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This commit is contained in:
Zach Wilke
2025-09-11 17:20:49 -06:00
parent 44286f81e7
commit 93ba351a19
5 changed files with 74 additions and 48 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+57 -32
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@@ -79,7 +79,7 @@ public class RobotContainer {
/* Subsystems */
public final LED m_robotLED = new LED();
public final Vision m_vision = new Vision(m_robotMap.leftCamera, m_robotMap.rightCamera);
public final Vision m_vision = new Vision(m_robotMap.leftCamera);// m_robotMap.rightCamera);
public final Elevator m_robotElevator = new Elevator(m_robotMap.elevatorIO, m_robotLED);
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
// public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain);
@@ -107,9 +107,9 @@ public class RobotContainer {
private Command autoCommand;
private Command waitFeedStation = new waitSupplier(m_robotElevator::readyToMove);
// private Command waitDebuger = new waitSupplier(m_driverXbox::getYButtonPressed);
private Command waitDebuger = new waitSupplier(m_driverXbox::getXButtonPressed);
// private Command waitDebugerManual = new waitSupplier(m_driverXbox::getYButtonPressed);
private Command waitDebuger = new waitSupplier(() -> true);
// private Command waitDebuger = new waitSupplier(() -> true);
// private ConfigurableString autoplaybackName = new ConfigurableString("Auto Playback Name", lastAutoName);
// private neoJoystickPlayback autoPlayback = new neoJoystickPlayback(m_robotSwerveDrive,
@@ -120,10 +120,10 @@ public class RobotContainer {
private Command AprilLidarAlignL4RightFullAuto = new SequentialCommandGroup(
new InstantCommand(() -> {m_robotSwerveDrive.startSlowPeriod();}),
new ConditionalCommand(Commands.none(), new SequentialCommandGroup(
new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_PREP, Side.RIGHT, true)
), () -> m_robotElevator.isL4Primed()),
// new ConditionalCommand(Commands.none(), new SequentialCommandGroup(
new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_PREP, Side.RIGHT, true),
// ), () -> m_robotElevator.isL4Primed()),
// new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
// new GotoLastApril(m_robotSwerveDrive, m_vision, FieldConstants.L4_DISTANCE_2, Side.RIGHT),
@@ -133,7 +133,7 @@ public class RobotContainer {
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_SCORE, Side.RIGHT, true),
waitDebuger.asProxy(),
new LidarAlign(m_robotSwerveDrive, reefLidar),
// new LidarAlign(m_robotSwerveDrive, reefLidar),
waitDebuger.asProxy(),
new ParallelRaceGroup(
new WaitCommand(1),
@@ -205,6 +205,15 @@ public class RobotContainer {
new InstantCommand(m_robotSwerveDrive::startSlowPeriod, m_robotSwerveDrive)
);
private Command TempGoToReef = new SequentialCommandGroup(
new InstantCommand(m_robotSwerveDrive::startSlowPeriod, m_robotSwerveDrive),
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L2_PREP_DISTANCE, Side.LEFT, true),
new InstantCommand(m_robotSwerveDrive::startSlowPeriod, m_robotSwerveDrive)
);
/* private Command AprilLidarAlignL4Right = new SequentialCommandGroup(
new InstantCommand(() -> {m_robotSwerveDrive.startSlowPeriod();}),
@@ -283,41 +292,52 @@ public class RobotContainer {
// new IfCommand(() -> m_robotElevator.isL4Primed(), new SequentialCommandGroup(
new ConditionalCommand(Commands.none(), new SequentialCommandGroup(
new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_PREP, Side.LEFT, true)
), () -> m_robotElevator.isL4Primed()),
// new ConditionalCommand(Commands.none(), new SequentialCommandGroup(
new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
// new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_PREP, Side.LEFT, true),
// ), () -> m_robotElevator.isL4Primed()),
waitDebuger.asProxy(),
// new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
// new GotoLastApril(m_robotSwerveDrive, m_vision, FieldConstants.L4_DISTANCE_2, Side.LEFT),
new waitEndefectorRefrence(m_robotElevator),
new waitElevatorRefrence(m_robotElevator),
waitDebuger.asProxy(),
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_SCORE, Side.LEFT, true),
waitDebuger.asProxy(),
new LidarAlign(m_robotSwerveDrive, reefLidar),
waitDebuger.asProxy(),
new ParallelRaceGroup(
new WaitCommand(1),
new MoveUntilSuply(
m_robotSwerveDrive,
new Translation2d(0,-0.5),
new Translation2d(), m_robotElevator::getEndeffectorLimit, true)
),
new InstantCommand(m_robotSwerveDrive::softStop, m_robotSwerveDrive),
// new LidarAlign(m_robotSwerveDrive, reefLidar),
// waitDebuger.asProxy(),
// new ParallelRaceGroup(
// new WaitCommand(1),
// new MoveUntilSuply(
// m_robotSwerveDrive,
// new Translation2d(0,-0.5),
// new Translation2d(), m_robotElevator::getEndeffectorLimit, true)
// ),
// new InstantCommand(m_robotSwerveDrive::softStop, m_robotSwerveDrive),
new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.ScoringFour), m_robotElevator),
waitDebuger.asProxy(),
new waitEndefectorRefrence(m_robotElevator),
new MoveForTimeCommand(m_robotSwerveDrive,
new Translation2d(0,1), new Translation2d(), AutoConstants.L4_DRIVE_TIME, true),
waitDebuger.asProxy(),
// // new ConditionalCommand(
// // new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Waiting), m_robotElevator),
// new MoveForTimeCommand(m_robotSwerveDrive,
// new Translation2d(0,1), new Translation2d(), AutoConstants.L4_DRIVE_TIME, true),
// // // new ConditionalCommand(
// // // new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
// new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Waiting), m_robotElevator),
// () -> m_robotElevator.hasCoral()),
@@ -671,6 +691,11 @@ public class RobotContainer {
new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
.onTrue(AprilLidarAlignL4LeftFullAuto);
// ! /* Speed */
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
@@ -717,10 +742,10 @@ public class RobotContainer {
), m_robotSwerveDrive))
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive));
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
// .onTrue( new DriveUntilLiDAR(m_robotSwerveDrive,
// new Translation2d(-1,0), new Translation2d(), m_robotMap.reverseLidar, LiDARConstants.HUMAN_PLAYER_STATION_DISTANCE, true));
.onTrue(WannaSeeMeDunk.asProxy());
// new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
// // .onTrue( new DriveUntilLiDAR(m_robotSwerveDrive,
// // new Translation2d(-1,0), new Translation2d(), m_robotMap.reverseLidar, LiDARConstants.HUMAN_PLAYER_STATION_DISTANCE, true));
// .onTrue(WannaSeeMeDunk.asProxy());
new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
.onTrue(thrustIntake.asProxy());
src/main/java/frc4388/robot/RobotMap.java
+5 -5
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@@ -45,7 +45,7 @@ public class RobotMap {
// public RobotGyro gyro = new RobotGyro(m_pigeon2);
public final VisionIO leftCamera;
public final VisionIO rightCamera;
// public final VisionIO rightCamera;
// public final LiDAR lidar = new
@@ -67,13 +67,13 @@ public class RobotMap {
case REAL:
// Configure cameras
PhotonCamera leftCameraReal = new PhotonCamera(VisionConstants.LEFT_CAMERA_NAME);
PhotonCamera rightCameraReal = new PhotonCamera(VisionConstants.RIGHT_CAMERA_NAME);
// PhotonCamera rightCameraReal = new PhotonCamera(VisionConstants.RIGHT_CAMERA_NAME);
leftCamera = new VisionReal(leftCameraReal, VisionConstants.LEFT_CAMERA_POS); ;
rightCamera = new VisionReal(rightCameraReal, VisionConstants.RIGHT_CAMERA_POS);
// rightCamera = new VisionReal(rightCameraReal, VisionConstants.RIGHT_CAMERA_POS);
FaultPhotonCamera.addDevice(leftCameraReal, "Left Camera");
FaultPhotonCamera.addDevice(rightCameraReal , "Right Camera");
// FaultPhotonCamera.addDevice(rightCameraReal , "Right Camera");
// Configure LiDAR
reefLidar = new LidarReal(LiDARConstants.REEF_LIDAR_DIO_CHANNEL);
@@ -126,7 +126,7 @@ public class RobotMap {
// break;
default:
leftCamera = new VisionIO() {};
rightCamera = new VisionIO() {};
// rightCamera = new VisionIO() {};
reefLidar = new LidarIO() {};
reverseLidar = new LidarIO() {};
swerveDrivetrain = new SwerveIO() {};
src/main/java/frc4388/robot/constants/BuildConstants.java
+5 -5
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@@ -7,12 +7,12 @@ public final class BuildConstants {
public static final String MAVEN_GROUP = "";
public static final String MAVEN_NAME = "2025RidgeScape";
public static final String VERSION = "unspecified";
public static final int GIT_REVISION = 173;
public static final String GIT_SHA = "2b7bb1224195b9e001e60b895ee04d63abdfc513";
public static final String GIT_DATE = "2025-07-17 09:15:19 MDT";
public static final int GIT_REVISION = 174;
public static final String GIT_SHA = "44286f81e7da4b05dddce68cf50b3d6daf12282a";
public static final String GIT_DATE = "2025-07-17 21:05:58 MDT";
public static final String GIT_BRANCH = "advantagekit";
public static final String BUILD_DATE = "2025-07-17 11:55:31 MDT";
public static final long BUILD_UNIX_TIME = 1752774931371L;
public static final String BUILD_DATE = "2025-09-09 17:15:09 MDT";
public static final long BUILD_UNIX_TIME = 1757459709649L;
public static final int DIRTY = 1;
private BuildConstants(){}
src/main/java/frc4388/robot/constants/Constants.java
+6 -5
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@@ -49,7 +49,8 @@ public final class Constants {
public static final class AutoConstants {
// public static final Gains XY_GAINS = new Gains(5,0.6,0.0);
public static final Gains XY_GAINS = new Gains(8,0,0.0);
// public static final Gains XY_GAINS = new Gains(8,0,0.0);
public static final Gains XY_GAINS = new Gains(0.8,0,0.0);
// public static final ConfigurableDouble P_XY_GAINS = new ConfigurableDouble("P_XY_GAINS", XY_GAINS.kP);
// public static final ConfigurableDouble I_XY_GAINS = new ConfigurableDouble("I_XY_GAINS", XY_GAINS.kI);
// public static final ConfigurableDouble D_XY_GAINS = new ConfigurableDouble("D_XY_GAINS", XY_GAINS.kD);
@@ -78,8 +79,8 @@ public final class Constants {
public static final double Y_SCORING_POSITION_OFFSET = Units.inchesToMeters(16+1);
public static final double HALF_ROBOT_SIZE = Units.inchesToMeters(18);
public static final double L4_DISTANCE_PREP = HALF_ROBOT_SIZE + Units.inchesToMeters(15);
public static final double L4_DISTANCE_SCORE = L4_DISTANCE_PREP;
public static final double L4_DISTANCE_PREP = HALF_ROBOT_SIZE + Units.inchesToMeters(15 - 3) ;
public static final double L4_DISTANCE_SCORE = L4_DISTANCE_PREP - Units.inchesToMeters(3);
// public static final double L4_DISTANCE_SCORE = HALF_ROBOT_SIZE + Units.inchesToMeters(4.5);
public static final double L3_DISTANCE_PREP = HALF_ROBOT_SIZE + Units.inchesToMeters(15);
@@ -113,8 +114,8 @@ public final class Constants {
public static final String LEFT_CAMERA_NAME = "CAMERA_LEFT";
public static final String RIGHT_CAMERA_NAME = "CAMERA_RIGHT";
public static final Transform3d LEFT_CAMERA_POS = new Transform3d(new Translation3d(Units.inchesToMeters(4.547), Units.inchesToMeters(8.031), Units.inchesToMeters(8.858)), new Rotation3d(0,0.0,0.0));
public static final Transform3d RIGHT_CAMERA_POS = new Transform3d(new Translation3d(Units.inchesToMeters(4.547), -Units.inchesToMeters(8.031), Units.inchesToMeters(8.858)), new Rotation3d(0,0.0,0.0));
public static final Transform3d LEFT_CAMERA_POS = new Transform3d(new Translation3d(Units.inchesToMeters(5.3), Units.inchesToMeters(8.75), Units.inchesToMeters(9)), new Rotation3d(0,0.0,-15.0 * Math.PI / 180));
public static final Transform3d RIGHT_CAMERA_POS = new Transform3d(new Translation3d(Units.inchesToMeters(0), -Units.inchesToMeters(0), Units.inchesToMeters(0)), new Rotation3d(0,0.0,0));
public static final double MIN_ESTIMATION_DISTANCE = 2; // Meters
src/main/java/frc4388/robot/subsystems/swerve/SwerveDriveConstants.java
+1 -1
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@@ -98,7 +98,7 @@ public final class SwerveDriveConstants {
private static final Distance BACK_LEFT_YPOS = Inches.of(HALF_HEIGHT);
//Back Right
private static final Angle BACK_RIGHT_ENCODER_OFFSET = Rotations.of(0.4306640625+0.5);
private static final Angle BACK_RIGHT_ENCODER_OFFSET = Rotations.of(0.4306640625);
private static final boolean BACK_RIGHT_DRIVE_MOTOR_INVERTED = false;
private static final boolean BACK_RIGHT_STEER_MOTOR_INVERTED = true;
private static final boolean BACK_RIGHT_ENCODER_INVERTED = false;