mirror of
https://github.com/Team4388/2025RidgeScape.git
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246 lines
11 KiB
Java
246 lines
11 KiB
Java
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/*----------------------------------------------------------------------------*/
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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 java.util.ArrayList;
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import java.util.List;
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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 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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// 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.RunCommand;
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// Autos
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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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// Subsystems
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// import frc4388.robot.subsystems.LED;
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import frc4388.robot.subsystems.SwerveDrive;
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// Utilites
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import frc4388.utility.DeferredBlock;
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import frc4388.utility.Subsystem;
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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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public 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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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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/* 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(OIConstants.XBOX_PROGRAMMER_ID);
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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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// public List<Subsystem> subsystems = new ArrayList<>();
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// ! Teleop Commands
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// ! /* Autos */
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private String lastAutoName = "defualt.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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/**
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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 DeferredBlock(() -> m_robotSwerveDrive.resetGyroFlip());
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DriverStation.silenceJoystickConnectionWarning(true);
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// CameraServer.startAutomaticCapture();
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/* Default Commands */
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// ! Swerve Drive Default Command (Regular Rotation)
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// drives the robot with a two-axis input from the driver controller
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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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// this.subsystems.add(m_robotSwerveDrive);
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// this.subsystems.add(m_robotMap.leftFront);
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// this.subsystems.add(m_robotMap.rightFront);
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// this.subsystems.add(m_robotMap.rightBack);
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// this.subsystems.add(m_robotMap.leftBack);
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// ! Swerve Drive One Module Test
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// m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
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// m_robotMap.rightFront.go(getDeadbandedDriverController().getLeft());
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// }
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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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// m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
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// m_robotSwerveDrive.driveWithInput(
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// getDeadbandedDriverController().getLeft(),
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// getDeadbandedDriverController().getRight(),
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// true);
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// }, m_robotSwerveDrive));
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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()));
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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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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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// ? /* Operator Buttons */
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// ? /* Programer Buttons (Controller 3)*/
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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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}
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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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// ? Notice: the Programer Buttons are not to be replicated because they are designed for debuging the robot, and do not need to be replicated in auto.
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}
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/**
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* Use this to pass the autonomous command to the main {@link Robot} class.
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*
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* @return the command to run in autonomous
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*/
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public Command getAutonomousCommand() {
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return autoPlayback;
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}
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/**
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* A button binding for two controllers, preferably an {@link DeadbandedXboxController Xbox Controller} and {@link VirtualController Virtual Xbox Controller}
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* @param joystickA A controller
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* @param joystickB A controller
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* @param buttonNumber The button to bind to
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*/
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public Trigger DualJoystickButton(GenericHID joystickA, GenericHID joystickB, int buttonNumber) {
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return new Trigger(() -> (joystickA.getRawButton(buttonNumber) || joystickB.getRawButton(buttonNumber)));
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}
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public DeadbandedXboxController getDeadbandedDriverController() {
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return this.m_driverXbox;
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}
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public DeadbandedXboxController getDeadbandedOperatorController() {
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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 getVirtualOperatorController() {
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return m_virtualOperator;
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}
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}
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