Team4388/2024AcrossTheRidgebotiverse
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This commit is contained in:
Abhishrek05
2024-03-11 15:44:32 -06:00
parent 19197b5850
commit 2dd1fe72e5
8 changed files with 105 additions and 16 deletions
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src/main/java/frc4388/robot/Constants.java
+4 -4
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@@ -35,7 +35,7 @@ public final class Constants {
public static final double CORRECTION_MIN = 10;
public static final double CORRECTION_MAX = 50;
public static final double SLOW_SPEED = 0.2;
public static final double SLOW_SPEED = 0.5;
public static final double FAST_SPEED = 1.0;
public static final double TURBO_SPEED = 4.0;
@@ -190,9 +190,9 @@ public final class Constants {
}
public static final class ClimbConstants {
public static final int CLIMB_MOTOR_ID = 0;
public static final double CLIMB_OUT_SPEED = 1.0;
public static final double CLIMB_IN_SPEED = -1.0;
public static final int CLIMB_MOTOR_ID = 19;
public static final double CLIMB_OUT_SPEED = 0.3;
public static final double CLIMB_IN_SPEED = -0.3;
}
public static final class OIConstants {
src/main/java/frc4388/robot/Robot.java
+1 -1
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@@ -51,7 +51,7 @@ public class Robot extends TimedRobot {
@Override
public void robotPeriodic() {
m_robotTime.updateTimes();
System.out.println(m_robotContainer.limelight.isNearSpeaker());
//System.out.println(m_robotContainer.limelight.isNearSpeaker());
//mled.updateLED();
// Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled
// commands, running already-scheduled commands, removing finished or interrupted commands,
src/main/java/frc4388/robot/RobotContainer.java
+19 -6
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@@ -62,12 +62,10 @@ public class RobotContainer {
m_robotMap.gyro);
/* Limelight */
public final Limelight limelight = new Limelight();
private final Limelight limelight = new Limelight();
private final Shooter m_robotShooter = new Shooter(m_robotMap.leftShooter, m_robotMap.rightShooter, limelight);
private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.pivotMotor);
private final Climber m_robotClimber = new Climber(m_robotMap.climbMotor);
//private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.pivotMotor);
@@ -76,7 +74,8 @@ public class RobotContainer {
private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
private final DeadbandedXboxController m_autoRecorderXbox = new DeadbandedXboxController(2);
private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.pivotMotor, m_driverXbox, m_operatorXbox);
/* Virtual Controllers */
private final VirtualController m_virtualDriver = new VirtualController(0);
@@ -297,6 +296,7 @@ public class RobotContainer {
true);
}, m_robotSwerveDrive)
.withName("SwerveDrive DefaultCommand"));
m_robotSwerveDrive.setToSlow();
// ! Swerve Drive Default Command (Orientation Rotation)
// m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
@@ -331,6 +331,12 @@ public class RobotContainer {
new Trigger(() -> getDeadbandedDriverController().getRawAxis(XboxController.LEFT_TRIGGER_AXIS) > 0.5)
.onTrue(new InstantCommand(() -> m_robotClimber.climbIn()))
.onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
new Trigger(() -> getDeadbandedDriverController().getPOV() == 0)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroRightBlue()));
new Trigger(() -> getDeadbandedDriverController().getPOV() == 180)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroRightAmp()));
// ! /* Auto Recording */
// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
@@ -400,8 +406,6 @@ public class RobotContainer {
new JoystickButton(getDeadbandedOperatorController(), XboxController.START_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(0), m_robotIntake));
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter))
.onFalse(turnOffShoot);
@@ -426,6 +430,13 @@ public class RobotContainer {
.onTrue(new InstantCommand(() -> m_robotShooter.idle()))
.onFalse(new InstantCommand(() -> m_robotShooter.stop()));
new Trigger(() -> getDeadbandedOperatorController().getPOV() == 0)
.onTrue(new InstantCommand(() -> m_robotClimber.climbOut()))
.onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
new Trigger(() -> getDeadbandedOperatorController().getPOV() == 180)
.onTrue(new InstantCommand(() -> m_robotClimber.climbIn()))
.onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
}
@@ -442,6 +453,8 @@ public class RobotContainer {
// new JoystickButton(getVirtualDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
new Trigger(() -> getDeadbandedDriverController().getPOV() == 0)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroRightBlue()));
// /* Operator Buttons */
src/main/java/frc4388/robot/subsystems/Climber.java
+15 -2
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@@ -4,6 +4,8 @@
package frc4388.robot.subsystems;
import com.ctre.phoenix6.configs.Slot0Configs;
import com.ctre.phoenix6.controls.PositionVoltage;
import com.ctre.phoenix6.hardware.TalonFX;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -18,14 +20,25 @@ public class Climber extends SubsystemBase {
public Climber(TalonFX climbMotor) {
this.climbMotor = climbMotor;
this.climbMotor.setInverted(true);
var slot0Configs = new Slot0Configs();
slot0Configs.kP = 0.7; // An error of 0.5 rotations results in 12 V output
slot0Configs.kI = 0.0; // no output for integrated error
slot0Configs.kD = 0.06; // A velocity of 1 rps results in 0.1 V output
climbMotor.getConfigurator().apply(slot0Configs);
}
public void climbOut() {
climbMotor.set(Constants.ClimbConstants.CLIMB_OUT_SPEED);
PositionVoltage request = new PositionVoltage(0);
climbMotor.setControl(request.withPosition(-520));
//climbMotor.set(Constants.ClimbConstants.CLIMB_IN_SPEED);
}
public void climbIn() {
climbMotor.set(Constants.ClimbConstants.CLIMB_IN_SPEED);
PositionVoltage request = new PositionVoltage(-520);
climbMotor.setControl(request.withPosition(0));
// climbMotor.set(Constants.ClimbConstants.CLIMB_IN_SPEED);
}
public void stopClimb() {
src/main/java/frc4388/robot/subsystems/Intake.java
+33 -2
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@@ -26,6 +26,7 @@ import com.revrobotics.SparkLimitSwitch;
import com.revrobotics.SparkPIDController;
import com.revrobotics.RelativeEncoder;
import edu.wpi.first.wpilibj.CAN;
import edu.wpi.first.wpilibj.GenericHID.RumbleType;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import edu.wpi.first.wpilibj.motorcontrol.Talon;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -35,6 +36,7 @@ import frc4388.robot.Constants.IntakeConstants;
import frc4388.robot.commands.PID;
import frc4388.utility.Gains;
import frc4388.utility.configurable.ConfigurableDouble;
import frc4388.utility.controller.DeadbandedXboxController;
public class Intake extends SubsystemBase {
@@ -52,6 +54,9 @@ public class Intake extends SubsystemBase {
private TalonFX talonPivot;
private CANcoder encoder;
private DeadbandedXboxController m_driverXbox;
private DeadbandedXboxController m_operatorXbox;
private boolean r;
private HardwareLimitSwitchConfigs l;
@@ -96,14 +101,17 @@ public class Intake extends SubsystemBase {
// }
//For Talon
public Intake(TalonFX talonIntake, TalonFX talonPivot) {
public Intake(TalonFX talonIntake, TalonFX talonPivot, DeadbandedXboxController driverXbox, DeadbandedXboxController operatorXbox) {
this.talonIntake = talonIntake;
this.talonPivot = talonPivot;
this.m_driverXbox = driverXbox;
this.m_operatorXbox = operatorXbox;
talonIntake.getConfigurator().apply(new TalonFXConfiguration());
talonPivot.getConfigurator().apply(new TalonFXConfiguration());
talonIntake.setNeutralMode(NeutralModeValue.Brake);
talonIntake.setNeutralMode(NeutralModeValue.Coast);
talonPivot.setNeutralMode(NeutralModeValue.Brake);
// talonPivot.getConfigurator().apply(new HardwareLimitSwitchConfigs());
@@ -323,6 +331,8 @@ public class Intake extends SubsystemBase {
// }
// }
private int rumbleTime = 0;
@Override
public void periodic() {
// This method will be called once per scheduler run
@@ -336,5 +346,26 @@ public class Intake extends SubsystemBase {
SmartDashboard.putNumber("Pivot Position", getArmPos());
smartDashboardOuttakeValue = SmartDashboard.getNumber("Outtake Speed", IntakeConstants.INTAKE_OUT_SPEED_UNPRESSED);
// if(getTalonIntakeLimitSwitchState()){
// rumbleTime = 1000;
// m_driverXbox.setRumble(RumbleType.kLeftRumble, 1.0);
// m_driverXbox.setRumble(RumbleType.kRightRumble, 1.0);
// m_operatorXbox.setRumble(RumbleType.kLeftRumble, 1.0);
// m_operatorXbox.setRumble(RumbleType.kRightRumble, 1.0);
// // m_hid.setRumble(RumbleType.kLeftRumble, 0.0);
// // m_hid.setRumble(RumbleType.kRightRumble, 0.0);
// }
// if(rumbleTime > 0){
// rumbleTime--;
// if(rumbleTime <= 0){
// rumbleTime = 0;
// m_driverXbox.setRumble(RumbleType.kLeftRumble, 0);
// m_driverXbox.setRumble(RumbleType.kRightRumble, 0);
// m_operatorXbox.setRumble(RumbleType.kLeftRumble, 0);
// m_operatorXbox.setRumble(RumbleType.kRightRumble, 0);
// }
// }
}
}
src/main/java/frc4388/robot/subsystems/Limelight.java
+1 -1
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@@ -30,6 +30,7 @@ public class Limelight extends SubsystemBase {
}
private void update() {
SmartDashboard.putBoolean("Apriltag", isTag);
if(!isTag){
return;
}
@@ -55,7 +56,6 @@ public class Limelight extends SubsystemBase {
isNearSpeaker = distance <= VisionConstants.SpeakerBubbleDistance;
SmartDashboard.putBoolean("nearSpeaker", isNearSpeaker);
SmartDashboard.putBoolean("Apriltag", isTag);
SmartDashboard.putNumber("speakerDistance", distance);
}
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+10
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@@ -189,6 +189,16 @@ public class SwerveDrive extends SubsystemBase {
gyro.resetFlip();
rotTarget = 0.0;
}
public void resetGyroRightBlue() {
gyro.resetRightSideBlue();
rotTarget = 0.0;
}
public void resetGyroRightAmp() {
gyro.resetAmpSide();
rotTarget = 0.0;
}
public void stopModules() {
for (SwerveModule module : this.modules) {