Team4388/2024AcrossTheRidgebotiverse
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ready for comp (im geekin)

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Abhishrek05
2024-02-29 06:45:18 -07:00
parent de653a1edb
commit c5f5e6c57f
3 changed files with 94 additions and 61 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+88 -57
View File
@@ -68,12 +68,12 @@ public class RobotContainer {
/* 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);
/* Virtual Controllers */ /* Virtual Controllers */
private final VirtualController m_virtualDriver = new VirtualController(0); // private final VirtualController m_virtualDriver = new VirtualController(0);
private final VirtualController m_virtualOperator = new VirtualController(1); // private final VirtualController m_virtualOperator = new VirtualController(1);
private Command intakeToShootStuff = new ArmIntakeIn(m_robotIntake, m_robotShooter); private Command intakeToShootStuff = new ArmIntakeIn(m_robotIntake, m_robotShooter);
@@ -124,12 +124,23 @@ public class RobotContainer {
new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake) new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake)
); );
/* Autos */ // ! /* Autos */
private Command taxi = new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"); //new InstantCommand(); private Command taxi = new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"); //new InstantCommand();
private Command startLeftMoveRight = new InstantCommand(); // new JoystickPlayback(m_robotSwerveDrive, "StartLeftMoveRight.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 startRightMoveLeft = new InstantCommand(); // new JoystickPlayback(m_robotSwerveDrive, "StartRightMoveLeft.txt");
private Command interrupt = new InstantCommand(() -> {}, m_robotIntake, m_robotShooter); private Command interrupt = new InstantCommand(() -> {}, m_robotIntake, m_robotShooter);
//Help Simplify Shooting
private SequentialCommandGroup pullInArmtoShoot = new SequentialCommandGroup(
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 oneNoteStartingSpeaker = new SequentialCommandGroup ( private SequentialCommandGroup oneNoteStartingSpeaker = new SequentialCommandGroup (
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter), new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
new WaitCommand(1).asProxy(), new WaitCommand(1).asProxy(),
@@ -161,7 +172,8 @@ public class RobotContainer {
private SequentialCommandGroup emergencyRetract = new SequentialCommandGroup( private SequentialCommandGroup emergencyRetract = new SequentialCommandGroup(
interrupt, interrupt,
new InstantCommand(() -> m_robotIntake.talonPIDIn()) new InstantCommand(() -> m_robotIntake.talonPIDIn(), m_robotIntake),
new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake)
); );
private SequentialCommandGroup twoNoteStartingFromSpeaker = new SequentialCommandGroup( private SequentialCommandGroup twoNoteStartingFromSpeaker = new SequentialCommandGroup(
@@ -172,13 +184,7 @@ public class RobotContainer {
new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter), new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake), new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake),
new ArmIntakeInAuto(m_robotIntake, m_robotShooter, m_robotSwerveDrive), new ArmIntakeInAuto(m_robotIntake, m_robotShooter, m_robotSwerveDrive),
new InstantCommand(() -> m_robotIntake.talonPIDIn()), pullInArmtoShoot,
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 JoystickPlayback(m_robotSwerveDrive, "Taxi.txt")
// new WaitCommand(1).asProxy(), // new WaitCommand(1).asProxy(),
// new JoystickPlayback(m_robotSwerveDrive, "TwoNotePrt2.txt"), // new JoystickPlayback(m_robotSwerveDrive, "TwoNotePrt2.txt"),
@@ -190,6 +196,21 @@ public class RobotContainer {
// new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter), // new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
// new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake) // 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),
pullInArmtoShoot,
//? Create Another Parallel Command Group :(
pullInArmtoShoot,
new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt")
);
private PlaybackChooser playbackChooser = new PlaybackChooser(m_robotSwerveDrive) private PlaybackChooser playbackChooser = new PlaybackChooser(m_robotSwerveDrive)
.addOption("Taxi Auto", taxi.asProxy()) .addOption("Taxi Auto", taxi.asProxy())
.addOption("One Note Auto Starting in Front of Speaker", oneNoteStartingSpeaker) .addOption("One Note Auto Starting in Front of Speaker", oneNoteStartingSpeaker)
@@ -214,12 +235,22 @@ public class RobotContainer {
/* 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
// ! Swerve Drive Default Command (Regular Rotation)
m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> { m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
m_robotSwerveDrive.driveWithInput(getDeadbandedDriverController().getLeft(), m_robotSwerveDrive.driveWithInput(getDeadbandedDriverController().getLeft(),
getDeadbandedDriverController().getRight(), getDeadbandedDriverController().getRight(),
true); true);
}, m_robotSwerveDrive) }, m_robotSwerveDrive)
.withName("SwerveDrive DefaultCommand")); .withName("SwerveDrive DefaultCommand"));
// ! Swerve Drive Default Command (Orientation Rotation)
// m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
// m_robotSwerveDrive.driveWithInputOrientation(getDeadbandedDriverController().getLeft(),
// getDeadbandedDriverController().getRightX(),
// getDeadbandedDriverController().getRightY(),
// true);
// }, m_robotSwerveDrive)
// .withName("SwerveDrive OrientationCommand"));
// continually sends updates to the Blinkin LED controller to keep the lights on // continually sends updates to the Blinkin LED controller to keep the lights on
m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED)); m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
@@ -281,7 +312,7 @@ public class RobotContainer {
.onTrue(new InstantCommand(() -> m_robotIntake.talonPIDIn())) .onTrue(new InstantCommand(() -> m_robotIntake.talonPIDIn()))
.onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor())); .onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON) new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.talonPIDOut())) .onTrue(new InstantCommand(() -> m_robotIntake.talonPIDOut()))
.onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor())); .onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor()));
@@ -289,19 +320,19 @@ public class RobotContainer {
.onTrue(new InstantCommand(() -> m_robotIntake.talonHandoff())) .onTrue(new InstantCommand(() -> m_robotIntake.talonHandoff()))
.onFalse(new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors())); .onFalse(new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
.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(-57), m_robotIntake)); .onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(-59), 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(0), m_robotIntake)); .onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(0), m_robotIntake));
//Spin Shooter Motors
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter))
.onFalse(new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter));
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON) new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter)) .onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter))
@@ -328,55 +359,55 @@ public class RobotContainer {
private void configureVirtualButtonBindings() { private void configureVirtualButtonBindings() {
/* Driver Buttons */ /* Driver Buttons */
new JoystickButton(getVirtualDriverController(), XboxController.A_BUTTON) // new JoystickButton(getVirtualDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive)); // .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive));
/* Speed */ // /* Speed */
new JoystickButton(getVirtualDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final // new JoystickButton(getVirtualDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp())); // .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast())); // // .onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast()));
new JoystickButton(getVirtualDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final // new JoystickButton(getVirtualDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown())); // .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
/* Operator Buttons */ // /* Operator Buttons */
new JoystickButton(getVirtualOperatorController(), XboxController.Y_BUTTON) // new JoystickButton(getVirtualOperatorController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.talonPIDIn())) // .onTrue(new InstantCommand(() -> m_robotIntake.talonPIDIn()))
.onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor())); // .onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor()));
new JoystickButton(getVirtualOperatorController(), XboxController.A_BUTTON) // new JoystickButton(getVirtualOperatorController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.talonPIDOut())) // .onTrue(new InstantCommand(() -> m_robotIntake.talonPIDOut()))
.onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor())); // .onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor()));
// Override Intake Position encoder: out // // Override Intake Position encoder: out
new JoystickButton(getVirtualOperatorController(), XboxController.BACK_BUTTON) // new JoystickButton(getVirtualOperatorController(), XboxController.BACK_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(-53), m_robotIntake)); // .onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(-53), m_robotIntake));
// Override Intake Position encoder: in // // Override Intake Position encoder: in
new JoystickButton(getVirtualOperatorController(), XboxController.START_BUTTON) // new JoystickButton(getVirtualOperatorController(), XboxController.START_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(0), m_robotIntake)); // .onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(0), m_robotIntake));
//Spin Shooter Motors // //Spin Shooter Motors
new JoystickButton(getVirtualOperatorController(), XboxController.X_BUTTON) // new JoystickButton(getVirtualOperatorController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter)) // .onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter))
.onFalse(new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter)); // .onFalse(new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter));
new JoystickButton(getVirtualOperatorController(), XboxController.LEFT_BUMPER_BUTTON) // new JoystickButton(getVirtualOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(ejectToShoot) // .onTrue(ejectToShoot)
.onFalse(turnOffShoot); // .onFalse(turnOffShoot);
// new JoystickButton(getVirtualOperatorController(), XboxController.RIGHT_BUMPER_BUTTON) // // new JoystickButton(getVirtualOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
// .onTrue(i) // // .onTrue(i)
// .onFalse(new InstantCommand(() -> m_robotIntake.talonPIDIn())); // // .onFalse(new InstantCommand(() -> m_robotIntake.talonPIDIn()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_JOYSTICK_BUTTON) // new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_JOYSTICK_BUTTON)
.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter)); // .onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter));
} }
/** /**
@@ -404,11 +435,11 @@ public class RobotContainer {
return this.m_operatorXbox; return this.m_operatorXbox;
} }
public VirtualController getVirtualDriverController() { // public VirtualController getVirtualDriverController() {
return m_virtualDriver; // return m_virtualDriver;
} // }
public VirtualController getVirtualOperatorController() { // public VirtualController getVirtualOperatorController() {
return m_virtualOperator; // return m_virtualOperator;
} // }
} }
src/main/java/frc4388/robot/subsystems/Intake.java
+2 -2
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@@ -129,12 +129,12 @@ public class Intake extends SubsystemBase {
// ! Talon Methods // ! Talon Methods
public void talonPIDIn() { public void talonPIDIn() {
PositionVoltage request = new PositionVoltage(-59); PositionVoltage request = new PositionVoltage(-59);
talonPivot.setControl(request.withPosition(0)); //TODO: Find actual value talonPivot.setControl(request.withPosition(0));
} }
public void talonPIDOut() { public void talonPIDOut() {
PositionVoltage request = new PositionVoltage(0); PositionVoltage request = new PositionVoltage(0);
talonPivot.setControl(request.withPosition(-59)); //TODO: Find actual value talonPivot.setControl(request.withPosition(-59));
} }
public void talonHandoff() { public void talonHandoff() {
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+4 -2
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@@ -87,12 +87,14 @@ public class SwerveDrive extends SubsystemBase {
setModuleStates(kinematics.toSwerveModuleStates(chassisSpeeds)); setModuleStates(kinematics.toSwerveModuleStates(chassisSpeeds));
} }
public void driveWithInputOrientation(Translation2d leftStick, Translation2d rightStick, boolean fieldRelative) { public void driveWithInputOrientation(Translation2d leftStick, double rightX, double rightY, boolean fieldRelative) {
Translation2d rightStick = new Translation2d(rightX, rightY);
if(fieldRelative) { if(fieldRelative) {
double rot = 0; double rot = 0;
if(rightStick.getNorm() > 0.5) { if(rightStick.getNorm() > 0.5) {
orientRotTarget = rightStick.getAngle().minus(new Rotation2d(0, 1)); orientRotTarget = new Rotation2d(rightX, -rightY).minus(new Rotation2d(0,1));
rot = orientRotTarget.minus(gyro.getRotation2d()).getRadians(); rot = orientRotTarget.minus(gyro.getRotation2d()).getRadians();
} }