Team4388/2024AcrossTheRidgebotiverse
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updated vs code to 2024 (im geekin)

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This commit is contained in:
Abhishrek05
2024-01-13 15:39:56 -07:00
parent 92bfa72669
commit 32fc28d60a
27 changed files with 480 additions and 225 deletions
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src/main/java/frc4388/robot/Constants.java
+5 -5
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@@ -36,13 +36,13 @@ public final class Constants {
public static final double TURBO_SPEED = 4.0;
public static final class IDs {
public static final int LEFT_FRONT_WHEEL_ID = 4;
public static final int LEFT_FRONT_STEER_ID = 5;
public static final int LEFT_FRONT_ENCODER_ID = 11;
public static final int RIGHT_FRONT_WHEEL_ID = 2;
public static final int RIGHT_FRONT_STEER_ID = 3;
public static final int RIGHT_FRONT_ENCODER_ID = 10;
public static final int LEFT_FRONT_WHEEL_ID = 4;
public static final int LEFT_FRONT_STEER_ID = 5;
public static final int LEFT_FRONT_ENCODER_ID = 11;
public static final int LEFT_BACK_WHEEL_ID = 6;
public static final int LEFT_BACK_STEER_ID = 7;
@@ -56,7 +56,7 @@ public final class Constants {
public static final class PIDConstants {
public static final int SWERVE_SLOT_IDX = 0;
public static final int SWERVE_PID_LOOP_IDX = 1;
public static final Gains SWERVE_GAINS = new Gains(0.5, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains SWERVE_GAINS = new Gains(0.05, 0.0, 0.0, 0.0, 0, 1.0);
}
public static final class AutoConstants {
src/main/java/frc4388/robot/RobotContainer.java
+4 -2
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@@ -59,7 +59,8 @@ public class RobotContainer {
m_robotSwerveDrive.driveWithInput(getDeadbandedDriverController().getLeft(),
getDeadbandedDriverController().getRight(),
true);
}));
}, m_robotSwerveDrive)
.withName("SwerveDrive DefaultCommand"));
// continually sends updates to the Blinkin LED controller to keep the lights on
m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
}
@@ -72,7 +73,8 @@ public class RobotContainer {
*/
private void configureButtonBindings() {
/* Driver Buttons */
new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive));
/* Operator Buttons */
// activates "Lit Mode"
src/main/java/frc4388/robot/RobotMap.java
+1 -2
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@@ -7,11 +7,9 @@
package frc4388.robot;
import com.ctre.phoenix.motorcontrol.InvertType;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.CANCoder;
import com.ctre.phoenix.sensors.PigeonIMU;
import com.ctre.phoenix.sensors.WPI_Pigeon2;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
@@ -47,6 +45,7 @@ public class RobotMap {
public final WPI_TalonFX leftFrontSteer = new WPI_TalonFX(SwerveDriveConstants.IDs.LEFT_FRONT_STEER_ID);
public final CANCoder leftFrontEncoder = new CANCoder(SwerveDriveConstants.IDs.LEFT_FRONT_ENCODER_ID);
public final WPI_TalonFX rightFrontWheel = new WPI_TalonFX(SwerveDriveConstants.IDs.RIGHT_FRONT_WHEEL_ID);
public final WPI_TalonFX rightFrontSteer = new WPI_TalonFX(SwerveDriveConstants.IDs.RIGHT_FRONT_STEER_ID);
public final CANCoder rightFrontEncoder = new CANCoder(SwerveDriveConstants.IDs.RIGHT_FRONT_ENCODER_ID);
src/main/java/frc4388/robot/commands/PID.java
+2 -2
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@@ -4,10 +4,10 @@
package frc4388.robot.commands;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.Command;
import frc4388.utility.Gains;
public abstract class PID extends CommandBase {
public abstract class PID extends Command {
protected Gains gains;
private double output = 0;
private double tolerance = 0;
src/main/java/frc4388/robot/commands/Swerve/JoystickPlayback.java
+2 -2
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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.CommandBase;
import edu.wpi.first.wpilibj2.command.Command;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.utility.UtilityStructs.TimedOutput;
public class JoystickPlayback extends CommandBase {
public class JoystickPlayback extends Command {
private final SwerveDrive swerve;
private String filename;
private int mult = 1;
src/main/java/frc4388/robot/commands/Swerve/JoystickRecorder.java
+2 -2
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@@ -11,11 +11,11 @@ import java.util.ArrayList;
import java.util.function.Supplier;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.Command;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.utility.UtilityStructs.TimedOutput;
public class JoystickRecorder extends CommandBase {
public class JoystickRecorder extends Command {
public final SwerveDrive swerve;
public final Supplier<Double> leftX;
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+3 -2
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@@ -9,10 +9,10 @@ import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.utility.RobotGyro;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
public class SwerveDrive extends SubsystemBase {
@@ -67,10 +67,11 @@ public class SwerveDrive extends SubsystemBase {
}
SmartDashboard.putBoolean("drift correction", true);
rot = ((rotTarget - gyro.getAngle()) / 360) * SwerveDriveConstants.ROT_CORRECTION_SPEED;
}
// Use the left joystick to set speed. Apply a cubic curve and the set max speed.
Translation2d speed = leftStick.times(leftStick.getNorm() * speedAdjust);
// Translation2d cubedSpeed = new Translation2d(Math.pow(speed.getX(), 3.00), Math.pow(speed.getY(), 3.00));
src/main/java/frc4388/utility/RobotGyro.java
+6 -5
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@@ -86,11 +86,12 @@ public class RobotGyro implements Gyro {
*/
@Override
public void calibrate() {
if (m_isGyroAPigeon) {
m_pigeon.calibrate();
} else {
m_navX.calibrate();
}
return;
// if (m_isGyroAPigeon) {
// m_pigeon.calibrate();
// } else {
// m_navX.calibrate();
// }
}
@Override
src/main/java/frc4388/utility/controller/XboxTriggerButton.java
+2 -2
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@@ -1,13 +1,13 @@
package frc4388.utility.controller;
import edu.wpi.first.wpilibj2.command.button.Button;
//import edu.wpi.first.wpilibj2.command.button.Trigger;
/**
* Mapping for the Xbox controller triggers to allow triggers to be defined as
* buttons in {@link frc4388.robot.OI}. Checks to see if the given trigger
* exceeds a tolerance defined in {@link XboxController}.
*/
public class XboxTriggerButton extends Button {
public class XboxTriggerButton {//extends Trigger {
public static final int RIGHT_TRIGGER = 0;
public static final int LEFT_TRIGGER = 1;
public static final int RIGHT_AXIS_UP_TRIGGER = 2;