mirror of
https://github.com/Team4388/2024AcrossTheRidgebotiverse.git
synced 2026-06-09 00:38:02 -06:00
Neo Auto recording system.
This commit is contained in:
Abhishrek05
@@ -67,7 +67,7 @@ public final class Constants {
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public static final class PIDConstants {
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public static final int SWERVE_SLOT_IDX = 0;
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public static final int SWERVE_PID_LOOP_IDX = 1;
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public static final Gains SWERVE_GAINS = new Gains(1.2, 0.0, 0.0, 0.0, 0, 1.0);
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public static final Gains SWERVE_GAINS = new Gains(1.2, 0.0, 0.4, 0.0, 0, 1.0);
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}
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public static final class AutoConstants {
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@@ -70,12 +70,12 @@ public class RobotContainer {
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/* Controllers */
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private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
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private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
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// private final DeadbandedXboxController m_autoRecorderXbox = new DeadbandedXboxController(2);
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private final DeadbandedXboxController m_autoRecorderXbox = new DeadbandedXboxController(2);
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/* Virtual Controllers */
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// private final VirtualController m_virtualDriver = new VirtualController(0);
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// private final VirtualController m_virtualOperator = new VirtualController(1);
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private final VirtualController m_virtualDriver = new VirtualController(0);
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private final VirtualController m_virtualOperator = new VirtualController(1);
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private Command intakeToShootStuff = new ArmIntakeIn(m_robotIntake, m_robotShooter);
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private Command interrupt = new InstantCommand(() -> {}, m_robotIntake, m_robotShooter);
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@@ -274,22 +274,22 @@ public class RobotContainer {
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*/
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public RobotContainer() {
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configureButtonBindings();
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// configureVirtualButtonBindings();
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new DeferredBlock(() -> m_robotSwerveDrive.resetGyroFlip());
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configureVirtualButtonBindings();
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new DeferredBlock(() -> m_robotSwerveDrive.resetGyroFlip());
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DriverStation.silenceJoystickConnectionWarning(true);
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CameraServer.startAutomaticCapture();
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DriverStation.silenceJoystickConnectionWarning(true);
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CameraServer.startAutomaticCapture();
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/* Default Commands */
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// drives the robot with a two-axis input from the driver controller
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// ! Swerve Drive Default Command (Regular Rotation)
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m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
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m_robotSwerveDrive.driveWithInput(getDeadbandedDriverController().getLeft(),
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getDeadbandedDriverController().getRight(),
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true);
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}, m_robotSwerveDrive)
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.withName("SwerveDrive DefaultCommand"));
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/* Default Commands */
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// drives the robot with a two-axis input from the driver controller
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// ! Swerve Drive Default Command (Regular Rotation)
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m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
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m_robotSwerveDrive.driveWithInput(getDeadbandedDriverController().getLeft(),
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getDeadbandedDriverController().getRight(),
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true);
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}, m_robotSwerveDrive)
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.withName("SwerveDrive DefaultCommand"));
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// ! Swerve Drive Default Command (Orientation Rotation)
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// m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
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@@ -331,32 +331,32 @@ public class RobotContainer {
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// .onTrue(new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"))
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// .onFalse(new InstantCommand());
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// new JoystickButton(m_autoRecorderXbox, XboxController.LEFT_BUMPER_BUTTON)
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// .whileTrue(new neoJoystickRecorder(m_robotSwerveDrive,
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// new DeadbandedXboxController[]{getDeadbandedDriverController(), getDeadbandedOperatorController()},
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// "2note.auto"))
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// .onFalse(new InstantCommand());
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new JoystickButton(m_autoRecorderXbox, XboxController.LEFT_BUMPER_BUTTON)
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.whileTrue(new neoJoystickRecorder(m_robotSwerveDrive,
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new DeadbandedXboxController[]{getDeadbandedDriverController(), getDeadbandedOperatorController()},
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"blue_center_1Note.auto"))
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.onFalse(new InstantCommand());
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// new JoystickButton(m_autoRecorderXbox, XboxController.RIGHT_BUMPER_BUTTON)
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// .onTrue(new neoJoystickPlayback(m_robotSwerveDrive,
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// "2note.auto",
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// new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
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// true, false))
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// .onFalse(new InstantCommand());
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new JoystickButton(m_autoRecorderXbox, XboxController.RIGHT_BUMPER_BUTTON)
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.onTrue(new neoJoystickPlayback(m_robotSwerveDrive,
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"blue_center_1Note.auto",
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new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
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true, false))
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.onFalse(new InstantCommand());
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// ! /* Speed */
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new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
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// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast()));
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// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
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// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
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// // .onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast()));
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new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
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// new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
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// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
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new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
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.whileTrue(new InstantCommand(() ->
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m_robotSwerveDrive.driveWithInput(new Translation2d(0, 1),
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new Translation2d(0, 0),
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true), m_robotSwerveDrive));
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// new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
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// .whileTrue(new InstantCommand(() ->
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// m_robotSwerveDrive.driveWithInput(new Translation2d(0, 1),
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// new Translation2d(0, 0),
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// true), m_robotSwerveDrive));
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//? /* Operator Buttons */
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@@ -427,40 +427,50 @@ public class RobotContainer {
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// /* Operator Buttons */
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// new JoystickButton(getVirtualOperatorController(), XboxController.Y_BUTTON)
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// .onTrue(new InstantCommand(() -> m_robotIntake.talonPIDIn()))
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// .onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor()));
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new JoystickButton(getVirtualOperatorController(), XboxController.Y_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotIntake.talonPIDIn()))
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.onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor()));
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// new JoystickButton(getVirtualOperatorController(), XboxController.A_BUTTON)
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// .onTrue(new InstantCommand(() -> m_robotIntake.talonPIDOut()))
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// .onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor()));
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new JoystickButton(getVirtualOperatorController(), XboxController.X_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotIntake.talonPIDOut()))
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.onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor()));
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new JoystickButton(getVirtualOperatorController(), XboxController.A_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotIntake.talonHandoff()))
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.onFalse(new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors()));
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new JoystickButton(getVirtualOperatorController(), XboxController.B_BUTTON)
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.onTrue(emergencyRetract.asProxy());
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// // Override Intake Position encoder: out
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// new JoystickButton(getVirtualOperatorController(), XboxController.BACK_BUTTON)
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// .onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(-53), m_robotIntake));
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// Override Intake Position encoder: out
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new JoystickButton(getVirtualOperatorController(), XboxController.BACK_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(-59), m_robotIntake));
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// // Override Intake Position encoder: in
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// new JoystickButton(getVirtualOperatorController(), XboxController.START_BUTTON)
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// .onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(0), m_robotIntake));
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// //Spin Shooter Motors
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// new JoystickButton(getVirtualOperatorController(), XboxController.X_BUTTON)
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// .onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter))
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// .onFalse(new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter));
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// new JoystickButton(getVirtualOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
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// .onTrue(ejectToShoot)
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// .onFalse(turnOffShoot);
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// Override Intake Position encoder: in
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new JoystickButton(getVirtualOperatorController(), XboxController.START_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(0), m_robotIntake));
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// // new JoystickButton(getVirtualOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
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// // .onTrue(i)
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// // .onFalse(new InstantCommand(() -> m_robotIntake.talonPIDIn()));
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new JoystickButton(getVirtualOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter))
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.onFalse(turnOffShoot.asProxy());
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new JoystickButton(getVirtualOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
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.onTrue(i.asProxy())
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.onFalse(new InstantCommand(() -> m_robotIntake.talonPIDIn()));
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//spins up shooter, no wind down
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new JoystickButton(getVirtualOperatorController(), XboxController.LEFT_JOYSTICK_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter));
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// new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_JOYSTICK_BUTTON)
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// .onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter));
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// new JoystickButton(getVirtualOperatorController(), XboxController.RIGHT_JOYSTICK_BUTTON)
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// .onTrue(new InstantCommand(() -> m_robotIntake.talonSpinIntakeMotor(), m_robotIntake))
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// .onFalse(new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake));
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new JoystickButton(getVirtualOperatorController(), XboxController.RIGHT_JOYSTICK_BUTTON)
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.onTrue(emergencyRetract.asProxy());
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}
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/**
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@@ -488,11 +498,11 @@ public class RobotContainer {
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return this.m_operatorXbox;
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}
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// public VirtualController getVirtualDriverController() {
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// return m_virtualDriver;
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// }
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public VirtualController getVirtualDriverController() {
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return m_virtualDriver;
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}
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// public VirtualController getVirtualOperatorController() {
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// return m_virtualOperator;
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// }
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public VirtualController getVirtualOperatorController() {
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return m_virtualOperator;
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}
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}
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@@ -34,6 +34,7 @@ import frc4388.robot.Constants;
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import frc4388.robot.Constants.IntakeConstants;
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import frc4388.robot.commands.PID;
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import frc4388.utility.Gains;
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import frc4388.utility.configurable.ConfigurableDouble;
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public class Intake extends SubsystemBase {
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@@ -57,9 +58,8 @@ public class Intake extends SubsystemBase {
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TalonFXConfiguration doodooController = new TalonFXConfiguration();
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public static Gains armGains = IntakeConstants.ArmPID.INTAKE_GAINS;
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private ConfigurableDouble outtakeSpeed = new ConfigurableDouble("Outtake Speed", IntakeConstants.INTAKE_OUT_SPEED_UNPRESSED);
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private BooleanSupplier sup = () -> true;
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private BooleanSupplier dup = () -> false;
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@@ -138,7 +138,7 @@ public class Intake extends SubsystemBase {
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}
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public void talonHandoff() {
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talonIntake.set(-IntakeConstants.INTAKE_OUT_SPEED_UNPRESSED);
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talonIntake.set(-outtakeSpeed.get());
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}
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public void talonSpinIntakeMotor() {
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@@ -49,7 +49,7 @@ public class Shooter extends SubsystemBase {
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}
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public void spin() {
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spin(ShooterConstants.SHOOTER_SPEED);
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spin(smartDashboardShooterSpeed);
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}
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public void spin(double speed) {
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