Team4388/2024AcrossTheRidgebotiverse
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Almost Ready for Florida!! (im geekin)

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This commit is contained in:
Abhishrek05
2024-02-21 20:27:48 -07:00
parent 313776ddf0
commit 2310f1eae0
6 changed files with 90 additions and 95 deletions
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src/main/java/frc4388/robot/Constants.java
+1 -1
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@@ -168,7 +168,7 @@ 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 = 0.35; // final
public static final double SHOOTER_SPEED = 0.40; // final
public static final double SHOOTER_IDLE = 0.35; // final
public static final double SHOOTER_IDLE_LIMELIGHT = 0.8;
}
src/main/java/frc4388/robot/RobotContainer.java
+49 -36
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@@ -12,6 +12,7 @@ import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.WaitCommand;
@@ -25,6 +26,7 @@ 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.Autos.ArmIntakeInAuto;
import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.Limelight;
import frc4388.robot.subsystems.SwerveDrive;
@@ -76,8 +78,8 @@ public class RobotContainer {
private Command intakeToShootStuff = new ArmIntakeIn(m_robotIntake, m_robotShooter);
private SequentialCommandGroup intakeToShoot = new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.talonPIDIn())
//new InstantCommand(() -> m_robotShooter.spin())
new InstantCommand(() -> m_robotIntake.talonPIDIn()),
new InstantCommand(() -> m_robotShooter.spin())
);
// private SequentialCommandGroup outtakeToShootFull = new SequentialCommandGroup(
@@ -112,9 +114,9 @@ public class RobotContainer {
);
private SequentialCommandGroup ejectToShoot = new SequentialCommandGroup(
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter)
// new WaitCommand(0.75),
//new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake)
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
new WaitCommand(0.75),
new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake)
);
private SequentialCommandGroup turnOffShoot = new SequentialCommandGroup(
@@ -126,6 +128,7 @@ public class RobotContainer {
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 Command interrupt = new InstantCommand(() -> {}, m_robotSwerveDrive, m_robotIntake, m_robotShooter);
private SequentialCommandGroup oneNoteStartingSpeaker = new SequentialCommandGroup (
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
@@ -155,6 +158,7 @@ public class RobotContainer {
ejectToShoot.asProxy(),
taxi.asProxy()
);
private SequentialCommandGroup twoNoteStartingFromSpeaker = new SequentialCommandGroup(
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
new WaitCommand(1).asProxy(),
@@ -162,26 +166,32 @@ public class RobotContainer {
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 ArmIntakeInAuto(m_robotIntake, m_robotShooter, m_robotSwerveDrive),
new InstantCommand(() -> m_robotIntake.talonPIDIn()),
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
new WaitCommand(1).asProxy(),
new WaitCommand(1.4).asProxy(),
new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
new WaitCommand(1).asProxy(),
new WaitCommand(0.5),
new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake)
new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake),
new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt")
// 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", 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)
// .addOption("One Note Auto Starting from Left Position", oneNoteStartingFromLeft)
// .addOption("One Note Auto Starting from Right Position", oneNoteStartingFromRight)
.addOption("Two Note Starting in Front of Speaker", twoNoteStartingFromSpeaker)
.buildDisplay();
@@ -222,20 +232,18 @@ public class RobotContainer {
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroFlip(), m_robotSwerveDrive));
/* Auto Recording */
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
.whileTrue(new JoystickRecorder(m_robotSwerveDrive, m_robotShooter, m_robotIntake,
() -> getDeadbandedDriverController().getLeftX(),
() -> getDeadbandedDriverController().getLeftY(),
() -> getDeadbandedDriverController().getRightX(),
() -> getDeadbandedDriverController().getRightY(),
() -> getDeadbandedOperatorController().getLeftBumper(),
() -> getDeadbandedOperatorController().getRightBumper(),
"Taxi.txt"))
.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());
// 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,
@@ -251,9 +259,9 @@ public class RobotContainer {
// .onFalse(new InstantCommand());
// /* Speed */
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast()));
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast()));
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
@@ -301,6 +309,11 @@ public class RobotContainer {
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_JOYSTICK_BUTTON)
.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter));
new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_JOYSTICK_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.talonSpinIntakeMotor(), m_robotIntake))
.onFalse(new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake));
}
private void configureVirtualButtonBindings() {
@@ -347,9 +360,9 @@ public class RobotContainer {
.onFalse(turnOffShoot);
new JoystickButton(getVirtualOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
.onTrue(i)
.onFalse(new InstantCommand(() -> m_robotIntake.talonPIDIn()));
// new JoystickButton(getVirtualOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
// .onTrue(i)
// .onFalse(new InstantCommand(() -> m_robotIntake.talonPIDIn()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_JOYSTICK_BUTTON)
src/main/java/frc4388/robot/commands/Autos/ArmIntakeInAuto.java
+31
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@@ -0,0 +1,31 @@
// Copyright (c) FIRST and other WPILib contributors.
// 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.Autos;
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
import edu.wpi.first.wpilibj2.command.WaitCommand;
import frc4388.robot.commands.Intake.ArmIntakeIn;
import frc4388.robot.commands.Swerve.JoystickPlayback;
import frc4388.robot.subsystems.Intake;
import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.SwerveDrive;
// NOTE: Consider using this command inline, rather than writing a subclass. For more
// information, see:
// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
public class ArmIntakeInAuto extends ParallelCommandGroup {
private final Intake intake;
private final Shooter shooter;
private final SwerveDrive swerve;
/** Creates a new ArmIntakeInAuto. */
public ArmIntakeInAuto(Intake intake, Shooter shooter, SwerveDrive swerve) {
// Add your commands in the addCommands() call, e.g.
// addCommands(new FooCommand(), new BarCommand());
this.intake = intake;
this.shooter = shooter;
this.swerve = swerve;
addCommands(new ArmIntakeIn(intake, shooter), new WaitCommand(0.5).andThen(new JoystickPlayback(swerve, "TwoNotePrt1.txt")));
}
}
src/main/java/frc4388/robot/commands/Intake/ArmIntakeIn.java
+1
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@@ -7,6 +7,7 @@ package frc4388.robot.commands.Intake;
import edu.wpi.first.wpilibj2.command.Command;
import frc4388.robot.subsystems.Intake;
import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.SwerveDrive;
public class ArmIntakeIn extends Command {
/** Creates a new ArmIntakeIn. */
src/main/java/frc4388/robot/commands/Swerve/JoystickPlayback.java
+4 -4
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@@ -9,11 +9,11 @@ import java.io.FileNotFoundException;
import java.util.ArrayList;
import java.util.Scanner;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.utility.UtilityStructs.TimedOutput;
public class JoystickPlayback extends Command {
public class JoystickPlayback extends CommandBase {
private final SwerveDrive swerve;
private String filename;
private int mult = 1;
@@ -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);
@@ -138,4 +138,4 @@ public class JoystickPlayback extends Command {
public boolean isFinished() {
return m_finished;
}
}
}
src/main/java/frc4388/robot/commands/Swerve/JoystickRecorder.java
+4 -54
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@@ -11,67 +11,34 @@ import java.util.ArrayList;
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 edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.utility.UtilityStructs.TimedOutput;
public class JoystickRecorder extends Command {
public class JoystickRecorder extends CommandBase {
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, Shooter m_robotShooter, Intake m_robotIntake,
Supplier<Double> leftX, Supplier<Double> leftY,
public JoystickRecorder(SwerveDrive swerve, 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.talonPIDIn()),
new InstantCommand(() -> m_robotShooter.spin())
);
i = new SequentialCommandGroup(
intakeToShootStuff, intakeToShoot
);
addRequirements(this.swerve);
}
@@ -93,8 +60,6 @@ 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);
@@ -102,23 +67,8 @@ 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.talonHandoff();
}else if(lastOPLB != inputs.OPLB && inputs.OPLB == false){
}
if(lastOPRB != inputs.OPRB){
m_robotShooter.spin();
m_robotIntake.talonHandoff();
}
System.out.println("RECORDING");
lastOPLB = inputs.OPLB;
lastOPRB = inputs.OPRB;
}
// Called once the command ends or is interrupted.
@@ -144,4 +94,4 @@ public class JoystickRecorder extends Command {
public boolean isFinished() {
return false;
}
}
}