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fix trim dump iteration

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This commit is contained in:
C4llSiqn
2025-01-14 17:16:09 -07:00
parent 739890a52a
commit 600a53b85b
4 changed files with 27 additions and 3 deletions
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src/main/java/frc4388/robot/Constants.java
+3
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@@ -33,6 +33,7 @@ import edu.wpi.first.units.measure.Distance;
import frc4388.utility.CanDevice;
import frc4388.utility.Gains;
import frc4388.utility.LEDPatterns;
import frc4388.utility.Trim;
/**
* The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
@@ -82,6 +83,8 @@ public final class Constants {
public static final double FORWARD_OFFSET = 0; // 0, 90, 180, 270
public static final Trim POINTLESS_TRIM = new Trim("Pointless Trim", Double.MAX_VALUE, Double.MIN_VALUE, 1.d, 10);
private static final class ModuleSpecificConstants {
//Front Left
private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(0.229736328125+.25);
src/main/java/frc4388/robot/Robot.java
+9
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@@ -25,6 +25,7 @@ import frc4388.utility.DeferredBlock;
import frc4388.utility.RobotTime;
import frc4388.utility.Status;
import frc4388.utility.Subsystem;
import frc4388.utility.Trim;
import frc4388.utility.Status.Report;
import frc4388.utility.Status.ReportLevel;
//import frc4388.robot.subsystems.LED;
@@ -160,6 +161,14 @@ public class Robot extends TimedRobot {
// m_robotContainer.m_robotMap.rightFront.go(m_robotContainer.getDeadbandedDriverController().getLeft());
}
/**
* This function is called periodically during operator control.
*/
@Override
public void teleopExit() { // the only OTHER mode that teleop can enter into is disabled.
Trim.dumpAll();
}
@Override
public void testInit() {
src/main/java/frc4388/robot/RobotContainer.java
+13 -1
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@@ -19,6 +19,7 @@ import edu.wpi.first.wpilibj.GenericHID;
import frc4388.utility.controller.XboxController;
import frc4388.utility.controller.DeadbandedXboxController;
import frc4388.robot.Constants.OIConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import edu.wpi.first.wpilibj2.command.button.Trigger;
@@ -145,7 +146,18 @@ public class RobotContainer {
DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
// @ /* Trim Test Buttons */
new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> SwerveDriveConstants.POINTLESS_TRIM.stepUp()));
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> SwerveDriveConstants.POINTLESS_TRIM.stepDown()));
new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> SwerveDriveConstants.POINTLESS_TRIM.load()));
// ! /* Speed */
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));