Team4388/2024AcrossTheRidgebotiverse
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intake stuff works, still need to create command for handoff (im geekin)

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Abhishrek05
2024-02-10 13:11:30 -07:00
parent 96d612b9a1
commit 91343469bd
4 changed files with 58 additions and 24 deletions
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src/main/java/frc4388/robot/Constants.java
+2 -1
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@@ -161,7 +161,8 @@ public final class Constants {
public static final class IntakeConstants {
public static final int INTAKE_MOTOR_ID = 18; //TODO:
public static final int PIVOT_MOTOR_ID = 17; //TODO:
public static final double INTAKE_SPEED = 0.2; //TODO:
public static final double INTAKE_SPEED = 0.75; //TODO:
public static final double INTAKE_OUT_SPEED = 0.2;
public static final double HANDOFF_SPEED = 0.2; //TODO:
public static final double PIVOT_SPEED = 0.2; //TODO:
src/main/java/frc4388/robot/RobotContainer.java
+37 -22
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@@ -59,7 +59,9 @@ public class RobotContainer {
// private PlaybackChooser playbackChooser;
private PlaybackChooser playbackChooser = new PlaybackChooser(m_robotSwerveDrive)
.addOption("Taxi Auto", new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"))
.buildDisplay();
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
@@ -78,10 +80,8 @@ public class RobotContainer {
// continually sends updates to the Blinkin LED controller to keep the lights on
m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
// playbackChooser = new PlaybackChooser(m_robotSwerveDrive)
// .addOption("Taxi Auto", new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"))
// .buildDisplay();
//SmartDashboard.putNumber("Velocity Output", m_robotIntake.getVelocity());
SmartDashboard.putNumber("Velocity Output", m_robotIntake.getVelocity());
// m_robotIntake.resetPostion();
}
@@ -97,6 +97,8 @@ public class RobotContainer {
new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive));
/* Auto Recording */
// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
// .whileTrue(new JoystickRecorder(m_robotSwerveDrive,
@@ -122,29 +124,42 @@ public class RobotContainer {
/* Operator Buttons */
new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter))
.onFalse(new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter));
// new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotIntake.spinIntakeMotor(), m_robotIntake))
// .onFalse(new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake));
// new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
// .onTrue(new InstantCommand(() -> new RotateIntakeToPosition(m_robotIntake, 360).execute(), m_robotIntake))
// .onFalse(new InstantCommand(() -> new RotateIntakeToPosition(m_robotIntake, 0).execute(), m_robotShooter));
new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.rotateArmIn()))
.onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.rotateArmOut()))
.onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.pidIn()))
.onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
// new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotIntake.spinIntakeMotor()))
// .onFalse(new InstantCommand(() -> m_robotIntake.stopIntakeMotors()));
// .onTrue(new InstantCommand(() -> m_robotIntake.rotateArmIn()))
// .onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
// new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotIntake.rotateArmOut()))
// .onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.pidIn(), m_robotIntake))
.onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor(), m_robotIntake));
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.pidOut(), m_robotIntake))
.onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor(), m_robotIntake));
new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.spinIntakeMotor(), m_robotIntake))
.onFalse(new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake));
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_TRIGGER_AXIS)
.onTrue(new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake))
.onFalse(new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake));
new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_TRIGGER_AXIS)
.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter))
.onFalse(new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter));
}
src/main/java/frc4388/robot/subsystems/Intake.java
+18 -1
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@@ -25,6 +25,12 @@ public class Intake extends SubsystemBase {
private static Gains armGains = IntakeConstants.ArmPID.INTAKE_GAINS;
private SparkLimitSwitch forwardLimit;
private SparkLimitSwitch reverseLimit;
private SparkLimitSwitch intakeforwardLimit;
private SparkLimitSwitch intakereverseLimit;
private Shooter shooter;
/** Creates a new Intake. */
public Intake(CANSparkMax intakeMotor, CANSparkMax pivot) {
@@ -38,7 +44,14 @@ public class Intake extends SubsystemBase {
reverseLimit = pivot.getReverseLimitSwitch(SparkLimitSwitch.Type.kNormallyOpen);
forwardLimit.enableLimitSwitch(true);
reverseLimit.enableLimitSwitch(true);
intakeMotor.restoreFactoryDefaults();
intakeforwardLimit = intakeMotor.getForwardLimitSwitch(SparkLimitSwitch.Type.kNormallyOpen);
intakereverseLimit = intakeMotor.getReverseLimitSwitch(SparkLimitSwitch.Type.kNormallyOpen);
intakeforwardLimit.enableLimitSwitch(true);
intakereverseLimit.enableLimitSwitch(false);
//Arm PID
m_spedController = pivot.getPIDController();
@@ -70,13 +83,17 @@ public class Intake extends SubsystemBase {
}
public void pidOut() {
m_spedController.setReference(-8000, CANSparkMax.ControlType.kVelocity);
}
public void handoff() {
intakeMotor.set(-IntakeConstants.INTAKE_SPEED);
intakeMotor.set(-IntakeConstants.INTAKE_OUT_SPEED);
}
public void stopIntakeMotors() {
intakeMotor.set(0);
}
src/main/java/frc4388/robot/subsystems/Shooter.java
+1
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@@ -43,5 +43,6 @@ public class Shooter extends SubsystemBase {
@Override
public void periodic() {
// This method will be called once per scheduler run
}
}