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Attempt to implement advantagekit for CTRE swerve

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This commit is contained in:
Michael Mikovsky
2025-07-17 09:15:19 -06:00
parent 8e34bfe354
commit 2b7bb12241
20 changed files with 326 additions and 204 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+16 -12
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@@ -48,6 +48,7 @@ import frc4388.robot.constants.Constants;
import frc4388.robot.constants.Constants.AutoConstants;
import frc4388.robot.constants.Constants.LiDARConstants;
import frc4388.robot.constants.Constants.OIConstants;
import frc4388.robot.constants.Constants.SimConstants.Mode;
import com.pathplanner.lib.auto.NamedCommands;
import com.pathplanner.lib.commands.PathPlannerAuto;
@@ -56,8 +57,8 @@ import frc4388.robot.subsystems.Elevator;
// Subsystems
import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.Elevator.CoordinationState;
// import frc4388.robot.subsystems.Endeffector;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.robot.subsystems.lidar.LiDAR;
import frc4388.robot.subsystems.swerve.SwerveDrive;
import frc4388.robot.subsystems.vision.Vision;
// Utilites
import frc4388.utility.DeferredBlock;
@@ -74,7 +75,7 @@ import frc4388.utility.compute.ReefPositionHelper.Side;
public class RobotContainer {
/* RobotMap */
public final RobotMap m_robotMap = new RobotMap();
public final RobotMap m_robotMap = new RobotMap(Mode.REAL);
/* Subsystems */
public final LED m_robotLED = new LED();
@@ -83,6 +84,9 @@ public class RobotContainer {
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
// public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain);
public final LiDAR reefLidar = new LiDAR(m_robotMap.reefLidar, "Reef");
public final LiDAR reverseLidar = new LiDAR(m_robotMap.reverseLidar, "Reverse");
/* Controllers */
private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
@@ -129,7 +133,7 @@ public class RobotContainer {
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_SCORE, Side.RIGHT, true),
waitDebuger.asProxy(),
new LidarAlign(m_robotSwerveDrive, m_robotMap.reefLidar),
new LidarAlign(m_robotSwerveDrive, reefLidar),
waitDebuger.asProxy(),
new ParallelRaceGroup(
new WaitCommand(1),
@@ -292,7 +296,7 @@ public class RobotContainer {
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_SCORE, Side.LEFT, true),
waitDebuger.asProxy(),
new LidarAlign(m_robotSwerveDrive, m_robotMap.reefLidar),
new LidarAlign(m_robotSwerveDrive, reefLidar),
waitDebuger.asProxy(),
new ParallelRaceGroup(
new WaitCommand(1),
@@ -339,7 +343,7 @@ public class RobotContainer {
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_SCORE, Side.LEFT, true),
waitDebuger.asProxy(),
new LidarAlign(m_robotSwerveDrive, m_robotMap.reefLidar),
new LidarAlign(m_robotSwerveDrive, reefLidar),
// waitDebuger.asProxy(),
// new ParallelRaceGroup(
// new WaitCommand(1),
@@ -380,7 +384,7 @@ public class RobotContainer {
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L3_DISTANCE_SCORE-Units.inchesToMeters(1), Side.LEFT, true),
waitDebuger.asProxy(),
new LidarAlign(m_robotSwerveDrive, m_robotMap.reefLidar),
new LidarAlign(m_robotSwerveDrive, reefLidar),
waitDebuger.asProxy(),
// new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.ScoringThree), m_robotElevator),
new waitEndefectorRefrence(m_robotElevator),
@@ -409,7 +413,7 @@ public class RobotContainer {
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L3_DISTANCE_SCORE, Side.RIGHT, true),
waitDebuger.asProxy(),
new LidarAlign(m_robotSwerveDrive, m_robotMap.reefLidar),
new LidarAlign(m_robotSwerveDrive, reefLidar),
waitDebuger.asProxy(),
// new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.ScoringThree), m_robotElevator),
@@ -429,7 +433,7 @@ public class RobotContainer {
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L2_SCORE_DISTANCE, Side.LEFT, true),
waitDebuger.asProxy(),
new LidarAlign(m_robotSwerveDrive, m_robotMap.reefLidar),
new LidarAlign(m_robotSwerveDrive, reefLidar),
waitDebuger.asProxy(),
new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.L2Score);}, m_robotElevator),
new waitEndefectorRefrence(m_robotElevator),
@@ -450,7 +454,7 @@ public class RobotContainer {
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L2_SCORE_DISTANCE, Side.RIGHT, true),
waitDebuger.asProxy(),
new LidarAlign(m_robotSwerveDrive, m_robotMap.reefLidar),
new LidarAlign(m_robotSwerveDrive, reefLidar),
waitDebuger.asProxy(),
new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.L2Score);}, m_robotElevator),
new waitEndefectorRefrence(m_robotElevator),
@@ -558,7 +562,7 @@ public class RobotContainer {
NamedCommands.registerCommand("await-coral", new waitFeedCoral(m_robotElevator));
NamedCommands.registerCommand("feed-driveback", new DriveUntilLiDAR(m_robotSwerveDrive,
new Translation2d(-1,0), new Translation2d(), m_robotMap.reverseLidar, LiDARConstants.HUMAN_PLAYER_STATION_DISTANCE));
new Translation2d(-1,0), new Translation2d(), reverseLidar, LiDARConstants.HUMAN_PLAYER_STATION_DISTANCE));
// NamedCommands.registerCommand("feed-driveback", Commands.none());
NamedCommands.registerCommand("stop", new waitSupplier(() -> m_robotSwerveDrive.isStopped()));
@@ -722,7 +726,7 @@ public class RobotContainer {
.onTrue(thrustIntake.asProxy());
new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> {m_robotSwerveDrive.softStop();}, m_robotSwerveDrive, m_robotMap.reefLidar));
.onTrue(new InstantCommand(() -> {m_robotSwerveDrive.softStop();}, m_robotSwerveDrive, reefLidar));
// ? /* Operator Buttons */