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Clean up robot container and a some of intake code

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This commit is contained in:
Abhishrek05
2024-02-17 10:16:20 -07:00
parent 890a3de02a
commit cb35732f2b
4 changed files with 24 additions and 120 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+12 -67
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@@ -7,10 +7,7 @@
package frc4388.robot;
import java.time.Instant;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.ConditionalCommand;
import edu.wpi.first.wpilibj2.command.InstantCommand;
@@ -23,7 +20,6 @@ import frc4388.robot.commands.Autos.PlaybackChooser;
import frc4388.robot.commands.Swerve.JoystickPlayback;
import frc4388.robot.commands.Swerve.JoystickRecorder;
import frc4388.robot.commands.Intake.ArmIntakeIn;
import frc4388.robot.commands.Intake.RotateIntakeToPosition;
import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.Limelight;
import frc4388.robot.subsystems.SwerveDrive;
@@ -70,17 +66,6 @@ public class RobotContainer {
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)
);
private SequentialCommandGroup i = new SequentialCommandGroup(
intakeToShootStuff, intakeToShoot
);
@@ -101,22 +86,22 @@ public class RobotContainer {
private Command startRightMoveLeft = new JoystickPlayback(m_robotSwerveDrive, "StartRightMoveLeft.txt");
private SequentialCommandGroup oneNoteStartingSpeaker = new SequentialCommandGroup (
ejectToShoot,
taxi
ejectToShoot.asProxy(),
taxi.asProxy()
);
private SequentialCommandGroup oneNoteStartingFromLeft = new SequentialCommandGroup(
startLeftMoveRight,
ejectToShoot,
taxi
startLeftMoveRight.asProxy(),
ejectToShoot.asProxy(),
taxi.asProxy()
);
private SequentialCommandGroup oneNoteStartingFromRight = new SequentialCommandGroup(
startRightMoveLeft,
ejectToShoot,
taxi
startRightMoveLeft.asProxy(),
ejectToShoot.asProxy(),
taxi.asProxy()
);
private PlaybackChooser playbackChooser = new PlaybackChooser(m_robotSwerveDrive)
.addOption("Taxi Auto", taxi)
.addOption("Taxi Auto", taxi.asProxy())
.addOption("One Note Auto Starting in Front of Speaker", oneNoteStartingSpeaker)
.addOption("One Note Auto Starting from Left Position", oneNoteStartingFromLeft)
.addOption("One Note Auto Starting from Right Position", oneNoteStartingFromRight)
@@ -141,10 +126,6 @@ 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));
// SmartDashboard.putNumber("Velocity Output", m_robotIntake.getVelocity());
// m_robotIntake.resetPostion();
}
/**
@@ -185,13 +166,6 @@ public class RobotContainer {
/* Operator Buttons */
// 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.pidIn()))
@@ -204,46 +178,17 @@ public class RobotContainer {
// Override Intake Position encoder: out
new JoystickButton(getDeadbandedOperatorController(), XboxController.BACK_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.setPosition(-53), m_robotIntake));
.onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(-53), m_robotIntake));
// Override Intake Position encoder: out
// Override Intake Position encoder: in
new JoystickButton(getDeadbandedOperatorController(), XboxController.START_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.setPosition(0), m_robotIntake));
.onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(0), m_robotIntake));
// //Pull arm in
// new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotIntake.pidIn(), m_robotIntake))
// .onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor(), m_robotIntake));
// //Pull arm out
// new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotIntake.pidOut(), m_robotIntake))
// .onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor(), m_robotIntake));
// //Intake Note
// new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotIntake.spinIntakeMotor(), m_robotIntake))
// .onFalse(new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake));
// //Outtake Note
// new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake))
// .onFalse(new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), 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));
// //Intake Note and ramp up shooter to 40%
// new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
// .onTrue(intakeToShoot);
// //Ramps up shooter to 100% to Shooter
// new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
// .onTrue(outtakeToShootFull);
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(ejectToShoot)
.onFalse(turnOffShoot);
src/main/java/frc4388/robot/commands/Intake/RotateIntakeToPosition.java
-38
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@@ -1,38 +0,0 @@
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc4388.robot.commands.Intake;
import com.revrobotics.CANSparkMax;
import edu.wpi.first.math.geometry.Translation2d;
import frc4388.robot.commands.PID;
import frc4388.robot.subsystems.SwerveDrive;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import frc4388.robot.subsystems.Intake;
public class RotateIntakeToPosition extends PID {
Intake intake;
double targetAngle;
/** Creates a new PIDSparkMax. */
public RotateIntakeToPosition(Intake intake, double targetAngle) {
super(0.3, 0.0, 0.0, 0.0, 1);
this.intake = intake;
this.targetAngle = targetAngle;
addRequirements(intake);
}
@Override
public double getError() {
return targetAngle - (((intake.getEncoder().getPosition()) * (360))%360);
}
@Override
public void runWithOutput(double output) {
intake.setVoltage(output / Math.abs(getError()));
}
}
src/main/java/frc4388/robot/subsystems/Intake.java
+10 -15
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@@ -36,10 +36,7 @@ public class Intake extends SubsystemBase {
private BooleanSupplier sup = () -> true;
private BooleanSupplier dup = () -> false;
private double val;
private double smartDashboardOuttakeValue;
/** Creates a new Intake. */
public Intake(CANSparkMax intakeMotor, CANSparkMax pivot) {
@@ -66,6 +63,8 @@ public class Intake extends SubsystemBase {
m_spedController.setP(armGains.kP);
m_spedController.setI(armGains.kI);
m_spedController.setD(armGains.kD);
SmartDashboard.putNumber("Intake Speed", 0.5);
}
//hanoff
@@ -123,9 +122,9 @@ public class Intake extends SubsystemBase {
public void handoff2() {
if(intakeforwardLimit.isPressed()) {
intakeMotor.set(-val);
intakeMotor.set(-smartDashboardOuttakeValue);
} else {
intakeMotor.set(-val);
intakeMotor.set(-smartDashboardOuttakeValue);
}
}
@@ -161,17 +160,13 @@ public class Intake extends SubsystemBase {
return pivot.getEncoder().getVelocity();
}
public void resetPostion() {
setPosition(0);
}
public void setPosition(int val) {
public void setPivotEncoderPosition(int val) {
pivot.getEncoder().setPosition(val);
}
public void resetPosition1() {
public void resetPosition() {
if(forwardLimit.isPressed()) {
resetPostion();
setPivotEncoderPosition(0);
}
}
@@ -206,9 +201,9 @@ public class Intake extends SubsystemBase {
// This method will be called once per scheduler run
SmartDashboard.putNumber("Vel Output", getVelocity());
SmartDashboard.putNumber("Position", getPos());
resetPosition1();
resetPosition();
changeIntakeNeutralState();
val = SmartDashboard.getNumber("Intake Speed", 0.5);
smartDashboardOuttakeValue = SmartDashboard.getNumber("Intake Speed", 0.5);
}
}