Team4388/2024AcrossTheRidgebotiverse
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Merge branch 'Cleanup' of https://github.com/Team4388/2024AcrossTheRidgebotiverse into Cleanup

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This commit is contained in:
C4llSiqn
2024-10-23 22:19:37 -06:00
parent ce0bafddd9 bafc57296e
commit 1818dc3950
3 changed files with 18 additions and 95 deletions
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src/main/java/frc4388/robot/Constants.java
+7 -4
View File
@@ -23,7 +23,7 @@ import frc4388.utility.LEDPatterns;
public final class Constants {
public static final class SwerveDriveConstants {
public static final double MAX_ROT_SPEED = 3.5;
public static final double MAX_ROT_SPEED = 2.5;
public static final double AUTO_MAX_ROT_SPEED = 1.5;
public static final double MIN_ROT_SPEED = 1.0;
public static double ROTATION_SPEED = MAX_ROT_SPEED;
@@ -33,9 +33,12 @@ public final class Constants {
public static final double CORRECTION_MIN = 10;
public static final double CORRECTION_MAX = 50;
public static final double SLOW_SPEED = 0.5;
public static final double FAST_SPEED = 1.0;
public static final double TURBO_SPEED = 4.0;
public static final double[] SPEEDS = {0.25, 0.5, 0.75, 1.0, 1.25, 1.5, 1.75, 2, 2.5, 3, 3.5, 4};
// public static final double[] SPEEDS = {0.5, 1.0, 4.0};
// public static final double SLOW_SPEED = 0.5;
// public static final double FAST_SPEED = 1.0;
// public static final double TURBO_SPEED = 4.0;
public static final class DefaultSwerveRotOffsets {
public static final double FRONT_LEFT_ROT_OFFSET = 220;
src/main/java/frc4388/robot/RobotContainer.java
-31
View File
@@ -154,7 +154,6 @@ public class RobotContainer {
new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
true, false);
// private PlaybackChooser playbackChooser = new PlaybackChooser(m_robotSwerveDrive)
// .addOption("Taxi Auto", taxi.asProxy())
// .addOption("One Note Auto Starting in Front of Speaker", oneNoteStartingSpeaker.asProxy())
@@ -165,8 +164,6 @@ public class RobotContainer {
// .addOption("Stay Two Note Starting in Front of Speaker", stayTwoNoteStartingFromSpeaker.asProxy())
// .buildDisplay();
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
*/
@@ -189,7 +186,6 @@ public class RobotContainer {
false);
}, m_robotSwerveDrive)
.withName("SwerveDrive DefaultCommand"));
m_robotSwerveDrive.setToSlow();
// ! Swerve Drive Default Command (Orientation Rotation)
// m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
@@ -204,12 +200,6 @@ public class RobotContainer {
}
// private void changeAuto() {
// autoPlayback.unloadAuto();
// autoPlayback.loadAuto();
// lastAutoName = autoplaybackName.get();
// System.out.println("AUTO: Changed auto to; `" + lastAutoName + "`");
// }
/**
* Use this method to define your button->command mappings. Buttons can be
* created by instantiating a {@link GenericHID} or one of its subclasses
@@ -278,18 +268,6 @@ public class RobotContainer {
true, false))
.onFalse(new InstantCommand());
// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
// .whileTrue(new JoystickRecorder(m_robotSwerveDrive,
// () -> getDeadbandedDriverController().getLeftX(),
// () -> getDeadbandedDriverController().getLeftY(),
// () -> getDeadbandedDriverController().getRightX(),
// () -> getDeadbandedDriverController().getRightY(),
// "Taxi.txt"))
// .onFalse(new InstantCommand());
// 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()));
@@ -304,11 +282,6 @@ public class RobotContainer {
new Trigger(() -> getDeadbandedDriverController().getPOV() == 90)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUpRot()));
// new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
// .whileTrue(new InstantCommand(() ->
// m_robotSwerveDrive.driveWithInput(new Translation2d(0, 1),
// new Translation2d(0, 0),
// true), m_robotSwerveDrive));
//? /* Operator Buttons */
@@ -350,10 +323,6 @@ public class RobotContainer {
DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.LEFT_JOYSTICK_BUTTON)
.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter));
// DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.RIGHT_JOYSTICK_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotIntake.talonSpinIntakeMotor(), m_robotIntake))
// .onFalse(new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake));
DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.RIGHT_JOYSTICK_BUTTON)
.onTrue(emergencyRetract);
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+7 -56
View File
@@ -92,12 +92,9 @@ public class SwerveDrive extends SubsystemBase {
public void playbackDriveWithInput(Translation2d leftStick, Translation2d rightStick, boolean fieldRelative) {
if (fieldRelative) {
double rot = 0;
// ! drift correction
if (rightStick.getNorm() > 0.05) {
rotTarget = gyro.getAngle();
rot = rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED;
// SmartDashboard.putBoolean("drift correction", false);
stopped = false;
} else if(leftStick.getNorm() > 0.05) {
@@ -108,7 +105,6 @@ public class SwerveDrive extends SubsystemBase {
// SmartDashboard.putBoolean("drift correction", true);
rot = ((rotTarget - gyro.getAngle()) / 360) * SwerveDriveConstants.ROT_CORRECTION_SPEED;
}
@@ -129,7 +125,6 @@ public class SwerveDrive extends SubsystemBase {
Translation2d rightStick = new Translation2d(-rightX, rightY);
if(fieldRelative) {
double rot = 0;
if(rightStick.getNorm() > 0.5) {
orientRotTarget = new Rotation2d(rightX, -rightY).minus(new Rotation2d(0,1));
@@ -139,7 +134,6 @@ public class SwerveDrive extends SubsystemBase {
if(tmp.getDegrees() < 0)
min*=-1;
tmp = new Rotation2d(min * Math.PI / 180);
rot = tmp.getRadians(); // x x - y/x
}
Translation2d speed = leftStick.times(leftStick.getNorm() * speedAdjust);
@@ -228,61 +222,18 @@ public class SwerveDrive extends SubsystemBase {
// SmartDashboard.putNumber("Gyro", getGyroAngle());
}
private int GEAR = SwerveDriveConstants.SPEEDS.length /2;
public void shiftDown() {
if (Math.abs(this.speedAdjust - SwerveDriveConstants.SLOW_SPEED) < .01) {
} else if (Math.abs(this.speedAdjust - SwerveDriveConstants.FAST_SPEED) < .01) {
this.speedAdjust = SwerveDriveConstants.SLOW_SPEED;
} else {
this.speedAdjust = SwerveDriveConstants.FAST_SPEED;
if(GEAR > 0){
GEAR--;
this.speedAdjust = SwerveDriveConstants.SPEEDS[GEAR];
}
}
public void setToSlow() {
this.speedAdjust = SwerveDriveConstants.SLOW_SPEED;
System.out.println("SLOW");
System.out.println("SLOW");
System.out.println("SLOW");
System.out.println("SLOW");
System.out.println("SLOW");
}
public void setToFast() {
this.speedAdjust = SwerveDriveConstants.FAST_SPEED;
System.out.println("FAST");
System.out.println("FAST");
System.out.println("FAST");
System.out.println("FAST");
System.out.println("FAST");
}
public void setToTurbo() {
this.speedAdjust = SwerveDriveConstants.TURBO_SPEED;
System.out.println("TURBO");
System.out.println("TURBO");
System.out.println("TURBO");
System.out.println("TURBO");
System.out.println("TURBO");
}
public void shiftUp() {
if (Math.abs(this.speedAdjust - SwerveDriveConstants.SLOW_SPEED) < .01) {
this.speedAdjust = SwerveDriveConstants.FAST_SPEED;
} else if (Math.abs(this.speedAdjust - SwerveDriveConstants.FAST_SPEED) < .01) {
this.speedAdjust = SwerveDriveConstants.TURBO_SPEED;
} else {
}
}
public void toggleGear(double angle) {
if (Math.abs(this.speedAdjust - SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_SLOW) < .01 && Math.abs(angle) < 10) {
this.speedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST;
SwerveDriveConstants.ROT_CORRECTION_SPEED = SwerveDriveConstants.CORRECTION_MIN;
} else {
this.speedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_SLOW;
SwerveDriveConstants.ROT_CORRECTION_SPEED = SwerveDriveConstants.CORRECTION_MIN;
if(GEAR < SwerveDriveConstants.SPEEDS.length){
GEAR++;
this.speedAdjust = SwerveDriveConstants.SPEEDS[GEAR];
}
}