mirror of
https://github.com/Team4388/2025RidgeScape.git
synced 2026-06-08 16:28:04 -06:00
Merge pull request #39 from Team4388/driver-manual-controls
Make the new manual operator controlls
This commit is contained in:
C4llSqin
@@ -87,7 +87,6 @@ public class Robot extends TimedRobot {
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@Override
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public void robotPeriodic() {
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m_robotTime.updateTimes();
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SmartDashboard.putNumber("Time", System.currentTimeMillis());
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//System.out.println(m_robotContainer.limelight.isNearSpeaker());
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//mled.updateLED();
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// Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled
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@@ -16,6 +16,7 @@ import java.util.List;
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import java.util.function.BooleanSupplier;
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import edu.wpi.first.cameraserver.CameraServer;
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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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import edu.wpi.first.math.util.Units;
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import edu.wpi.first.wpilibj.GenericHID;
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@@ -115,6 +116,7 @@ public class RobotContainer {
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private String lastAutoName = "defualt.auto";
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private SendableChooser<String> autoChooser;
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private Command autoCommand;
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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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@@ -124,10 +126,10 @@ public class RobotContainer {
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private Command AprilLidarAlignL4Right = new SequentialCommandGroup(
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new InstantCommand(() -> {m_robotSwerveDrive.startSlowPeriod();}),
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new IfCommand(() -> m_robotElevator.isL4Primed(), new SequentialCommandGroup(
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// new IfCommand(() -> m_robotElevator.isL4Primed(), new SequentialCommandGroup(
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new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
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new GotoLastApril(m_robotSwerveDrive, m_vision, FieldConstants.L4_DISTANCE_2, Side.RIGHT)
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)),
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new GotoLastApril(m_robotSwerveDrive, m_vision, FieldConstants.L4_DISTANCE_2, Side.RIGHT),
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// )),
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// new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
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// new GotoLastApril(m_robotSwerveDrive, m_vision, FieldConstants.L4_DISTANCE_2, Side.RIGHT),
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@@ -152,10 +154,10 @@ public class RobotContainer {
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private Command AprilLidarAlignL4Left = new SequentialCommandGroup(
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new InstantCommand(() -> {m_robotSwerveDrive.startSlowPeriod();}),
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new IfCommand(() -> m_robotElevator.isL4Primed(), new SequentialCommandGroup(
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// new IfCommand(() -> m_robotElevator.isL4Primed(), new SequentialCommandGroup(
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new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
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new GotoLastApril(m_robotSwerveDrive, m_vision, FieldConstants.L4_DISTANCE_2, Side.LEFT)
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)),
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new GotoLastApril(m_robotSwerveDrive, m_vision, FieldConstants.L4_DISTANCE_2, Side.LEFT),
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// )),
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// new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
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// new GotoLastApril(m_robotSwerveDrive, m_vision, FieldConstants.L4_DISTANCE_2, Side.LEFT),
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@@ -182,10 +184,10 @@ public class RobotContainer {
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private Command AprilLidarAlignL3Left = new SequentialCommandGroup(
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new InstantCommand(() -> {m_robotSwerveDrive.startSlowPeriod();}),
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new IfCommand(() -> m_robotElevator.isL3Primed(), new SequentialCommandGroup(
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// new IfCommand(() -> m_robotElevator.isL3Primed(), new SequentialCommandGroup(
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new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedThree), m_robotElevator),
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new GotoLastApril(m_robotSwerveDrive, m_vision, FieldConstants.L3_DISTANCE_2, Side.LEFT)
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)),
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new GotoLastApril(m_robotSwerveDrive, m_vision, FieldConstants.L3_DISTANCE_2, Side.LEFT),
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// )),
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new waitEndefectorRefrence(m_robotElevator),
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new waitElevatorRefrence(m_robotElevator),
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@@ -204,10 +206,10 @@ public class RobotContainer {
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private Command AprilLidarAlignL3Right = new SequentialCommandGroup(
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new InstantCommand(() -> {m_robotSwerveDrive.startSlowPeriod();}),
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new IfCommand(() -> m_robotElevator.isL3Primed(), new SequentialCommandGroup(
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// new IfCommand(() -> m_robotElevator.isL3Primed(), new SequentialCommandGroup(
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new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedThree), m_robotElevator),
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new GotoLastApril(m_robotSwerveDrive, m_vision, FieldConstants.L3_DISTANCE_2, Side.RIGHT)
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)),
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new GotoLastApril(m_robotSwerveDrive, m_vision, FieldConstants.L3_DISTANCE_2, Side.RIGHT),
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// )),
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new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedThree), m_robotElevator),
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new GotoLastApril(m_robotSwerveDrive, m_vision, FieldConstants.L3_DISTANCE_2, Side.RIGHT),
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@@ -303,8 +305,13 @@ public class RobotContainer {
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new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.Waiting);}, m_robotElevator),
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new InstantCommand(() -> {m_robotSwerveDrive.endSlowPeriod();})
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);
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private Command thrustIntake = new SequentialCommandGroup(
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new MoveForTimeCommand(m_robotSwerveDrive, new Translation2d(0,-1), new Translation2d(), 100, true),
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new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive)
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);
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private Boolean operatorManualMode = false;
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/**
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* The container for the robot. Contains subsystems, OI devices, and commands.
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@@ -347,11 +354,12 @@ public class RobotContainer {
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}, m_robotSwerveDrive)
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.withName("SwerveDrive DefaultCommand"));
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m_robotSwerveDrive.setToSlow();
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// m_robotElevator.setDefaultCommand(new RunCommand(() -> {
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// m_robotElevator.driveElevatorStick(m_operatorXbox.getRight());
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// }, m_robotElevator)
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// .withName("Elevator"));
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m_robotElevator.setDefaultCommand(new RunCommand(() -> {
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m_robotElevator.manualEndeffectorVel(getDeadbandedOperatorController().getLeftY());
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m_robotElevator.manualElevatorVel(getDeadbandedOperatorController().getRightY());
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}, m_robotElevator)
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.withName("Default Manual Controls"));
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makeAutoChooser();
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SmartDashboard.putData("Auto Chooser", autoChooser);
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@@ -396,98 +404,90 @@ public class RobotContainer {
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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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boolean driverPreferenceControls = false;
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// ? /* Driver Buttons */
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if (!driverPreferenceControls) {
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DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.A_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
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DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.A_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
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// ! /* Speed */
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new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
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new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
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new JoystickButton(getDeadbandedDriverController(), XboxController.START_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.activateLuigiMode()));
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new JoystickButton(getDeadbandedDriverController(), XboxController.BACK_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.deactivateLuigiMode()));
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new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
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new Trigger(() -> getDeadbandedDriverController().getPOV() == 0)
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.onTrue(new InstantCommand(() -> AutoConstants.Y_OFFSET_TRIM.stepUp()));
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new Trigger(() -> getDeadbandedDriverController().getPOV() == 180)
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.onTrue(new InstantCommand(() -> AutoConstants.Y_OFFSET_TRIM.stepDown()));
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new Trigger(() -> getDeadbandedDriverController().getPOV() == 90)
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.onTrue(new InstantCommand(() -> AutoConstants.X_OFFSET_TRIM.stepUp()));
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new Trigger(() -> getDeadbandedDriverController().getPOV() == 270)
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.onTrue(new InstantCommand(() -> AutoConstants.X_OFFSET_TRIM.stepDown()));
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new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
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.onTrue(new InstantCommand(() -> {}, m_robotSwerveDrive));
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} else {
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}
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// ? /* Operator Buttons */
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// ! /* Speed */
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new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
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if (!driverPreferenceControls) {
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new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
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new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
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.onTrue(new InstantCommand(() -> {}, m_robotSwerveDrive, m_lidar));
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new JoystickButton(getDeadbandedDriverController(), XboxController.START_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.activateLuigiMode()));
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new JoystickButton(getDeadbandedDriverController(), XboxController.BACK_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.deactivateLuigiMode()));
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DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.B_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Waiting), m_robotElevator));
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DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.A_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Ready), m_robotElevator));
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// While Left Trigger Pressed: Trims
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new Trigger(() -> getDeadbandedDriverController().getPOV() == 0 && getDeadbandedDriverController().getLeftTriggerAxis() > 0.8)
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.onTrue(new InstantCommand(() -> AutoConstants.Y_OFFSET_TRIM.stepUp()));
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new JoystickButton(getButtonBox(), ButtonBox.Five)
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.onTrue(AprilLidarAlignL4Left);
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new JoystickButton(getButtonBox(), ButtonBox.One)
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.onTrue(AprilLidarAlignL4Right);
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new Trigger(() -> getDeadbandedDriverController().getPOV() == 180 && getDeadbandedDriverController().getLeftTriggerAxis() > 0.8)
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.onTrue(new InstantCommand(() -> AutoConstants.Y_OFFSET_TRIM.stepDown()));
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new JoystickButton(getButtonBox(), ButtonBox.Six)
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.onTrue(AprilLidarAlignL3Left);
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new Trigger(() -> getDeadbandedDriverController().getPOV() == 90 && getDeadbandedDriverController().getLeftTriggerAxis() > 0.8)
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.onTrue(new InstantCommand(() -> AutoConstants.X_OFFSET_TRIM.stepUp()));
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new Trigger(() -> getDeadbandedDriverController().getPOV() == 270 && getDeadbandedDriverController().getLeftTriggerAxis() > 0.8)
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.onTrue(new InstantCommand(() -> AutoConstants.X_OFFSET_TRIM.stepDown()));
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// While Left Trigger NOT Pressed: Fine Alignment
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new Trigger(() -> getDeadbandedDriverController().getPOV() != -1 && !(getDeadbandedDriverController().getLeftTriggerAxis() > 0.8))
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.whileTrue(new RunCommand(
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() -> m_robotSwerveDrive.driveFine(
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new Translation2d(
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1,
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Rotation2d.fromDegrees(getDeadbandedDriverController().getPOV())
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),
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getDeadbandedDriverController().getRight(), 0.15
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), m_robotSwerveDrive))
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.onFalse(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive));
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new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
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.onTrue(thrustIntake.asProxy());
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new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
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.onTrue(new InstantCommand(() -> {}, m_robotSwerveDrive, m_lidar));
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new JoystickButton(getButtonBox(), ButtonBox.Two)
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.onTrue(AprilLidarAlignL3Right);
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new JoystickButton(getButtonBox(), ButtonBox.Seven)
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.onTrue(AprilLidarAlignL2Left);
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new JoystickButton(getButtonBox(), ButtonBox.Three)
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.onTrue(AprilLidarAlignL2Right);
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// Lower algae removal
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new JoystickButton(getButtonBox(), ButtonBox.Eight)
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.onTrue(leftAlgaeRemove);
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// Upper algae removal
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new JoystickButton(getButtonBox(), ButtonBox.Four)
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.onTrue(rightAlgaeRemove);
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// ? /* Operator Buttons */
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DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.B_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Waiting), m_robotElevator));
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DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.A_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Ready), m_robotElevator));
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// Button box
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new JoystickButton(getButtonBox(), ButtonBox.Five)
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.onTrue(AprilLidarAlignL4Left);
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new JoystickButton(getButtonBox(), ButtonBox.One)
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.onTrue(AprilLidarAlignL4Right);
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new JoystickButton(getButtonBox(), ButtonBox.Six)
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.onTrue(AprilLidarAlignL3Left);
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new JoystickButton(getButtonBox(), ButtonBox.Two)
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.onTrue(AprilLidarAlignL3Right);
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new JoystickButton(getButtonBox(), ButtonBox.Seven)
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.onTrue(AprilLidarAlignL2Left);
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new JoystickButton(getButtonBox(), ButtonBox.Three)
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.onTrue(AprilLidarAlignL2Right);
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// Lower algae removal
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new JoystickButton(getButtonBox(), ButtonBox.Eight)
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.onTrue(leftAlgaeRemove);
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// Upper algae removal
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new JoystickButton(getButtonBox(), ButtonBox.Four)
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.onTrue(rightAlgaeRemove);
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// Cancel button
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@@ -498,106 +498,58 @@ public class RobotContainer {
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m_robotSwerveDrive.endSlowPeriod();
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}, m_robotElevator));
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// Score prep
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// Prime 4
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new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator));
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// Manual Mode Buttons
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new Trigger(() -> (getDeadbandedOperatorController().getLeftTriggerAxis() >= 0.8 || getDeadbandedOperatorController().getRightTriggerAxis() >= 0.8) && operatorManualMode)
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.onTrue (new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator))
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.onFalse(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.ScoringFour), m_robotElevator));
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// Prime 3
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new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedThree), m_robotElevator));
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//Trims
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new Trigger(() -> getDeadbandedOperatorController().getPOV() == 0)
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.onTrue(new InstantCommand(() -> AutoConstants.ELEVATOR_OFFSET_TRIM.stepUp()));
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new Trigger(() -> getDeadbandedOperatorController().getPOV() == 180)
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.onTrue(new InstantCommand(() -> AutoConstants.ELEVATOR_OFFSET_TRIM.stepDown()));
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new Trigger(() -> getDeadbandedOperatorController().getPOV() == 90)
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.onTrue(new InstantCommand(() -> AutoConstants.ARM_OFFSET_TRIM.stepUp()));
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new Trigger(() -> getDeadbandedOperatorController().getPOV() == 270)
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.onTrue(new InstantCommand(() -> AutoConstants.ARM_OFFSET_TRIM.stepDown()));
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} else {
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// States: ready/waiting
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DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.B_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Waiting), m_robotElevator));
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DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.A_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Ready), m_robotElevator));
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//Controller Coral Scoring
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new Trigger(() -> getDeadbandedOperatorController().getLeftTriggerAxis() >= 0.8)
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.onTrue(AprilLidarAlignL4Left);
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new Trigger(() -> getDeadbandedOperatorController().getLeftTriggerAxis() >= 0.8)
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.onTrue(AprilLidarAlignL4Right);
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new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
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.onTrue(AprilLidarAlignL3Left);
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new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
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.onTrue(AprilLidarAlignL3Right);
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new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
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.onTrue(AprilLidarAlignL2Left);
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new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
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.onTrue(AprilLidarAlignL2Right);
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//Controller Lower Algae Removal
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new Trigger(() -> getDeadbandedOperatorController().getPOV() == 0)
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.onTrue(leftAlgaeRemove);
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//Controller Upper Algae Removal
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new Trigger(() -> getDeadbandedOperatorController().getPOV() == 180)
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.onTrue(rightAlgaeRemove);
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//Button Box Coral Scoring
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new JoystickButton(getButtonBox(), ButtonBox.Five)
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.onTrue(AprilLidarAlignL4Left);
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new JoystickButton(getButtonBox(), ButtonBox.One)
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.onTrue(AprilLidarAlignL4Right);
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new JoystickButton(getButtonBox(), ButtonBox.Six)
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.onTrue(AprilLidarAlignL3Left);
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new JoystickButton(getButtonBox(), ButtonBox.Two)
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.onTrue(AprilLidarAlignL3Right);
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new JoystickButton(getButtonBox(), ButtonBox.Seven)
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.onTrue(AprilLidarAlignL2Left);
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new JoystickButton(getButtonBox(), ButtonBox.Three)
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.onTrue(AprilLidarAlignL2Right);
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// Button Box Lower algae removal
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new JoystickButton(getButtonBox(), ButtonBox.Eight)
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.onTrue(leftAlgaeRemove);
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// Button Box Upper algae removal
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new JoystickButton(getButtonBox(), ButtonBox.Four)
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.onTrue(rightAlgaeRemove);
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// Cancel button
|
||||
new JoystickButton(getButtonBox(), ButtonBox.White)
|
||||
.onTrue(new InstantCommand(() -> {m_robotElevator.elevatorStop(); m_robotElevator.endeffectorStop();}, m_robotElevator));
|
||||
|
||||
//Manual Controls
|
||||
m_robotElevator.setDefaultCommand(new RunCommand(() -> {
|
||||
m_robotElevator.manualEndeffectorVel(getDeadbandedOperatorController().getLeftY());
|
||||
m_robotElevator.manualElevatorVel(getDeadbandedOperatorController().getRightY());
|
||||
}, m_robotElevator)
|
||||
.withName("Default Manual Controls"));
|
||||
new Trigger(() -> (getDeadbandedOperatorController().getLeftBumperButton() || getDeadbandedOperatorController().getRightBumperButton()) && operatorManualMode)
|
||||
.onTrue (new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedThree), m_robotElevator))
|
||||
.onFalse(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.ScoringThree), m_robotElevator));
|
||||
|
||||
}
|
||||
new Trigger(() -> (getDeadbandedOperatorController().getXButton() || getDeadbandedOperatorController().getYButton()) && operatorManualMode)
|
||||
.onTrue (new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.L2Score), m_robotElevator));
|
||||
|
||||
new Trigger(() -> getDeadbandedOperatorController().getPOV() == 180 && operatorManualMode)
|
||||
.onTrue (new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.BallRemoverL2Primed), m_robotElevator))
|
||||
.onFalse(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.BallRemoverL2Go), m_robotElevator));
|
||||
|
||||
new Trigger(() -> getDeadbandedOperatorController().getPOV() == 0 && operatorManualMode)
|
||||
.onTrue (new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.BallRemoverL3Primed), m_robotElevator))
|
||||
.onFalse(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.BallRemoverL3Go), m_robotElevator));
|
||||
|
||||
new JoystickButton(getDeadbandedOperatorController(), XboxController.START_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> {operatorManualMode = !operatorManualMode;}));
|
||||
|
||||
new JoystickButton(getDeadbandedOperatorController(), XboxController.BACK_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> m_robotElevator.togggleAutoIntaking()));
|
||||
|
||||
// Auto Scoring
|
||||
new Trigger(() -> getDeadbandedOperatorController().getLeftTriggerAxis() >= 0.8 && !operatorManualMode)
|
||||
.onTrue(AprilLidarAlignL4Left);
|
||||
|
||||
new Trigger(() -> getDeadbandedOperatorController().getRightTriggerAxis() >= 0.8 && !operatorManualMode)
|
||||
.onTrue(AprilLidarAlignL4Right);
|
||||
|
||||
new Trigger(() -> getDeadbandedOperatorController().getLeftBumperButton() && !operatorManualMode)
|
||||
.onTrue(AprilLidarAlignL3Left);
|
||||
|
||||
new Trigger(() -> getDeadbandedOperatorController().getRightBumperButton() && !operatorManualMode)
|
||||
.onTrue(AprilLidarAlignL3Right);
|
||||
|
||||
new Trigger(() -> getDeadbandedOperatorController().getXButton() && !operatorManualMode)
|
||||
.onTrue(AprilLidarAlignL2Left);
|
||||
|
||||
new Trigger(() -> getDeadbandedOperatorController().getYButton() && !operatorManualMode)
|
||||
.onTrue(AprilLidarAlignL2Right);
|
||||
|
||||
//Controller Lower Algae Removal
|
||||
new Trigger(() -> getDeadbandedOperatorController().getPOV() == 180 && !operatorManualMode)
|
||||
.onTrue(leftAlgaeRemove);
|
||||
|
||||
//Controller Upper Algae Removal
|
||||
new Trigger(() -> getDeadbandedOperatorController().getPOV() == 0 && !operatorManualMode)
|
||||
.onTrue(rightAlgaeRemove);
|
||||
|
||||
// ? /* Programer Buttons (Controller 3)*/
|
||||
|
||||
|
||||
@@ -6,6 +6,8 @@ package frc4388.robot.subsystems;
|
||||
|
||||
import java.time.Instant;
|
||||
|
||||
import org.opencv.ml.RTrees;
|
||||
|
||||
import com.ctre.phoenix6.configs.Slot0Configs;
|
||||
import com.ctre.phoenix6.controls.PositionDutyCycle;
|
||||
import com.ctre.phoenix6.controls.PositionVoltage;
|
||||
@@ -40,6 +42,8 @@ public class Elevator extends SubsystemBase {
|
||||
private boolean elevatorManualStop = true;
|
||||
private boolean endefectorManualStop = true;
|
||||
|
||||
private boolean disableAutoIntake = false;
|
||||
|
||||
private DigitalInput basinBeamBreak;
|
||||
private DigitalInput endeffectorLimitSwitch;
|
||||
|
||||
@@ -197,6 +201,10 @@ public class Elevator extends SubsystemBase {
|
||||
|
||||
}
|
||||
|
||||
public void togggleAutoIntaking() {
|
||||
disableAutoIntake = !disableAutoIntake;
|
||||
}
|
||||
|
||||
public boolean elevatorAtReference() {
|
||||
// double elevatorRefrence = elevatorMotor.getClosedLoopReference().getValueAsDouble();
|
||||
double elevatorPosition = elevatorMotor.getPosition().getValueAsDouble();
|
||||
@@ -248,6 +256,8 @@ public class Elevator extends SubsystemBase {
|
||||
public void manualElevatorVel(double velocity) {
|
||||
if (Math.abs(velocity) > 0.1) {
|
||||
elevatorMotor.set(velocity);
|
||||
elevatorManualStop = false;
|
||||
return;
|
||||
}
|
||||
if (!elevatorManualStop) {
|
||||
elevatorManualStop = true;
|
||||
@@ -258,6 +268,8 @@ public class Elevator extends SubsystemBase {
|
||||
public void manualEndeffectorVel(double velocity) {
|
||||
if (Math.abs(velocity) > 0.1) {
|
||||
endeffectorMotor.set(velocity);
|
||||
endefectorManualStop = false;
|
||||
return;
|
||||
}
|
||||
if (!endefectorManualStop) {
|
||||
endefectorManualStop = true;
|
||||
@@ -272,6 +284,8 @@ public class Elevator extends SubsystemBase {
|
||||
SmartDashboard.putNumber("Basin", basinBeamBreak.get() ? 1 : 0);
|
||||
SmartDashboard.putNumber("endefector", endeffectorLimitSwitch.get() ? 1 : 0);
|
||||
SmartDashboard.putString("State", currentState.toString());
|
||||
|
||||
if (disableAutoIntake) return;
|
||||
|
||||
if (currentState == CoordinationState.Waiting) {
|
||||
periodicWaiting();
|
||||
|
||||
@@ -51,6 +51,7 @@ public class SwerveDrive extends Subsystem {
|
||||
|
||||
private int gear_index = SwerveDriveConstants.STARTING_GEAR;
|
||||
private boolean stopped = false;
|
||||
private boolean robotKnowsWhereItIs = false;
|
||||
|
||||
public double speedAdjust = SwerveDriveConstants.MAX_SPEED_MEETERS_PER_SEC * SwerveDriveConstants.GEARS[gear_index];
|
||||
public double rotSpeedAdjust = SwerveDriveConstants.MAX_ROT_SPEED;
|
||||
@@ -59,6 +60,7 @@ public class SwerveDrive extends Subsystem {
|
||||
|
||||
public Pose2d initalPose2d = null;
|
||||
|
||||
|
||||
public double rotTarget = 0.0;
|
||||
public Rotation2d orientRotTarget = new Rotation2d();
|
||||
public ChassisSpeeds chassisSpeeds = new ChassisSpeeds();
|
||||
@@ -170,24 +172,7 @@ public class SwerveDrive extends Subsystem {
|
||||
SmartDashboard.putBoolean("drift correction", true);
|
||||
}
|
||||
|
||||
// // SmartDashboard.putBoolean("drift correction", true);
|
||||
|
||||
// // rot = ((rotTarget - gyro.getAngle()) / 360) *
|
||||
// SwerveDriveConstants.ROT_CORRECTION_SPEED;
|
||||
|
||||
// }
|
||||
|
||||
// // Use the left joystick to set speed. Apply a cubic curve and the set max
|
||||
// speed.
|
||||
// Translation2d speed = leftStick.times(leftStick.getNorm() * speedAdjust);
|
||||
// // Translation2d cubedSpeed = new Translation2d(Math.pow(speed.getX(), 3.00),
|
||||
// Math.pow(speed.getY(), 3.00));
|
||||
|
||||
// // Convert field-relative speeds to robot-relative speeds.
|
||||
// // chassisSpeeds = chassisSpeeds.
|
||||
// chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), -1 *
|
||||
// speed.getY(), (-1 * rightStick.getX() * rotSpeedAdjust) - rot_correction,
|
||||
// gyro.getRotation2d().times(-1));
|
||||
|
||||
} else { // Create robot-relative speeds.
|
||||
swerveDriveTrain.setControl(new SwerveRequest.RobotCentric()
|
||||
.withVelocityX(leftStick.getX() * speedAdjust)
|
||||
@@ -196,6 +181,16 @@ public class SwerveDrive extends Subsystem {
|
||||
}
|
||||
}
|
||||
|
||||
public void driveFine(Translation2d leftStick, Translation2d rightStick, double percentOutput) {
|
||||
stopped = false;
|
||||
// Create robot-relative speeds.
|
||||
swerveDriveTrain.setControl(new SwerveRequest.RobotCentric()
|
||||
.withVelocityX(leftStick.getX() * SwerveDriveConstants.MAX_SPEED_MEETERS_PER_SEC * percentOutput)
|
||||
.withVelocityY(-leftStick.getY() * SwerveDriveConstants.MAX_SPEED_MEETERS_PER_SEC * percentOutput)
|
||||
.withRotationalRate(rightStick.getX() * rotSpeedAdjust));
|
||||
}
|
||||
|
||||
|
||||
public void driveWithInputOrientation(Translation2d leftStick, Translation2d rightStick) { // there is no practical
|
||||
// reason to have a robot
|
||||
// relitive version of
|
||||
@@ -291,6 +286,8 @@ public class SwerveDrive extends Subsystem {
|
||||
|
||||
public void resetGyro() {
|
||||
swerveDriveTrain.tareEverything();
|
||||
robotKnowsWhereItIs = false;
|
||||
rotTarget = 0;
|
||||
}
|
||||
|
||||
|
||||
@@ -321,6 +318,14 @@ public class SwerveDrive extends Subsystem {
|
||||
vision.setLastOdomPose(swerveDriveTrain.samplePoseAt(time));
|
||||
|
||||
if (vision.isTag()) {
|
||||
Pose2d pose = vision.getPose2d();
|
||||
if (!robotKnowsWhereItIs) {
|
||||
robotKnowsWhereItIs = true;
|
||||
Pose2d currPose = getPose2d();
|
||||
double deltaAngle = pose.getRotation().getDegrees() - currPose.getRotation().getDegrees();
|
||||
rotTarget += deltaAngle;
|
||||
}
|
||||
|
||||
swerveDriveTrain.addVisionMeasurement(vision.getPose2d(), time);
|
||||
}
|
||||
|
||||
|
||||
Reference in New Issue
Block a user