mirror of
https://github.com/Team4388/2024AcrossTheRidgebotiverse.git
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C4llSiqn
448 lines
23 KiB
Java
448 lines
23 KiB
Java
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package frc4388.robot;
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// Drive Systems
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import edu.wpi.first.wpilibj.DriverStation;
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import edu.wpi.first.cameraserver.CameraServer;
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import edu.wpi.first.wpilibj.GenericHID;
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import edu.wpi.first.wpilibj.GenericHID.RumbleType;
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import frc4388.utility.controller.XboxController;
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import frc4388.utility.controller.DeadbandedXboxController;
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import frc4388.robot.Constants.OIConstants;
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import edu.wpi.first.wpilibj2.command.button.JoystickButton;
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import edu.wpi.first.wpilibj2.command.button.Trigger;
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import edu.wpi.first.math.geometry.Rotation2d;
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import edu.wpi.first.math.geometry.Translation2d;
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// Commands
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.InstantCommand;
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import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
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import edu.wpi.first.wpilibj2.command.RunCommand;
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import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
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import edu.wpi.first.wpilibj2.command.WaitCommand;
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import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
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// Autos
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import frc4388.robot.commands.Autos.PlaybackChooser;
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import frc4388.robot.commands.Swerve.JoystickPlayback;
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import frc4388.robot.commands.Swerve.JoystickRecorder;
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import frc4388.utility.controller.VirtualController;
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import frc4388.robot.commands.Swerve.neoJoystickPlayback;
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import frc4388.robot.commands.Swerve.neoJoystickRecorder;
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import frc4388.robot.commands.Intake.ArmIntakeIn;
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//import frc4388.robot.commands.Autos.AutoAlign;
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// Subsystems
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import frc4388.robot.subsystems.LED;
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import frc4388.robot.subsystems.Limelight;
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import frc4388.robot.subsystems.SwerveDrive;
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import frc4388.robot.subsystems.Shooter;
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import frc4388.robot.subsystems.Climber;
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import frc4388.robot.subsystems.Intake;
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// Utilites
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import frc4388.utility.DeferredBlock;
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import frc4388.utility.configurable.ConfigurableString;
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/**
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* This class is where the bulk of the robot should be declared. Since
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* Command-based is a "declarative" paradigm, very little robot logic should
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* actually be handled in the {@link Robot} periodic methods (other than the
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* scheduler calls). Instead, the structure of the robot (including subsystems,
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* commands, and button mappings) should be declared here.
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*/
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public class RobotContainer {
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/* RobotMap */
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private final RobotMap m_robotMap = new RobotMap();
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/* Subsystems */
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private final LED m_robotLED = new LED();
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private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.pivotMotor);
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public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront,
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m_robotMap.rightFront,
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m_robotMap.leftBack,
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m_robotMap.rightBack,
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m_robotMap.gyro);
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/* Limelight */
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private final Limelight limelight = new Limelight();
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private final Shooter m_robotShooter = new Shooter(m_robotMap.leftShooter, m_robotMap.rightShooter, limelight);
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private final Climber m_robotClimber = new Climber(m_robotMap.climbMotor);
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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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/* 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 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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private SequentialCommandGroup intakeToShoot = new SequentialCommandGroup(
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new InstantCommand(() -> m_robotIntake.PIDIn()),
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new InstantCommand(() -> m_robotShooter.idle())
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// new InstantCommand(() -> m_driverXbox.setRumble(RumbleType.kRightRumble, 1.0)).andThen(new WaitCommand(0.2)).andThen(new InstantCommand(() -> m_driverXbox.setRumble(RumbleType.kRightRumble, 0.0))),
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// new InstantCommand(() -> m_robotShooter.spin())
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);
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// ! Teleop Commands
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//private AutoAlign autoAlign = new AutoAlign(m_robotSwerveDrive, limelight);
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private SequentialCommandGroup autoShoot = new SequentialCommandGroup(
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// MoveToSpeaker,
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//autoAlign,
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new InstantCommand(() -> m_robotShooter.spin()),
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new WaitCommand(3.0),
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new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake),
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new WaitCommand(3.0),
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new InstantCommand(() -> m_robotShooter.idle())
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// new InstantCommand(() -> autoAlign.reverse()),
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// autoAlign.asProxy()
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);
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private SequentialCommandGroup i = new SequentialCommandGroup(
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intakeToShootStuff, intakeToShoot,
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new InstantCommand(() -> m_robotShooter.idle())
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);
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private SequentialCommandGroup ejectToShoot = new SequentialCommandGroup(
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new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
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new WaitCommand(0.75),
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new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake)
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);
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private SequentialCommandGroup turnOffShoot = new SequentialCommandGroup(
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new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter)
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// new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake)
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);
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private SequentialCommandGroup emergencyRetract = new SequentialCommandGroup(
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interrupt,
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new InstantCommand(() -> m_robotIntake.PIDIn(), m_robotIntake),
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new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake)
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);
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private SequentialCommandGroup ampShoot = new SequentialCommandGroup(
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new InstantCommand(() -> m_robotIntake.ampPosition()),
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new InstantCommand(() -> m_robotIntake.ampOuttake(0.1)) //TODO: Find Actual Speed
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);
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// ! /* Autos */
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// private Command taxi = new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt");
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private String lastAutoName = "final_red_center_4note_taxi.auto";
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private ConfigurableString autoplaybackName = new ConfigurableString("Auto Playback Name", lastAutoName);
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private neoJoystickPlayback autoPlayback = new neoJoystickPlayback(m_robotSwerveDrive,
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() -> autoplaybackName.get(), // lastAutoName
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new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
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true, false);
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// private PlaybackChooser playbackChooser = new PlaybackChooser(m_robotSwerveDrive)
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// .addOption("Taxi Auto", taxi.asProxy())
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// .addOption("One Note Auto Starting in Front of Speaker", oneNoteStartingSpeaker.asProxy())
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// .addOption("Stay One Note Auto Starting in Front of Speaker", oneNoteStartingSpeakerStationary.asProxy())
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// // .addOption("One Note Auto Starting from Left Position", oneNoteStartingFromLeft.asProxy())
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// // .addOption("One Note Auto Starting from Right Position", oneNoteStartingFromRight.asProxy())
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// .addOption("Two Note Starting in Front of Speaker", twoNoteStartingFromSpeaker.asProxy())
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// .addOption("Stay Two Note Starting in Front of Speaker", stayTwoNoteStartingFromSpeaker.asProxy())
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// .buildDisplay();
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/**
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* The container for the robot. Contains subsystems, OI devices, and commands.
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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 Trigger(() -> autoplaybackName.get().equals(lastAutoName)).onTrue(new InstantCommand(() -> changeAuto()));
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new DeferredBlock(() -> m_robotSwerveDrive.resetGyro());
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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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m_robotSwerveDrive.setToSlow();
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// ! Swerve Drive Default Command (Orientation Rotation)
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// m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
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// m_robotSwerveDrive.driveWithInputOrientation(getDeadbandedDriverController().getLeft(),
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// getDeadbandedDriverController().getRightX(),
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// getDeadbandedDriverController().getRightY(),
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// true);
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// }, m_robotSwerveDrive)
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// .withName("SwerveDrive OrientationCommand"));
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// continually sends updates to the Blinkin LED controller to keep the lights on
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m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
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}
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// private void changeAuto() {
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// autoPlayback.unloadAuto();
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// autoPlayback.loadAuto();
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// lastAutoName = autoplaybackName.get();
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// System.out.println("AUTO: Changed auto to; `" + lastAutoName + "`");
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// }
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/**
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* Use this method to define your button->command mappings. Buttons can be
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* created by instantiating a {@link GenericHID} or one of its subclasses
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* ({@link edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then
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* passing it to a {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
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*/
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private void configureButtonBindings() {
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// ? /* Driver Buttons */
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DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.A_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroFlip(), m_robotSwerveDrive));
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DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.BACK_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroRightBlue()))
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.onFalse(new InstantCommand(() -> m_robotSwerveDrive.add180()));
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DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.START_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroRightAmp()))
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.onFalse(new InstantCommand(() -> m_robotSwerveDrive.add180()));
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// * /* D-Pad Stuff */
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// new Trigger(() -> getDeadbandedDriverController().getRawAxis(XboxController.TOP_BOTTOM_DPAD_AXIS) > 0.9)
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// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 1),
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// new Translation2d(0, 0),
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// true)))
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// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
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// new Translation2d(0, 0),
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// true)));
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// new Trigger(() -> getDeadbandedDriverController().getRawAxis(XboxController.TOP_BOTTOM_DPAD_AXIS) > -0.9)
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// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, -1),
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// new Translation2d(0, 0),
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// true)))
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// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
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// new Translation2d(0, 0),
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// true)));
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// new Trigger(() -> getDeadbandedDriverController().getRawAxis(XboxController.LEFT_RIGHT_DPAD_AXIS) > 0.9)
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// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(1, 0),
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// new Translation2d(0, 0),
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// true)))
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// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
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// new Translation2d(0, 0),
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// true)));
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// new Trigger(() -> getDeadbandedDriverController().getRawAxis(XboxController.LEFT_RIGHT_DPAD_AXIS) > -0.9)
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// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(-1, 0),
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// new Translation2d(0, 0),
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// true)))
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// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
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// new Translation2d(0, 0),
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// true)));
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// ! /* Auto Recording */
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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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() -> autoplaybackName.get()))
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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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() -> autoplaybackName.get(),
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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(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
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// .whileTrue(new JoystickRecorder(m_robotSwerveDrive,
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// () -> getDeadbandedDriverController().getLeftX(),
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// () -> getDeadbandedDriverController().getLeftY(),
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// () -> getDeadbandedDriverController().getRightX(),
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// () -> getDeadbandedDriverController().getRightY(),
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// "Taxi.txt"))
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// .onFalse(new InstantCommand());
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// new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
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// .onTrue(new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"))
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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.LEFT_BUMPER_BUTTON) // final
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
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new Trigger(() -> getDeadbandedDriverController().getPOV() == 270)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDownRot()));
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new Trigger(() -> getDeadbandedDriverController().getPOV() == 90)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUpRot()));
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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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DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.Y_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotIntake.PIDIn()))
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.onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
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DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.X_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotIntake.PIDOut()))
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.onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
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DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.A_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotIntake.handoff()))
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.onFalse(new InstantCommand(() -> m_robotIntake.stopIntakeMotors()));
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DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.B_BUTTON)
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.onTrue(emergencyRetract);
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// Override Intake Position encoder: out
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new JoystickButton(getDeadbandedOperatorController(), XboxController.BACK_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(-55), m_robotIntake));
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// Override Intake Position encoder: in
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new JoystickButton(getDeadbandedOperatorController(), XboxController.START_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(-6.2), m_robotIntake));
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DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotShooter.spin(0.5), m_robotShooter))
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.onFalse(turnOffShoot);
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DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
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.onTrue(i)
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.onFalse(new InstantCommand(() -> m_robotIntake.PIDIn()));
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//spins up shooter, no wind down
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DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.LEFT_JOYSTICK_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter));
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// DualJoystickButton(getDeadbandedOperatorController(), 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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DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.RIGHT_JOYSTICK_BUTTON)
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.onTrue(emergencyRetract);
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new Trigger(() -> getDeadbandedOperatorController().getRawAxis(XboxController.RIGHT_TRIGGER_AXIS) > 0.5)
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.onTrue(new InstantCommand(() -> m_robotClimber.climbOut()))
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.onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
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new Trigger(() -> getDeadbandedOperatorController().getRawAxis(XboxController.LEFT_TRIGGER_AXIS) > 0.5)
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.onTrue(new InstantCommand(() -> m_robotClimber.climbIn()))
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.onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
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new Trigger(() -> getDeadbandedOperatorController().getPOV() == 0)
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.onTrue(new InstantCommand(() -> m_robotIntake.ampOuttake(0.5)));
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}
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/**
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* This method is used to replcate {@link Trigger Triggers} for {@link VirtualController Virtual Controllers}. <p/>
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* Please use {@link RobotContainer#DualJoystickButton} in {@link RobotContainer#configureButtonBindings} for standard buttons.
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*/
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private void configureVirtualButtonBindings() {
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// ? /* Driver Buttons */
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/* Notice: the following buttons have not been replicated
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* Swerve Drive Slow and Fast mode Gear Shifts : Fast mode is known to cause drift, so we disable that feature in Autoplayback
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* Swerve Drive Rotation Gear Shifts : Same reason as Slow and Fast mode.
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* Auto Recording controls : We don't want an Null Ouroboros for an auto.
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*/
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// ? /* Operator Buttons */
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/* Notice: the following buttons have not been replicated
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* 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.
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* We don't need it in an auto.
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* Climbing controls : We don't need to climb in auto.
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*/
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// new Trigger(() -> getVirtualOperatorController().getRawAxis(XboxController.RIGHT_TRIGGER_AXIS) > 0.5)
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// .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)
|
|
.onTrue(new InstantCommand(() -> m_robotIntake.ampOuttake(0.5)));
|
|
|
|
}
|
|
|
|
/**
|
|
* Use this to pass the autonomous command to the main {@link Robot} class.
|
|
*
|
|
* @return the command to run in autonomous
|
|
*/
|
|
public Command getAutonomousCommand() {
|
|
//no auto
|
|
return autoPlayback;
|
|
//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.
|
|
*/
|
|
public DeadbandedXboxController getDeadbandedDriverController() {
|
|
return this.m_driverXbox;
|
|
}
|
|
|
|
public DeadbandedXboxController getDeadbandedOperatorController() {
|
|
return this.m_operatorXbox;
|
|
}
|
|
|
|
public VirtualController getVirtualDriverController() {
|
|
return m_virtualDriver;
|
|
}
|
|
|
|
public VirtualController getVirtualOperatorController() {
|
|
return m_virtualOperator;
|
|
}
|
|
}
|