0
Fork 0
mirror of https://github.com/Team4388/2024AcrossTheRidgebotiverse.git synced 2026-06-09 00:38:02 -06:00
Code Issues Packages Projects Releases Wiki Activity

last sataurday's changes

Browse Source
This commit is contained in:
Abhishrek05
2024-02-19 09:41:58 -07:00
parent 5482cd7fb9
commit 1032edbf4c
9 changed files with 156 additions and 42 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/Constants.java
+2 -2
View File
@@ -155,7 +155,7 @@ 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
}
@@ -164,7 +164,7 @@ public final class Constants {
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 = 0.7;
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;
src/main/java/frc4388/robot/Robot.java
+12 -13
View File
@@ -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();
}
/**
src/main/java/frc4388/robot/RobotContainer.java
+64 -18
View File
@@ -7,6 +7,9 @@
package frc4388.robot;
import com.fasterxml.jackson.databind.ser.std.InetAddressSerializer;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj2.command.Command;
@@ -14,6 +17,7 @@ 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;
import edu.wpi.first.wpilibj2.command.WaitCommand;
import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.OIConstants;
@@ -87,8 +91,22 @@ public class RobotContainer {
private Command startRightMoveLeft = new JoystickPlayback(m_robotSwerveDrive, "StartRightMoveLeft.txt");
private SequentialCommandGroup oneNoteStartingSpeaker = new SequentialCommandGroup (
ejectToShoot.asProxy(),
taxi.asProxy()
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
new WaitCommand(1).asProxy(),
new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake),
new WaitCommand(1).asProxy(),
new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), 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.handoff(), m_robotIntake),
new WaitCommand(1).asProxy(),
new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake)
);
private SequentialCommandGroup oneNoteStartingFromLeft = new SequentialCommandGroup(
startLeftMoveRight.asProxy(),
@@ -100,10 +118,31 @@ public class RobotContainer {
ejectToShoot.asProxy(),
taxi.asProxy()
);
private SequentialCommandGroup twoNoteStartingFromSpeaker = new SequentialCommandGroup(
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
new WaitCommand(1).asProxy(),
new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake),
new WaitCommand(1).asProxy(),
new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), 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.handoff(), m_robotIntake),
new WaitCommand(1).asProxy(),
new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake)
);
private PlaybackChooser playbackChooser = new PlaybackChooser(m_robotSwerveDrive)
.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();
@@ -117,6 +156,7 @@ public class RobotContainer {
configureButtonBindings();
DriverStation.silenceJoystickConnectionWarning(true);
CameraServer.startAutomaticCapture();
/* Default Commands */
// drives the robot with a two-axis input from the driver controller
@@ -145,26 +185,28 @@ public class RobotContainer {
/* Auto Recording */
// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
// .whileTrue(new JoystickRecorder(m_robotSwerveDrive,
// () -> getDeadbandedDriverController().getLeftX(),
// () -> getDeadbandedDriverController().getLeftY(),
// () -> getDeadbandedDriverController().getRightX(),
// () -> getDeadbandedDriverController().getRightY(),
// "IntenseTaxi.txt"))
// .onFalse(new InstantCommand());
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
.whileTrue(new JoystickRecorder(m_robotSwerveDrive,
() -> getDeadbandedDriverController().getLeftX(),
() -> getDeadbandedDriverController().getLeftY(),
() -> getDeadbandedDriverController().getRightX(),
() -> getDeadbandedDriverController().getRightY(),
() -> getDeadbandedOperatorController().getLeftBumper(),
() -> getDeadbandedOperatorController().getRightBumper(),
"TwoNotePrt1.txt"))
.onFalse(new InstantCommand());
new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
.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()));
// /* 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()));
@@ -178,6 +220,10 @@ public class RobotContainer {
.onTrue(new InstantCommand(() -> m_robotIntake.pidOut()))
.onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.spinIntakeMotor()))
.onFalse(new InstantCommand(() -> m_robotIntake.stopIntakeMotors()));
// Override Intake Position encoder: out
new JoystickButton(getDeadbandedOperatorController(), XboxController.BACK_BUTTON)
src/main/java/frc4388/robot/commands/Autos/PlaybackChooser.java
+5 -5
View File
@@ -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 +69,12 @@ 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));
}
src/main/java/frc4388/robot/commands/Swerve/JoystickRecorder.java
+51 -1
View File
@@ -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<Double> leftX;
public final Supplier<Double> leftY;
public final Supplier<Double> rightX;
public final Supplier<Double> rightY;
public final Supplier<Boolean> OPLB;
public final Supplier<Boolean> OPRB;
private Command intakeToShootStuff;
private Command intakeToShoot;
private Command i;
private boolean lastOPLB;
private boolean lastOPRB;
private String filename;
public final ArrayList<TimedOutput> outputs = new ArrayList<>();
private long startTime = -1;
/** Creates a new JoystickRecorder. */
public JoystickRecorder(SwerveDrive swerve, Supplier<Double> leftX, Supplier<Double> leftY,
public JoystickRecorder(SwerveDrive swerve, Shooter m_robotShooter, Intake m_robotIntake,
Supplier<Double> leftX, Supplier<Double> leftY,
Supplier<Double> rightX, Supplier<Double> rightY,
Supplier<Boolean> OPLB, Supplier<Boolean> 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.
src/main/java/frc4388/robot/subsystems/Shooter.java
+9 -3
View File
@@ -8,6 +8,7 @@ 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;
@@ -20,7 +21,8 @@ public class Shooter extends SubsystemBase {
private TalonFX leftShooter;
private TalonFX rightShooter;
private double smartDashboardShooterSpeed;
/** Creates a new Shooter. */
public Shooter(TalonFX leftTalonFX, TalonFX rightTalonFX) {
leftShooter = leftTalonFX;
@@ -28,6 +30,8 @@ public class Shooter extends SubsystemBase {
leftShooter.setNeutralMode(NeutralModeValue.Coast);
rightShooter.setNeutralMode(NeutralModeValue.Coast);
SmartDashboard.putNumber("Shooter Speed", ShooterConstants.SHOOTER_SPEED);
}
public Shooter(TalonFX leftShooter) {
@@ -44,11 +48,11 @@ public class Shooter extends SubsystemBase {
}
public void spin() {
spin(ShooterConstants.SHOOTER_SPEED);
spin(smartDashboardShooterSpeed);
}
public void spin(double speed) {
leftShooter.set(speed);
leftShooter.set(-speed);
rightShooter.set(-speed);
}
@@ -70,6 +74,8 @@ public class Shooter extends SubsystemBase {
// 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);
}
}
src/main/java/frc4388/utility/Configurable/Configurable.java
+5
View File
@@ -0,0 +1,5 @@
package frc4388.utility.Configurable;
public abstract class Configurable {
}
src/main/java/frc4388/utility/Configurable/ConfigurableDouble.java
+4
View File
@@ -0,0 +1,4 @@
package frc4388.utility.Configurable;
public class ConfigurableDouble {
}
src/main/java/frc4388/utility/UtilityStructs.java
+4
View File
@@ -6,6 +6,10 @@ 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;
}