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Merge pull request #7 from Team4388/Cleanup

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Cleanup 2024 code. #2
This commit is contained in:
C4llSqin
2024-05-14 15:33:48 -07:00
committed by GitHub
parent 83feb6fb30 bafc57296e
commit c4fc0271bc
10 changed files with 166 additions and 607 deletions
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.github/workflows/gradle.yml
+2 -2
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@@ -13,10 +13,10 @@ jobs:
runs-on: ubuntu-latest runs-on: ubuntu-latest
steps: steps:
- uses: actions/checkout@v1 - uses: actions/checkout@v1
- name: Set up JDK 1.8 - name: Set up JDK 17
uses: actions/setup-java@v1 uses: actions/setup-java@v1
with: with:
java-version: 1.12 java-version: 17
- name: Change wrapper permissions - name: Change wrapper permissions
run: chmod +x ./gradlew run: chmod +x ./gradlew
- name: Build with Gradle - name: Build with Gradle
autos/final_1note_stationary.auto
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autos/final_red_center_4note_taxi.auto
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src/main/java/frc4388/robot/RobotContainer.java
+93 -320
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@@ -7,14 +7,20 @@
package frc4388.robot; package frc4388.robot;
import org.opencv.video.Video; // Drive Systems
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.cscore.VideoMode;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.wpilibj.GenericHID; import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.GenericHID.RumbleType; import edu.wpi.first.wpilibj.GenericHID.RumbleType;
import frc4388.utility.controller.XboxController;
import frc4388.utility.controller.DeadbandedXboxController;
import frc4388.robot.Constants.OIConstants;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import edu.wpi.first.wpilibj2.command.button.Trigger;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
// Commands
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
@@ -22,30 +28,28 @@ import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.WaitCommand; import edu.wpi.first.wpilibj2.command.WaitCommand;
import edu.wpi.first.wpilibj2.command.WaitUntilCommand; import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import edu.wpi.first.wpilibj2.command.button.Trigger; // Autos
import frc4388.robot.Constants.IntakeConstants;
import frc4388.robot.Constants.OIConstants;
import frc4388.robot.Constants.ShooterConstants;
//import frc4388.robot.commands.Autos.AutoAlign;
import frc4388.robot.commands.Autos.PlaybackChooser; import frc4388.robot.commands.Autos.PlaybackChooser;
import frc4388.robot.commands.Swerve.JoystickPlayback; import frc4388.robot.commands.Swerve.JoystickPlayback;
import frc4388.robot.commands.Swerve.JoystickRecorder; import frc4388.robot.commands.Swerve.JoystickRecorder;
import frc4388.utility.controller.VirtualController;
import frc4388.robot.commands.Swerve.neoJoystickPlayback; import frc4388.robot.commands.Swerve.neoJoystickPlayback;
import frc4388.robot.commands.Swerve.neoJoystickRecorder; import frc4388.robot.commands.Swerve.neoJoystickRecorder;
import frc4388.robot.commands.Intake.ArmIntakeIn; import frc4388.robot.commands.Intake.ArmIntakeIn;
import frc4388.robot.commands.Autos.ArmIntakeInAuto; //import frc4388.robot.commands.Autos.AutoAlign;
// Subsystems
import frc4388.robot.subsystems.LED; import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.Limelight; import frc4388.robot.subsystems.Limelight;
import frc4388.robot.subsystems.SwerveDrive; import frc4388.robot.subsystems.SwerveDrive;
import frc4388.robot.subsystems.Shooter; import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.Climber; import frc4388.robot.subsystems.Climber;
import frc4388.robot.subsystems.Intake; import frc4388.robot.subsystems.Intake;
// Utilites
import frc4388.utility.DeferredBlock; import frc4388.utility.DeferredBlock;
import frc4388.utility.configurable.ConfigurableString; import frc4388.utility.configurable.ConfigurableString;
import frc4388.utility.controller.DeadbandedXboxController;
import frc4388.utility.controller.VirtualController;
import frc4388.utility.controller.XboxController;
/** /**
* This class is where the bulk of the robot should be declared. Since * This class is where the bulk of the robot should be declared. Since
@@ -57,10 +61,12 @@ import frc4388.utility.controller.XboxController;
public class RobotContainer { public class RobotContainer {
/* RobotMap */ /* RobotMap */
private final RobotMap m_robotMap = new RobotMap(); private final RobotMap m_robotMap = new RobotMap();
/* Subsystems */ /* Subsystems */
private final LED m_robotLED = new LED(); private final LED m_robotLED = new LED();
private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.pivotMotor);
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront, public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront,
m_robotMap.rightFront, m_robotMap.rightFront,
m_robotMap.leftBack, m_robotMap.leftBack,
@@ -74,14 +80,11 @@ public class RobotContainer {
private final Climber m_robotClimber = new Climber(m_robotMap.climbMotor); private final Climber m_robotClimber = new Climber(m_robotMap.climbMotor);
//private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.pivotMotor);
/* Controllers */ /* Controllers */
private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID); 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_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
private final DeadbandedXboxController m_autoRecorderXbox = new DeadbandedXboxController(2); private final DeadbandedXboxController m_autoRecorderXbox = new DeadbandedXboxController(2);
private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.pivotMotor);
/* Virtual Controllers */ /* Virtual Controllers */
private final VirtualController m_virtualDriver = new VirtualController(0); private final VirtualController m_virtualDriver = new VirtualController(0);
@@ -91,23 +94,12 @@ public class RobotContainer {
private Command interrupt = new InstantCommand(() -> {}, m_robotIntake, m_robotShooter); private Command interrupt = new InstantCommand(() -> {}, m_robotIntake, m_robotShooter);
private SequentialCommandGroup intakeToShoot = new SequentialCommandGroup( private SequentialCommandGroup intakeToShoot = new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.talonPIDIn()), new InstantCommand(() -> m_robotIntake.PIDIn()),
new InstantCommand(() -> m_robotShooter.idle()) new InstantCommand(() -> m_robotShooter.idle())
// new InstantCommand(() -> m_driverXbox.setRumble(RumbleType.kRightRumble, 1.0)).andThen(new WaitCommand(0.2)).andThen(new InstantCommand(() -> m_driverXbox.setRumble(RumbleType.kRightRumble, 0.0))), // new InstantCommand(() -> m_driverXbox.setRumble(RumbleType.kRightRumble, 1.0)).andThen(new WaitCommand(0.2)).andThen(new InstantCommand(() -> m_driverXbox.setRumble(RumbleType.kRightRumble, 0.0))),
// new InstantCommand(() -> m_robotShooter.spin()) // new InstantCommand(() -> m_robotShooter.spin())
); );
// private SequentialCommandGroup outtakeToShootFull = new SequentialCommandGroup(
// new InstantCommand(() -> m_robotShooter.spin()),
// new InstantCommand(() -> m_robotIntake.handoff())
// );
// private SequentialCommandGroup intakeInToOut = new SequentialCommandGroup(
// new InstantCommand(() -> m_robotIntake.rotateArmOut2(), m_robotIntake),
// new RunCommand(() -> m_robotIntake.limitNote(), m_robotIntake).until(m_robotIntake.getArmFowardLimitState()),
// new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter)
// );
// ! Teleop Commands // ! Teleop Commands
@@ -118,7 +110,7 @@ public class RobotContainer {
//autoAlign, //autoAlign,
new InstantCommand(() -> m_robotShooter.spin()), new InstantCommand(() -> m_robotShooter.spin()),
new WaitCommand(3.0), new WaitCommand(3.0),
new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake), new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake),
new WaitCommand(3.0), new WaitCommand(3.0),
new InstantCommand(() -> m_robotShooter.idle()) new InstantCommand(() -> m_robotShooter.idle())
// new InstantCommand(() -> autoAlign.reverse()), // new InstantCommand(() -> autoAlign.reverse()),
@@ -134,7 +126,7 @@ public class RobotContainer {
private SequentialCommandGroup ejectToShoot = new SequentialCommandGroup( private SequentialCommandGroup ejectToShoot = new SequentialCommandGroup(
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter), new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
new WaitCommand(0.75), new WaitCommand(0.75),
new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake) new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake)
); );
private SequentialCommandGroup turnOffShoot = new SequentialCommandGroup( private SequentialCommandGroup turnOffShoot = new SequentialCommandGroup(
@@ -144,8 +136,8 @@ public class RobotContainer {
private SequentialCommandGroup emergencyRetract = new SequentialCommandGroup( private SequentialCommandGroup emergencyRetract = new SequentialCommandGroup(
interrupt, interrupt,
new InstantCommand(() -> m_robotIntake.talonPIDIn(), m_robotIntake), new InstantCommand(() -> m_robotIntake.PIDIn(), m_robotIntake),
new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake) new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake)
); );
private SequentialCommandGroup ampShoot = new SequentialCommandGroup( private SequentialCommandGroup ampShoot = new SequentialCommandGroup(
@@ -154,139 +146,23 @@ public class RobotContainer {
); );
// ! /* Autos */ // ! /* Autos */
private Command taxi = new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"); //new InstantCommand(); // private Command taxi = 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 String lastAutoName = "final_red_center_4note_taxi.auto"; private String lastAutoName = "final_red_center_4note_taxi.auto";
private ConfigurableString autoplaybackName = new ConfigurableString("Auto Playback Name", lastAutoName); private ConfigurableString autoplaybackName = new ConfigurableString("Auto Playback Name", lastAutoName);
private neoJoystickPlayback autoPlayback = new neoJoystickPlayback(m_robotSwerveDrive, private neoJoystickPlayback autoPlayback = new neoJoystickPlayback(m_robotSwerveDrive,
() -> autoplaybackName.get(), // lastAutoName, // () -> autoplaybackName.get(), () -> autoplaybackName.get(), // lastAutoName
new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()}, new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
true, false); true, false);
// private PlaybackChooser playbackChooser = new PlaybackChooser(m_robotSwerveDrive)
//Help Simplify Shooting // .addOption("Taxi Auto", taxi.asProxy())
// private SequentialCommandGroup pullInArmtoShoot = new SequentialCommandGroup( // .addOption("One Note Auto Starting in Front of Speaker", oneNoteStartingSpeaker.asProxy())
// new InstantCommand(() -> m_robotIntake.talonPIDIn()), // .addOption("Stay One Note Auto Starting in Front of Speaker", oneNoteStartingSpeakerStationary.asProxy())
// new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter), // // .addOption("One Note Auto Starting from Left Position", oneNoteStartingFromLeft.asProxy())
// new WaitCommand(1.4).asProxy(), // // .addOption("One Note Auto Starting from Right Position", oneNoteStartingFromRight.asProxy())
// new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake), // .addOption("Two Note Starting in Front of Speaker", twoNoteStartingFromSpeaker.asProxy())
// new WaitCommand(0.5), // .addOption("Stay Two Note Starting in Front of Speaker", stayTwoNoteStartingFromSpeaker.asProxy())
// new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter), // .buildDisplay();
// new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake)
// );
private SequentialCommandGroup oneNoteStartingSpeaker = new SequentialCommandGroup (
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),
new WaitCommand(1).asProxy(),
new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt")
);
private SequentialCommandGroup oneNoteStartingSpeakerStationary = new SequentialCommandGroup (
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 SequentialCommandGroup oneNoteStartingFromLeft = new SequentialCommandGroup(
startLeftMoveRight.asProxy(),
ejectToShoot.asProxy(),
taxi.asProxy()
);
private SequentialCommandGroup oneNoteStartingFromRight = new SequentialCommandGroup(
startRightMoveLeft.asProxy(),
ejectToShoot.asProxy(),
taxi.asProxy()
);
private SequentialCommandGroup twoNoteStartingFromSpeaker = new SequentialCommandGroup(
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),
new ArmIntakeInAuto(m_robotIntake, m_robotShooter, m_robotSwerveDrive),
new InstantCommand(() -> m_robotIntake.talonPIDIn()),
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
new WaitCommand(1.4).asProxy(),
new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
new WaitCommand(0.5),
new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
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 SequentialCommandGroup stayTwoNoteStartingFromSpeaker = new SequentialCommandGroup(
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),
new ArmIntakeInAuto(m_robotIntake, m_robotShooter, m_robotSwerveDrive),
new InstantCommand(() -> m_robotIntake.talonPIDIn()),
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
new WaitCommand(1.4).asProxy(),
new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
new WaitCommand(0.5),
new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake)
);
private SequentialCommandGroup threeNoteStartingFromSpeaker = new SequentialCommandGroup(
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),
new ArmIntakeInAuto(m_robotIntake, m_robotShooter, m_robotSwerveDrive),
new InstantCommand(() -> m_robotIntake.talonPIDIn()),
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
new WaitCommand(1.4).asProxy(),
new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
new WaitCommand(0.5),
new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake),
//? Create Another Parallel Command Group :(
new InstantCommand(() -> m_robotIntake.talonPIDIn()),
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
new WaitCommand(1.4).asProxy(),
new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
new WaitCommand(0.5),
new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake),
new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt")
);
private PlaybackChooser playbackChooser = new PlaybackChooser(m_robotSwerveDrive)
.addOption("Taxi Auto", taxi.asProxy())
.addOption("One Note Auto Starting in Front of Speaker", oneNoteStartingSpeaker.asProxy())
.addOption("Stay One Note Auto Starting in Front of Speaker", oneNoteStartingSpeakerStationary.asProxy())
// .addOption("One Note Auto Starting from Left Position", oneNoteStartingFromLeft.asProxy())
// .addOption("One Note Auto Starting from Right Position", oneNoteStartingFromRight.asProxy())
.addOption("Two Note Starting in Front of Speaker", twoNoteStartingFromSpeaker.asProxy())
.addOption("Stay Two Note Starting in Front of Speaker", stayTwoNoteStartingFromSpeaker.asProxy())
.buildDisplay();
/** /**
* The container for the robot. Contains subsystems, OI devices, and commands. * The container for the robot. Contains subsystems, OI devices, and commands.
@@ -299,7 +175,7 @@ public class RobotContainer {
DriverStation.silenceJoystickConnectionWarning(true); DriverStation.silenceJoystickConnectionWarning(true);
CameraServer.startAutomaticCapture(); // CameraServer.startAutomaticCapture();
/* Default Commands */ /* Default Commands */
// drives the robot with a two-axis input from the driver controller // drives the robot with a two-axis input from the driver controller
@@ -324,12 +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 * Use this method to define your button->command mappings. Buttons can be
* created by instantiating a {@link GenericHID} or one of its subclasses * created by instantiating a {@link GenericHID} or one of its subclasses
@@ -340,14 +210,14 @@ public class RobotContainer {
// ? /* Driver Buttons */ // ? /* Driver Buttons */
new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON) DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroFlip(), m_robotSwerveDrive)); .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroFlip(), m_robotSwerveDrive));
new JoystickButton(getDeadbandedDriverController(), XboxController.BACK_BUTTON) DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.BACK_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroRightBlue())) .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroRightBlue()))
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.add180())); .onFalse(new InstantCommand(() -> m_robotSwerveDrive.add180()));
new JoystickButton(getDeadbandedDriverController(), XboxController.START_BUTTON) DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.START_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroRightAmp())) .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroRightAmp()))
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.add180())); .onFalse(new InstantCommand(() -> m_robotSwerveDrive.add180()));
@@ -398,18 +268,6 @@ public class RobotContainer {
true, false)) true, false))
.onFalse(new InstantCommand()); .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 */ // ! /* Speed */
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp())); .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
@@ -424,57 +282,48 @@ public class RobotContainer {
new Trigger(() -> getDeadbandedDriverController().getPOV() == 90) new Trigger(() -> getDeadbandedDriverController().getPOV() == 90)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUpRot())); .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 */ //? /* Operator Buttons */
new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON) DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.talonPIDIn())) .onTrue(new InstantCommand(() -> m_robotIntake.PIDIn()))
.onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor())); .onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON) DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.talonPIDOut())) .onTrue(new InstantCommand(() -> m_robotIntake.PIDOut()))
.onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor())); .onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON) DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.talonHandoff())) .onTrue(new InstantCommand(() -> m_robotIntake.handoff()))
.onFalse(new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors())); .onFalse(new InstantCommand(() -> m_robotIntake.stopIntakeMotors()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON) DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.B_BUTTON)
.onTrue(emergencyRetract); .onTrue(emergencyRetract);
// Override Intake Position encoder: out // Override Intake Position encoder: out
new JoystickButton(getDeadbandedOperatorController(), XboxController.BACK_BUTTON) new JoystickButton(getDeadbandedOperatorController(), XboxController.BACK_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(-55), m_robotIntake)); .onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(-55), m_robotIntake));
// Override Intake Position encoder: in // Override Intake Position encoder: in
new JoystickButton(getDeadbandedOperatorController(), XboxController.START_BUTTON) new JoystickButton(getDeadbandedOperatorController(), XboxController.START_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(-6.2), m_robotIntake)); .onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(-6.2), m_robotIntake));
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON) DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotShooter.spin(0.5), m_robotShooter)) .onTrue(new InstantCommand(() -> m_robotShooter.spin(0.5), m_robotShooter))
.onFalse(turnOffShoot); .onFalse(turnOffShoot);
new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON) DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
.onTrue(i) .onTrue(i)
.onFalse(new InstantCommand(() -> m_robotIntake.talonPIDIn())); .onFalse(new InstantCommand(() -> m_robotIntake.PIDIn()));
//spins up shooter, no wind down //spins up shooter, no wind down
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_JOYSTICK_BUTTON) DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.LEFT_JOYSTICK_BUTTON)
.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter)); .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));
new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_JOYSTICK_BUTTON) DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.RIGHT_JOYSTICK_BUTTON)
.onTrue(emergencyRetract); .onTrue(emergencyRetract);
new Trigger(() -> getDeadbandedOperatorController().getRawAxis(XboxController.RIGHT_TRIGGER_AXIS) > 0.5) new Trigger(() -> getDeadbandedOperatorController().getRawAxis(XboxController.RIGHT_TRIGGER_AXIS) > 0.5)
@@ -489,122 +338,36 @@ public class RobotContainer {
.onTrue(new InstantCommand(() -> m_robotIntake.ampOuttake(0.5))); .onTrue(new InstantCommand(() -> m_robotIntake.ampOuttake(0.5)));
} }
/**
* This method is used to replcate {@link Trigger Triggers} for {@link VirtualController Virtual Controllers}. <p/>
* Please use {@link RobotContainer#DualJoystickButton} in {@link RobotContainer#configureButtonBindings} for standard buttons.
*/
private void configureVirtualButtonBindings() {
private void configureVirtualButtonBindings() {
// ? /* Driver Buttons */ // ? /* Driver Buttons */
new JoystickButton(getVirtualDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroFlip(), m_robotSwerveDrive));
new JoystickButton(getVirtualDriverController(), XboxController.BACK_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroRightBlue()))
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.add180()));
new JoystickButton(getVirtualDriverController(), XboxController.START_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroRightAmp()))
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.add180()));
// ! /* Auto Recording */ /* Notice: the following buttons have not been replicated
new JoystickButton(m_autoRecorderXbox, XboxController.LEFT_BUMPER_BUTTON) * Swerve Drive Slow and Fast mode Gear Shifts : Fast mode is known to cause drift, so we disable that feature in Autoplayback
.whileTrue(new neoJoystickRecorder(m_robotSwerveDrive, * Swerve Drive Rotation Gear Shifts : Same reason as Slow and Fast mode.
new DeadbandedXboxController[]{getDeadbandedDriverController(), getDeadbandedOperatorController()}, * Auto Recording controls : We don't want an Null Ouroboros for an auto.
() -> autoplaybackName.get())) */
.onFalse(new InstantCommand());
new JoystickButton(m_autoRecorderXbox, XboxController.RIGHT_BUMPER_BUTTON)
.onTrue(new neoJoystickPlayback(m_robotSwerveDrive,
() -> autoplaybackName.get(),
new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
true, false))
.onFalse(new InstantCommand());
// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // ? /* Operator Buttons */
// .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) /* Notice: the following buttons have not been replicated
// .onTrue(new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt")) * Override Intake Position Encoder : It's an emergancy overide, for when the position of intake when the robot boots, the intake is not inside the robot.
// .onFalse(new InstantCommand()); * We don't need it in an auto.
// ! /* Speed */ * Climbing controls : We don't need to climb in auto.
new JoystickButton(getVirtualDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final */
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast()));
new JoystickButton(getVirtualDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
new Trigger(() -> getVirtualDriverController().getPOV() == 270) // new Trigger(() -> getVirtualOperatorController().getRawAxis(XboxController.RIGHT_TRIGGER_AXIS) > 0.5)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDownRot())); // .onTrue(new InstantCommand(() -> m_robotClimber.climbOut()))
// .onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
new Trigger(() -> getVirtualDriverController().getPOV() == 90) // new Trigger(() -> getVirtualOperatorController().getRawAxis(XboxController.LEFT_TRIGGER_AXIS) > 0.5)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUpRot())); // .onTrue(new InstantCommand(() -> m_robotClimber.climbIn()))
// .onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
// new JoystickButton(getVirtualDriverController(), XboxController.Y_BUTTON)
// .whileTrue(new InstantCommand(() ->
// m_robotSwerveDrive.driveWithInput(new Translation2d(0, 1),
// new Translation2d(0, 0),
// true), m_robotSwerveDrive));
//? /* Operator Buttons */
new JoystickButton(getVirtualOperatorController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.talonPIDIn()))
.onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor()));
new JoystickButton(getVirtualOperatorController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.talonPIDOut()))
.onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor()));
new JoystickButton(getVirtualOperatorController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.talonHandoff()))
.onFalse(new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors()));
new JoystickButton(getVirtualOperatorController(), XboxController.B_BUTTON)
.onTrue(emergencyRetract);
// Override Intake Position encoder: out
new JoystickButton(getVirtualOperatorController(), XboxController.BACK_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(-55), m_robotIntake));
// Override Intake Position encoder: in
new JoystickButton(getVirtualOperatorController(), XboxController.START_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(-6.2), m_robotIntake));
new JoystickButton(getVirtualOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotShooter.spin(0.5), m_robotShooter))
.onFalse(turnOffShoot);
new JoystickButton(getVirtualOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
.onTrue(i)
.onFalse(new InstantCommand(() -> m_robotIntake.talonPIDIn()));
//spins up shooter, no wind down
new JoystickButton(getVirtualOperatorController(), 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));
new JoystickButton(getVirtualOperatorController(), XboxController.RIGHT_JOYSTICK_BUTTON)
.onTrue(emergencyRetract);
new Trigger(() -> getVirtualOperatorController().getRawAxis(XboxController.RIGHT_TRIGGER_AXIS) > 0.5)
.onTrue(new InstantCommand(() -> m_robotClimber.climbOut()))
.onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
new Trigger(() -> getVirtualOperatorController().getRawAxis(XboxController.LEFT_TRIGGER_AXIS) > 0.5)
.onTrue(new InstantCommand(() -> m_robotClimber.climbIn()))
.onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
new Trigger(() -> getVirtualOperatorController().getPOV() == 0) new Trigger(() -> getVirtualOperatorController().getPOV() == 0)
.onTrue(new InstantCommand(() -> m_robotIntake.ampOuttake(0.5))); .onTrue(new InstantCommand(() -> m_robotIntake.ampOuttake(0.5)));
@@ -622,6 +385,16 @@ public class RobotContainer {
//return playbackChooser.getCommand(); //return playbackChooser.getCommand();
} }
/**
* A button binding for two controllers, preferably an {@link DeadbandedXboxController Xbox Controller} and {@link VirtualController Virtual Xbox Controller}
* @param joystickA A controller
* @param joystickB A controller
* @param buttonNumber The button to bind to
*/
public Trigger DualJoystickButton(GenericHID joystickA, GenericHID joystickB, int buttonNumber) {
return new Trigger(() -> (joystickA.getRawButton(buttonNumber) || joystickB.getRawButton(buttonNumber)));
}
/** /**
* Add your docs here. * Add your docs here.
*/ */
src/main/java/frc4388/robot/RobotMap.java
-4
View File
@@ -13,12 +13,8 @@ import com.ctre.phoenix.sensors.CANCoder;
import com.ctre.phoenix.sensors.WPI_Pigeon2; import com.ctre.phoenix.sensors.WPI_Pigeon2;
import com.ctre.phoenix6.configs.TalonFXConfiguration; import com.ctre.phoenix6.configs.TalonFXConfiguration;
import com.ctre.phoenix6.hardware.TalonFX; import com.ctre.phoenix6.hardware.TalonFX;
import com.revrobotics.CANSparkLowLevel;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj.motorcontrol.Spark; import edu.wpi.first.wpilibj.motorcontrol.Spark;
import edu.wpi.first.wpilibj.motorcontrol.Talon;
import frc4388.robot.Constants.LEDConstants; import frc4388.robot.Constants.LEDConstants;
import frc4388.robot.Constants.SwerveDriveConstants; import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.robot.Constants.ShooterConstants; import frc4388.robot.Constants.ShooterConstants;
src/main/java/frc4388/robot/commands/Autos/ArmIntakeInTimeout.java
+5 -5
View File
@@ -29,23 +29,23 @@ public class ArmIntakeInTimeout extends Command {
// Called every time the scheduler runs while the command is scheduled. // Called every time the scheduler runs while the command is scheduled.
@Override @Override
public void execute() { public void execute() {
robotIntake.talonPIDOut(); robotIntake.PIDOut();
robotIntake.talonSpinIntakeMotor(); robotIntake.spinIntakeMotor();
} }
// Called once the command ends or is interrupted. // Called once the command ends or is interrupted.
@Override @Override
public void end(boolean interrupted) { public void end(boolean interrupted) {
if(interrupted) { if(interrupted) {
robotIntake.talonPIDIn(); robotIntake.PIDIn();
robotIntake.talonStopIntakeMotors(); robotIntake.stopIntakeMotors();
} }
} }
// Returns true when the command should end. // Returns true when the command should end.
@Override @Override
public boolean isFinished() { public boolean isFinished() {
return robotIntake.getTalonIntakeLimitSwitchState(); return robotIntake.getIntakeLimitSwitchState();
// if(!(!robotIntake.getTalonIntakeLimitSwitchState() != !false) && ((-1.0 / 0.0) == (-2.0 / 0.0))) // if(!(!robotIntake.getTalonIntakeLimitSwitchState() != !false) && ((-1.0 / 0.0) == (-2.0 / 0.0)))
// { // {
// return !true==true; // return !true==true;
src/main/java/frc4388/robot/commands/Autos/AutoBalance.java
+1 -1
View File
@@ -43,7 +43,7 @@ public class AutoBalance extends PID {
public void runWithOutput(double output) { public void runWithOutput(double output) {
double out2 = MathUtil.clamp(output / 40, -59, 0); double out2 = MathUtil.clamp(output / 40, -59, 0);
if (Math.abs(getError()) < 3) out2 = 0; if (Math.abs(getError()) < 3) out2 = 0;
intake.talonPIDPosition(out2); intake.PIDPosition(out2);
} }
} }
src/main/java/frc4388/robot/commands/Intake/ArmIntakeIn.java
+3 -3
View File
@@ -29,8 +29,8 @@ public class ArmIntakeIn extends Command {
// Called every time the scheduler runs while the command is scheduled. // Called every time the scheduler runs while the command is scheduled.
@Override @Override
public void execute() { public void execute() {
robotIntake.talonPIDOut(); robotIntake.PIDOut();
robotIntake.talonSpinIntakeMotor(); robotIntake.spinIntakeMotor();
} }
// Called once the command ends or is interrupted. // Called once the command ends or is interrupted.
@@ -40,7 +40,7 @@ public class ArmIntakeIn extends Command {
// Returns true when the command should end. // Returns true when the command should end.
@Override @Override
public boolean isFinished() { public boolean isFinished() {
return robotIntake.getTalonIntakeLimitSwitchState(); return robotIntake.getIntakeLimitSwitchState();
// if(!(!robotIntake.getTalonIntakeLimitSwitchState() != !false) && ((-1.0 / 0.0) == (-2.0 / 0.0))) // if(!(!robotIntake.getTalonIntakeLimitSwitchState() != !false) && ((-1.0 / 0.0) == (-2.0 / 0.0)))
// { // {
// return !true==true; // return !true==true;
src/main/java/frc4388/robot/subsystems/Intake.java
+40 -272
View File
@@ -4,116 +4,30 @@
package frc4388.robot.subsystems; package frc4388.robot.subsystems;
import java.util.function.BooleanSupplier;
import com.ctre.phoenix.motorcontrol.ControlMode;
import com.ctre.phoenix.motorcontrol.LimitSwitchNormal;
import com.ctre.phoenix.motorcontrol.can.TalonSRXPIDSetConfiguration;
import com.ctre.phoenix6.configs.HardwareLimitSwitchConfigs;
import com.ctre.phoenix6.configs.Slot0Configs; import com.ctre.phoenix6.configs.Slot0Configs;
import com.ctre.phoenix6.configs.TalonFXConfiguration; import com.ctre.phoenix6.configs.TalonFXConfiguration;
import com.ctre.phoenix6.controls.PositionVoltage; import com.ctre.phoenix6.controls.PositionVoltage;
import com.ctre.phoenix6.hardware.CANcoder;
import com.ctre.phoenix6.hardware.TalonFX; import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix6.signals.ForwardLimitTypeValue;
import com.ctre.phoenix6.signals.ForwardLimitValue;
import com.ctre.phoenix6.signals.NeutralModeValue; import com.ctre.phoenix6.signals.NeutralModeValue;
import com.ctre.phoenix6.signals.ReverseLimitTypeValue;
import com.ctre.phoenix6.signals.ReverseLimitValue;
import com.revrobotics.CANSparkBase;
import com.revrobotics.CANSparkMax;
import com.revrobotics.SparkLimitSwitch;
import com.revrobotics.SparkPIDController;
import com.revrobotics.RelativeEncoder;
import edu.wpi.first.wpilibj.CAN;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import edu.wpi.first.wpilibj.motorcontrol.Talon;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants;
import frc4388.robot.Constants.IntakeConstants; import frc4388.robot.Constants.IntakeConstants;
import frc4388.robot.commands.PID;
import frc4388.utility.Gains; import frc4388.utility.Gains;
import frc4388.utility.configurable.ConfigurableDouble;
public class Intake extends SubsystemBase { public class Intake extends SubsystemBase {
private TalonFX intakeMotor;
//NEO private TalonFX pivotMotor;
private CANSparkMax intakeMotor;
private CANSparkMax pivot;
private SparkPIDController m_spedController;
private SparkLimitSwitch forwardLimit;
private SparkLimitSwitch reverseLimit;
private SparkLimitSwitch intakeforwardLimit;
private SparkLimitSwitch intakereverseLimit;
//Talon
private TalonFX talonIntake;
private TalonFX talonPivot;
private CANcoder encoder;
private boolean r;
private HardwareLimitSwitchConfigs l;
TalonFXConfiguration doodooController = new TalonFXConfiguration();
public static Gains armGains = IntakeConstants.ArmPID.INTAKE_GAINS; public static Gains armGains = IntakeConstants.ArmPID.INTAKE_GAINS;
private ConfigurableDouble outtakeSpeed = new ConfigurableDouble("Outtake Speed", IntakeConstants.INTAKE_OUT_SPEED_UNPRESSED);
private BooleanSupplier sup = () -> true;
private BooleanSupplier dup = () -> false;
private double smartDashboardOuttakeValue;
/** Creates a new Intake. */ /** Creates a new Intake. */
//For NEO public Intake(TalonFX intakeMotor, TalonFX pivotMotor) {
// public Intake(CANSparkMax intakeMotor, CANSparkMax pivot) { this.intakeMotor = intakeMotor;
// this.intakeMotor = intakeMotor; this.pivotMotor = pivotMotor;
// this.pivot = pivot;
// pivot.restoreFactoryDefaults(); intakeMotor.getConfigurator().apply(new TalonFXConfiguration());
// //pivot.setInverted(true); pivotMotor.getConfigurator().apply(new TalonFXConfiguration());
// forwardLimit = pivot.getForwardLimitSwitch(SparkLimitSwitch.Type.kNormallyOpen); intakeMotor.setNeutralMode(NeutralModeValue.Brake);
// reverseLimit = pivot.getReverseLimitSwitch(SparkLimitSwitch.Type.kNormallyOpen); pivotMotor.setNeutralMode(NeutralModeValue.Brake);
// 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();
// m_spedController.setP(armGains.kP);
// m_spedController.setI(armGains.kI);
// m_spedController.setD(armGains.kD);
// SmartDashboard.putNumber("Outtake Speed", IntakeConstants.INTAKE_OUT_SPEED_UNPRESSED);
// }
//For Talon
public Intake(TalonFX talonIntake, TalonFX talonPivot) {
this.talonIntake = talonIntake;
this.talonPivot = talonPivot;
talonIntake.getConfigurator().apply(new TalonFXConfiguration());
talonPivot.getConfigurator().apply(new TalonFXConfiguration());
talonIntake.setNeutralMode(NeutralModeValue.Brake);
talonPivot.setNeutralMode(NeutralModeValue.Brake);
// talonPivot.getConfigurator().apply(new HardwareLimitSwitchConfigs());
// talonIntake.getConfigurator().apply(new HardwareLimitSwitchConfigs());
// doodooController.Slot0.kP = armGains.kP;
// doodooController.Slot1.kI = armGains.kI;
// doodooController.Slot2.kD = armGains.kD;
// in init function, set slot 0 gains // in init function, set slot 0 gains
var slot0Configs = new Slot0Configs(); var slot0Configs = new Slot0Configs();
@@ -121,222 +35,76 @@ public class Intake extends SubsystemBase {
slot0Configs.kI = 0.0; // no output for integrated error slot0Configs.kI = 0.0; // no output for integrated error
slot0Configs.kD = 0.21; // A velocity of 1 rps results in 0.1 V output slot0Configs.kD = 0.21; // A velocity of 1 rps results in 0.1 V output
talonPivot.getConfigurator().apply(slot0Configs); pivotMotor.getConfigurator().apply(slot0Configs);
} }
// ! Talon Methods // ! Talon Methods
public void talonPIDIn() { public void PIDIn() {
PositionVoltage request = new PositionVoltage(-53); PIDPosition(0);
talonPivot.setControl(request.withPosition(0));
} }
public void talonPIDOut() { public void PIDOut() {
PositionVoltage request = new PositionVoltage(0); PIDPosition(-53);
talonPivot.setControl(request.withPosition(-53));
} }
public void talonPIDPosition(double out2) { public void PIDPosition(double pos) {
PositionVoltage request = new PositionVoltage(out2); PositionVoltage request = new PositionVoltage(pos);
talonPivot.setControl(request); pivotMotor.setControl(request);
} }
public void talonHandoff() { public void handoff() {
talonIntake.set(-outtakeSpeed.get()); intakeMotor.set(-IntakeConstants.INTAKE_OUT_SPEED_UNPRESSED);
} }
public void talonSpinIntakeMotor() { public void spinIntakeMotor() {
talonIntake.set(IntakeConstants.INTAKE_SPEED); intakeMotor.set(IntakeConstants.INTAKE_SPEED);
} }
public void talonSpinIntakeMotor(double speed) { public void spinIntakeMotor(double speed) {
talonIntake.set(speed); intakeMotor.set(speed);
} }
public boolean getTalonIntakeLimitSwitchState() { public boolean getIntakeLimitSwitchState() {
if(r = talonIntake.getForwardLimit().getValue().value == 0) { return intakeMotor.getForwardLimit().getValue().value == 0;
return true;
}
return false;
} }
public void talonSetPivotEncoderPosition(double val) { public void setPivotEncoderPosition(double val) {
talonPivot.setPosition(val); pivotMotor.setPosition(val);
} }
public void talonStopIntakeMotors() { public void stopIntakeMotors() {
talonIntake.set(0); intakeMotor.set(0);
} }
public void talonStopArmMotor() { public void stopArmMotor() {
talonPivot.set(0); pivotMotor.set(0);
}
public void stop() {
intakeMotor.set(0);
pivotMotor.set(0);
} }
public double getArmPos() { public double getArmPos() {
return talonPivot.getPosition().getValue(); return pivotMotor.getPosition().getValue();
} }
public void resetArmPosition() { public void resetArmPosition() {
if(getTalonIntakeLimitSwitchState()){ if (getIntakeLimitSwitchState()) {
// talonPivot.setPosition(0); // talonPivot.setPosition(0);
} }
} }
public void ampPosition() { public void ampPosition() {
PositionVoltage request = new PositionVoltage(-0); PIDPosition(-59); //TODO: Find actual value
talonPivot.setControl(request.withPosition(-59)); //TODO: Find actual value
} }
public void ampOuttake(double speed) { public void ampOuttake(double speed) {
talonSpinIntakeMotor(speed); spinIntakeMotor(speed);
} }
// ! NEO Methods
//hanoff
// public void spinIntakeMotor() {
// intakeMotor.set(IntakeConstants.INTAKE_SPEED);
// }
// //Rotate robot in for handoff
// public void rotateArmIn() {
// pivot.set(IntakeConstants.PIVOT_SPEED);
// }
// //Rotates robot out for intake
// public void rotateArmOut() {
// pivot.set(-IntakeConstants.PIVOT_SPEED);
// }
// public void pidIn() {
// m_spedController.setReference(2.5, CANSparkMax.ControlType.kPosition);
// //SmartDashboard.putNumber("Velocity Output", pivot.getEncoder().getVelocity());
// }
// public void pidOut() {
// m_spedController.setReference(-53, CANSparkMax.ControlType.kPosition);
// }
// public void limitNote() {
// if (intakeforwardLimit.isPressed()) {
// rotateArmIn2();
// } else {
// spinIntakeMotor();
// }
// }
// public void rotateArmOut2() {
// if(reverseLimit.isPressed()){
// stopArmMotor();
// } else {
// pidOut();
// }
// }
// public void rotateArmIn2() {
// if(forwardLimit.isPressed()){
// stopArmMotor();
// } else {
// pidIn();
// }
// }
// public void handoff() {
// intakeMotor.set(-IntakeConstants.INTAKE_OUT_SPEED_UNPRESSED);
// }
// public void handoff2() {
// if(intakeforwardLimit.isPressed()) {
// intakeMotor.set(-smartDashboardOuttakeValue);
// } else {
// intakeMotor.set(-smartDashboardOuttakeValue);
// }
// }
// public void stopIntakeMotors() {
// intakeMotor.set(0);
// }
// public void stopArmMotor() {
// pivot.set(0);
// }
// public RelativeEncoder getEncoder() {
// return pivot.getEncoder();
// }
// public boolean getForwardLimitSwitchState() {
// return forwardLimit.isPressed();
// }
// public boolean getReverseLimitSwitchState() {
// return reverseLimit.isPressed();
// }
// public boolean getIntakeLimitSwtichState() {
// return intakeforwardLimit.isPressed();
// }
// public void setVoltage(double voltage) {
// pivot.setVoltage(voltage);
// }
// public double getVelocity() {
// return pivot.getEncoder().getVelocity();
// }
// public void setPivotEncoderPosition(int val) {
// pivot.getEncoder().setPosition(val);
// }
// public void resetPosition() {
// if(forwardLimit.isPressed()) {
// setPivotEncoderPosition(0);
// }
// }
// public double getPos() {
// return pivot.getEncoder().getPosition();
// }
// public double getIntakeVelocity() {
// return intakeMotor.getEncoder().getVelocity();
// }
// public void rotateArm() {
// }
// public BooleanSupplier getArmFowardLimitState() {
// if(forwardLimit.isPressed()) {
// return sup;
// } else {
// return dup;
// }
// }
// public void changeIntakeNeutralState() {
// if(forwardLimit.isPressed()) {
// intakeMotor.setIdleMode(CANSparkBase.IdleMode.kCoast);
// }
// }
@Override @Override
public void periodic() { public void periodic() {
// This method will be called once per scheduler run
// SmartDashboard.putNumber("Vel Output", getVelocity());
// SmartDashboard.putNumber("Position", getPos());
// resetPosition();
// changeIntakeNeutralState();
resetArmPosition(); resetArmPosition();
// SmartDashboard.putNumber("Pivot Position", getArmPos());
//smartDashboardOuttakeValue = SmartDashboard.getNumber("Outtake Speed", IntakeConstants.INTAKE_OUT_SPEED_UNPRESSED);
//SmartDashboard.putBoolean("Limit Switch State", getTalonIntakeLimitSwitchState());
} }
} }
src/main/java/frc4388/utility/DualJoystickButton.java
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package frc4388.utility;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj2.command.button.Trigger;
/**
* A button binding for two controllers, preferably an {@link frc4388.utility.controller.DeadbandedXboxController Xbox Controller} and {@link frc4388.utility.controller.VirtualController Virtual Xbox Controller}
* @author Zachary Wilke
*/
public class DualJoystickButton extends Trigger {
/**
* Creates an Button binding on two controllers
* @param joystickA A controller
* @param joystickB A controller
* @param buttonNumber The button to bind to
*/
public DualJoystickButton(GenericHID joystickA, GenericHID joystickB, int buttonNumber) {
super(() -> (joystickA.getRawButton(buttonNumber) || joystickB.getRawButton(buttonNumber)));
}
}