mirror of
https://github.com/Team4388/2025RidgeScape.git
synced 2026-06-08 16:28:04 -06:00
Michael Mikovsky
768 lines
41 KiB
Java
768 lines
41 KiB
Java
/*----------------------------------------------------------------------------*/
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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.io.File;
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import java.util.ArrayList;
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import java.util.List;
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import java.util.function.BooleanSupplier;
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import java.util.function.Supplier;
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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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import edu.wpi.first.wpilibj.Joystick;
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import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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import frc4388.utility.controller.XboxController;
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import frc4388.utility.controller.ButtonBox;
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import frc4388.utility.controller.DeadbandedXboxController;
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import frc4388.robot.Constants.FieldConstants;
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import frc4388.robot.Constants.LiDARConstants;
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import frc4388.robot.Constants.OIConstants;
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import frc4388.robot.Constants.SwerveDriveConstants;
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import frc4388.robot.Constants.AutoConstants;
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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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import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
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import edu.wpi.first.wpilibj2.command.WaitCommand;
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import edu.wpi.first.wpilibj2.command.Commands;
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import edu.wpi.first.wpilibj2.command.ConditionalCommand;
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// Autos
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import frc4388.utility.controller.VirtualController;
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import frc4388.robot.commands.DriveUntilLiDAR;
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import frc4388.robot.commands.GotoLastApril;
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import frc4388.robot.commands.LidarAlign;
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import frc4388.robot.commands.MoveForTimeCommand;
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import frc4388.robot.commands.WhileTrueCommand;
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import frc4388.robot.commands.waitElevatorRefrence;
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import frc4388.robot.commands.waitEndefectorRefrence;
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import frc4388.robot.commands.waitFeedCoral;
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import frc4388.robot.commands.waitSupplier;
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import frc4388.robot.commands.Swerve.neoJoystickPlayback;
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import frc4388.robot.commands.Swerve.neoJoystickRecorder;
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import com.pathplanner.lib.auto.AutoBuilder;
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import com.pathplanner.lib.auto.NamedCommands;
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import com.pathplanner.lib.commands.PathPlannerAuto;
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// Subsystems
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import frc4388.robot.subsystems.LED;
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import frc4388.robot.subsystems.Vision;
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import frc4388.robot.subsystems.Elevator.CoordinationState;
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import frc4388.robot.subsystems.Lidar;
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import frc4388.robot.subsystems.Elevator;
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// import frc4388.robot.subsystems.Endeffector;
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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.DeferredBlockMulti;
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import frc4388.utility.ReefPositionHelper;
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import frc4388.utility.Subsystem;
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import frc4388.utility.TimesNegativeOne;
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import frc4388.utility.ReefPositionHelper.Side;
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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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public final LED m_robotLED = new LED();
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public final Vision m_vision = new Vision(m_robotMap.leftCamera, m_robotMap.rightCamera);
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public final Lidar m_reefLidar = new Lidar(LiDARConstants.REEF_LIDAR_DIO_CHANNEL, "Reef");
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public final Lidar m_reverseLidar = new Lidar(LiDARConstants.REVERSE_LIDAR_DIO_CHANNEL, "Reverse");
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public final Elevator m_robotElevator = new Elevator(m_robotMap.elevator, m_robotMap.endeffector, m_robotMap.basinLimitSwitch, m_robotMap.endeffectorLimitSwitch, m_robotMap.IRIntakeBeam, m_robotLED);
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public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
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// public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain);
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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 ButtonBox m_buttonBox = new ButtonBox(OIConstants.BUTTONBOX_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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public void stop() {
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new InstantCommand(()->{}, m_robotSwerveDrive).schedule();
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m_robotSwerveDrive.stopModules();
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}
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// ! /* Autos */
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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 Command waitFeedStation = new waitSupplier(m_robotElevator::readyToMove);
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// private Command waitDebuger = new waitSupplier(m_driverXbox::getYButtonPressed);
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private Command waitDebuger = new waitSupplier(() -> true);
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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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// private Command AutoGotoPosition = new GotoLastApril(m_robotSwerveDrive, m_vision);
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private Command AprilLidarAlignL4Right = new SequentialCommandGroup(
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new InstantCommand(() -> {m_robotSwerveDrive.startSlowPeriod();}),
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new ConditionalCommand(Commands.none(), 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, AutoConstants.L4_DISTANCE_PREP, Side.RIGHT, true)
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), () -> m_robotElevator.isL4Primed()),
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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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new waitEndefectorRefrence(m_robotElevator),
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new waitElevatorRefrence(m_robotElevator),
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new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_SCORE, Side.RIGHT, true),
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waitDebuger.asProxy(),
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new LidarAlign(m_robotSwerveDrive, m_reefLidar),
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waitDebuger.asProxy(),
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new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.ScoringFour), m_robotElevator),
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new waitEndefectorRefrence(m_robotElevator),
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new MoveForTimeCommand(m_robotSwerveDrive,
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new Translation2d(0,1), new Translation2d(), AutoConstants.L4_DRIVE_TIME, true),
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new ConditionalCommand(
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new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
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new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Waiting), m_robotElevator),
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() -> m_robotElevator.hasCoral()),
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new InstantCommand(() -> {m_robotSwerveDrive.endSlowPeriod();})
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);
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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 ConditionalCommand(Commands.none(), 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, AutoConstants.L4_DISTANCE_PREP, Side.LEFT, true)
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), () -> m_robotElevator.isL4Primed()),
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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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new waitEndefectorRefrence(m_robotElevator),
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new waitElevatorRefrence(m_robotElevator),
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new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_SCORE, Side.LEFT, true),
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waitDebuger.asProxy(),
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new LidarAlign(m_robotSwerveDrive, m_reefLidar),
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waitDebuger.asProxy(),
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new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.ScoringFour), m_robotElevator),
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new waitEndefectorRefrence(m_robotElevator),
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new MoveForTimeCommand(m_robotSwerveDrive,
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new Translation2d(0,1), new Translation2d(), AutoConstants.L4_DRIVE_TIME, true),
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new ConditionalCommand(
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new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
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new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Waiting), m_robotElevator),
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() -> m_robotElevator.hasCoral()),
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new InstantCommand(() -> {m_robotSwerveDrive.endSlowPeriod();})
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);
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private Command AprilLidarAlignL3Left = new SequentialCommandGroup(
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new InstantCommand(() -> {m_robotSwerveDrive.startSlowPeriod();}),
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new ConditionalCommand(Commands.none(), 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, AutoConstants.L3_DISTANCE_PREP, Side.LEFT, true)
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), () -> m_robotElevator.isL3Primed()),
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new waitEndefectorRefrence(m_robotElevator),
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new waitElevatorRefrence(m_robotElevator),
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new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L3_DISTANCE_SCORE, Side.LEFT, true),
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waitDebuger.asProxy(),
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new LidarAlign(m_robotSwerveDrive, m_reefLidar),
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waitDebuger.asProxy(),
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// new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.ScoringThree), m_robotElevator),
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new waitEndefectorRefrence(m_robotElevator),
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new waitElevatorRefrence(m_robotElevator),
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// new MoveForTimeCommand(m_robotSwerveDrive,
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// new Translation2d(0,1), new Translation2d(), 500, true),
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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 AprilLidarAlignL3Right = new SequentialCommandGroup(
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new InstantCommand(() -> {m_robotSwerveDrive.startSlowPeriod();}),
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new ConditionalCommand(Commands.none(), 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, AutoConstants.L3_DISTANCE_PREP, Side.RIGHT, true)
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),() -> m_robotElevator.isL3Primed()),
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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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new waitEndefectorRefrence(m_robotElevator),
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new waitElevatorRefrence(m_robotElevator),
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new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L3_DISTANCE_SCORE, Side.RIGHT, true),
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waitDebuger.asProxy(),
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new LidarAlign(m_robotSwerveDrive, m_reefLidar),
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waitDebuger.asProxy(),
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// new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.ScoringThree), m_robotElevator),
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new waitEndefectorRefrence(m_robotElevator),
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new waitElevatorRefrence(m_robotElevator),
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// new MoveForTimeCommand(m_robotSwerveDrive,
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// new Translation2d(0,1), new Translation2d(), 500, true),
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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 AprilLidarAlignL2Left = new SequentialCommandGroup(
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new InstantCommand(() -> {m_robotSwerveDrive.startSlowPeriod();}),
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new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L2_PREP_DISTANCE, Side.LEFT, true),
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waitDebuger.asProxy(),
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new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L2_SCORE_DISTANCE, Side.LEFT, true),
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waitDebuger.asProxy(),
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new LidarAlign(m_robotSwerveDrive, m_reefLidar),
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waitDebuger.asProxy(),
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new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.L2Score);}, m_robotElevator),
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new waitEndefectorRefrence(m_robotElevator),
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new waitElevatorRefrence(m_robotElevator),
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new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.L2ScoreLeave);}, m_robotElevator),
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new waitElevatorRefrence(m_robotElevator),
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new MoveForTimeCommand(m_robotSwerveDrive,
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new Translation2d(0,1), new Translation2d(), AutoConstants.L2_DRIVE_TIME, true),
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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 AprilLidarAlignL2Right = new SequentialCommandGroup(
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new InstantCommand(() -> {m_robotSwerveDrive.startSlowPeriod();}),
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new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L2_PREP_DISTANCE, Side.RIGHT, true),
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waitDebuger.asProxy(),
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new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L2_SCORE_DISTANCE, Side.RIGHT, true),
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waitDebuger.asProxy(),
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new LidarAlign(m_robotSwerveDrive, m_reefLidar),
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waitDebuger.asProxy(),
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new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.L2Score);}, m_robotElevator),
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new waitEndefectorRefrence(m_robotElevator),
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new waitElevatorRefrence(m_robotElevator),
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new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.L2ScoreLeave);}, m_robotElevator),
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new waitElevatorRefrence(m_robotElevator),
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new MoveForTimeCommand(m_robotSwerveDrive,
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new Translation2d(0,1), new Translation2d(), AutoConstants.L2_DRIVE_TIME, true),
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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 leftAlgaeRemove = new SequentialCommandGroup(
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// new InstantCommand(() -> {m_robotSwerveDrive.startSlowPeriod();}),
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// new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.BallRemoverL2Primed);}, m_robotElevator),
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// new waitEndefectorRefrence(m_robotElevator),
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// new waitElevatorRefrence(m_robotElevator),
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// new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.ALGAE_REMOVAL_DISTANCE, Side.LEFT, false),
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// new LidarAlign(m_robotSwerveDrive, m_reefLidar),
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// new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.BallRemoverL2Go);}, m_robotElevator),
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// new MoveForTimeCommand(m_robotSwerveDrive,
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// new Translation2d(0,1), new Translation2d(), AutoConstants.ALGAE_DRIVE_TIME, true),
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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 lowerAlgaeRemove = new SequentialCommandGroup(
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new InstantCommand(() -> {m_robotSwerveDrive.startSlowPeriod();}),
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new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.BallRemoverL2Primed);}, m_robotElevator),
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new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.ALGAE_REMOVAL_DISTANCE + Units.inchesToMeters(8), Side.FAR_LEFT, true),
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new waitEndefectorRefrence(m_robotElevator),
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new waitElevatorRefrence(m_robotElevator),
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new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.ALGAE_REMOVAL_DISTANCE, Side.FAR_LEFT, true),
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waitDebuger.asProxy(),
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// new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.BallRemoverL2Go);}, m_robotElevator),
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new MoveForTimeCommand(m_robotSwerveDrive,
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new Translation2d(1,0), new Translation2d(0, 0), AutoConstants.ALGAE_DRIVE_TIME / 2, true),
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new MoveForTimeCommand(m_robotSwerveDrive,
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new Translation2d(1,1), new Translation2d(0, 0), AutoConstants.ALGAE_DRIVE_TIME * 2, true),
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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 rightAlgaeRemove = new SequentialCommandGroup(
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// new InstantCommand(() -> {m_robotSwerveDrive.startSlowPeriod();}),
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// new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.BallRemoverL3Primed);}, m_robotElevator),
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// new waitEndefectorRefrence(m_robotElevator),
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// new waitElevatorRefrence(m_robotElevator),
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// new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.ALGAE_REMOVAL_DISTANCE, Side.LEFT, false),
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// new LidarAlign(m_robotSwerveDrive, m_reefLidar),
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// new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.BallRemoverL3Go);}, m_robotElevator),
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// new MoveForTimeCommand(m_robotSwerveDrive,
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// new Translation2d(1,1), new Translation2d(), AutoConstants.ALGAE_DRIVE_TIME, true),
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// new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.Waiting);}, m_robotElevator),
|
|
// new InstantCommand(() -> {m_robotSwerveDrive.endSlowPeriod();})
|
|
// );
|
|
private Command upperAlgaeRemove = new SequentialCommandGroup(
|
|
new InstantCommand(() -> {m_robotSwerveDrive.startSlowPeriod();}),
|
|
new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.BallRemoverL3Primed);}, m_robotElevator),
|
|
new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.ALGAE_REMOVAL_DISTANCE + Units.inchesToMeters(8), Side.FAR_LEFT, true),
|
|
new waitEndefectorRefrence(m_robotElevator),
|
|
new waitElevatorRefrence(m_robotElevator),
|
|
new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.ALGAE_REMOVAL_DISTANCE, Side.FAR_LEFT, true),
|
|
waitDebuger.asProxy(),
|
|
// new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.BallRemoverL2Go);}, m_robotElevator),
|
|
new MoveForTimeCommand(m_robotSwerveDrive,
|
|
new Translation2d(1,1), new Translation2d(0, 0), AutoConstants.ALGAE_DRIVE_TIME, true),
|
|
new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.Waiting);}, m_robotElevator),
|
|
new InstantCommand(() -> {m_robotSwerveDrive.endSlowPeriod();})
|
|
);
|
|
|
|
private Command thrustIntake = new SequentialCommandGroup(
|
|
new InstantCommand(() -> m_robotSwerveDrive.startTurboPeriod(), m_robotSwerveDrive),
|
|
new MoveForTimeCommand(m_robotSwerveDrive, new Translation2d(0,-1), new Translation2d(), 300, true),
|
|
new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive),
|
|
new InstantCommand(() -> m_robotSwerveDrive.endSlowPeriod(), m_robotSwerveDrive)
|
|
);
|
|
|
|
private Boolean operatorManualMode = false;
|
|
|
|
// public Command LoopAprilLidarAlignL4Left = new WhileTrueCommand(AprilLidarAlignL4Left.asProxy(), () -> !m_robotElevator.hasCoral());
|
|
// public Command LoopAprilLidarAlignL4Right = new WhileTrueCommand(AprilLidarAlignL4Right.asProxy(), () -> !m_robotElevator.hasCoral());
|
|
// public Command LoopAprilLidarAlignL3Left = new WhileTrueCommand(AprilLidarAlignL3Left.asProxy(), () -> !m_robotElevator.hasCoral());
|
|
// public Command LoopAprilLidarAlignL3Right = new WhileTrueCommand(AprilLidarAlignL3Right.asProxy(), () -> !m_robotElevator.hasCoral());
|
|
// public Command LoopAprilLidarAlignL2Left = new WhileTrueCommand(AprilLidarAlignL2Left.asProxy(), () -> !m_robotElevator.hasCoral());
|
|
// public Command LoopAprilLidarAlignL2Right = new WhileTrueCommand(AprilLidarAlignL2Right.asProxy(), () -> !m_robotElevator.hasCoral());
|
|
|
|
// public Command LoopAprilLidarAlignL4Left = new SequentialCommandGroup(AprilLidarAlignL4Left.asProxy(), new ConditionalCommand(AprilLidarAlignL4Left.asProxy(), Commands.none(), () -> !m_robotElevator.hasCoral()));
|
|
// public Command LoopAprilLidarAlignL4Right = new SequentialCommandGroup(AprilLidarAlignL4Right.asProxy(), new ConditionalCommand(AprilLidarAlignL4Right.asProxy(), Commands.none(), () -> !m_robotElevator.hasCoral()));
|
|
// public Command LoopAprilLidarAlignL3Left = new SequentialCommandGroup(AprilLidarAlignL3Left.asProxy(), new ConditionalCommand(AprilLidarAlignL3Left.asProxy(), Commands.none(), () -> m_robotElevator.hasCoral()));
|
|
// public Command LoopAprilLidarAlignL3Right = new SequentialCommandGroup(AprilLidarAlignL3Right.asProxy(), new ConditionalCommand(AprilLidarAlignL3Right.asProxy(), Commands.none(), () -> m_robotElevator.hasCoral()));
|
|
// public Command LoopAprilLidarAlignL2Left = new SequentialCommandGroup(AprilLidarAlignL2Left.asProxy(), new ConditionalCommand(AprilLidarAlignL2Left.asProxy(), Commands.none(), () -> m_robotElevator.hasCoral()));
|
|
// public Command LoopAprilLidarAlignL2Right = new SequentialCommandGroup(AprilLidarAlignL2Right.asProxy(), new ConditionalCommand(AprilLidarAlignL2Right.asProxy(), Commands.none(), () -> m_robotElevator.hasCoral()));
|
|
/**
|
|
* The container for the robot. Contains subsystems, OI devices, and commands.
|
|
*/
|
|
public RobotContainer() {
|
|
NamedCommands.registerCommand("taxi", new SequentialCommandGroup(
|
|
new MoveForTimeCommand(m_robotSwerveDrive,
|
|
new Translation2d(0, -1),
|
|
new Translation2d(), 1000, true
|
|
), new InstantCommand(()-> {m_robotSwerveDrive.softStop();} , m_robotSwerveDrive)));
|
|
|
|
NamedCommands.registerCommand("grab-coral", waitFeedStation.asProxy());
|
|
NamedCommands.registerCommand("await-coral", new waitFeedCoral(m_robotElevator));
|
|
|
|
NamedCommands.registerCommand("feed-driveback", new DriveUntilLiDAR(m_robotSwerveDrive,
|
|
new Translation2d(0,1), new Translation2d(), m_reverseLidar, LiDARConstants.HUMAN_PLAYER_STATION_DISTANCE, false));
|
|
NamedCommands.registerCommand("stop", new waitSupplier(() -> m_robotSwerveDrive.lastOdomSpeed < AutoConstants.STOP_VELOCITY));
|
|
|
|
NamedCommands.registerCommand("align-feed", new SequentialCommandGroup(
|
|
new MoveForTimeCommand(m_robotSwerveDrive,
|
|
new Translation2d(0, 1),
|
|
new Translation2d(), 300, true
|
|
), new InstantCommand(()-> {m_robotSwerveDrive.softStop();} , m_robotSwerveDrive)));
|
|
|
|
NamedCommands.registerCommand("place-coral-left-l4", AprilLidarAlignL4Left);
|
|
NamedCommands.registerCommand("place-coral-right-l4", AprilLidarAlignL4Right);
|
|
NamedCommands.registerCommand("place-coral-left-l3", AprilLidarAlignL3Left);
|
|
NamedCommands.registerCommand("place-coral-right-l3", AprilLidarAlignL3Right);
|
|
NamedCommands.registerCommand("place-coral-left-l2", AprilLidarAlignL2Left);
|
|
NamedCommands.registerCommand("place-coral-right-l2", AprilLidarAlignL2Right);
|
|
|
|
NamedCommands.registerCommand("prepare-l4", new InstantCommand(() -> {
|
|
m_robotElevator.transitionState(CoordinationState.PrimedFour);
|
|
}));
|
|
|
|
configureButtonBindings();
|
|
configureVirtualButtonBindings();
|
|
new DeferredBlock(() -> { // Called on first robot enable
|
|
m_robotSwerveDrive.resetGyro();
|
|
});
|
|
new DeferredBlockMulti(() -> { // Called on every robot enable
|
|
TimesNegativeOne.update();
|
|
});
|
|
DriverStation.silenceJoystickConnectionWarning(true);
|
|
// CameraServer.startAutomaticCapture();
|
|
|
|
/* Default Commands */
|
|
// ! Swerve Drive Default Command (Regular Rotation)
|
|
// drives the robot with a two-axis input from the driver controller
|
|
m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
|
|
m_robotSwerveDrive.driveWithInput(getDeadbandedDriverController().getLeft(),
|
|
// m_robotSwerveDrive.driveWithInput(new Translation2d(.4, 0),
|
|
getDeadbandedDriverController().getRight(),
|
|
true);
|
|
}, m_robotSwerveDrive)
|
|
.withName("SwerveDrive DefaultCommand"));
|
|
m_robotSwerveDrive.setToSlow();
|
|
|
|
m_robotElevator.setDefaultCommand(new RunCommand(() -> {
|
|
m_robotElevator.manualEndeffectorVel(getDeadbandedOperatorController().getLeftY());
|
|
m_robotElevator.manualElevatorVel(getDeadbandedOperatorController().getRightY());
|
|
}, m_robotElevator)
|
|
.withName("Default Manual Controls"));
|
|
|
|
makeAutoChooser();
|
|
SmartDashboard.putData("Auto Chooser", autoChooser);
|
|
// this.subsystems.add(m_robotSwerveDrive);
|
|
// this.subsystems.add(m_robotMap.leftFront);
|
|
// this.subsystems.add(m_robotMap.rightFront);
|
|
// this.subsystems.add(m_robotMap.rightBack);
|
|
// this.subsystems.add(m_robotMap.leftBack);
|
|
|
|
// ! Swerve Drive One Module Test
|
|
// m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
|
|
// m_robotMap.rightFront.go(getDeadbandedDriverController().getLeft());
|
|
// }
|
|
|
|
// ! Swerve Drive Default Command (Orientation Rotation)
|
|
// m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
|
|
// m_robotSwerveDrive.driveWithInputOrientation(getDeadbandedDriverController().getLeft(),
|
|
// getDeadbandedDriverController().getRightX(),
|
|
// getDeadbandedDriverController().getRightY(),
|
|
// true);
|
|
// }, m_robotSwerveDrive))
|
|
// .withName("SwerveDrive OrientationCommand"));
|
|
// continually sends updates to the Blinkin LED controller to keep the lights on
|
|
// m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
|
|
|
|
// m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
|
|
// m_robotSwerveDrive.driveWithInput(
|
|
// getDeadbandedDriverController().getLeft(),
|
|
// getDeadbandedDriverController().getRight(),
|
|
// true);
|
|
// }, m_robotSwerveDrive));
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
/**
|
|
* Use this method to define your button->command mappings. Buttons can be
|
|
* created by instantiating a {@link GenericHID} or one of its subclasses
|
|
* ({@link edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then
|
|
* passing it to a {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
|
|
*/
|
|
private void configureButtonBindings() {
|
|
// ? /* Driver Buttons */
|
|
|
|
DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.A_BUTTON)
|
|
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
|
|
|
|
// ! /* Speed */
|
|
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
|
|
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
|
|
|
|
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
|
|
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
|
|
|
|
new JoystickButton(getDeadbandedDriverController(), XboxController.START_BUTTON)
|
|
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.activateLuigiMode()));
|
|
|
|
new JoystickButton(getDeadbandedDriverController(), XboxController.BACK_BUTTON)
|
|
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.deactivateLuigiMode()));
|
|
|
|
// While Left Trigger Pressed: Trims
|
|
new Trigger(() -> getDeadbandedDriverController().getPOV() == 0 && getDeadbandedDriverController().getLeftTriggerAxis() > 0.8)
|
|
.onTrue(new InstantCommand(() -> AutoConstants.Y_OFFSET_TRIM.stepUp()));
|
|
|
|
new Trigger(() -> getDeadbandedDriverController().getPOV() == 180 && getDeadbandedDriverController().getLeftTriggerAxis() > 0.8)
|
|
.onTrue(new InstantCommand(() -> AutoConstants.Y_OFFSET_TRIM.stepDown()));
|
|
|
|
new Trigger(() -> getDeadbandedDriverController().getPOV() == 90 && getDeadbandedDriverController().getLeftTriggerAxis() > 0.8)
|
|
.onTrue(new InstantCommand(() -> AutoConstants.X_OFFSET_TRIM.stepUp()));
|
|
|
|
new Trigger(() -> getDeadbandedDriverController().getPOV() == 270 && getDeadbandedDriverController().getLeftTriggerAxis() > 0.8)
|
|
.onTrue(new InstantCommand(() -> AutoConstants.X_OFFSET_TRIM.stepDown()));
|
|
|
|
new Trigger(() ->getDeadbandedDriverController().getRightTriggerAxis() > 0.8)
|
|
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.startTurboPeriod()))
|
|
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.endSlowPeriod()));
|
|
|
|
// While Left Trigger NOT Pressed: Fine Alignment
|
|
new Trigger(() -> getDeadbandedDriverController().getPOV() != -1 && !(getDeadbandedDriverController().getLeftTriggerAxis() > 0.8))
|
|
.whileTrue(new RunCommand(
|
|
() -> m_robotSwerveDrive.driveFine(
|
|
new Translation2d(
|
|
1,
|
|
Rotation2d.fromDegrees(getDeadbandedDriverController().getPOV())
|
|
),
|
|
getDeadbandedDriverController().getRight(), 0.30
|
|
), m_robotSwerveDrive))
|
|
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive));
|
|
|
|
// new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
|
|
// .onTrue(new LidarAlign(m_robotSwerveDrive, m_reefLidar));
|
|
|
|
new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
|
|
.onTrue(thrustIntake.asProxy());
|
|
|
|
new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
|
|
.onTrue(new InstantCommand(() -> {}, m_robotSwerveDrive, m_reefLidar));
|
|
|
|
|
|
// ? /* Operator Buttons */
|
|
DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.B_BUTTON)
|
|
.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Waiting), m_robotElevator));
|
|
|
|
DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.A_BUTTON)
|
|
.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Ready), m_robotElevator));
|
|
|
|
// Button box
|
|
|
|
new JoystickButton(getButtonBox(), ButtonBox.Five)
|
|
.onTrue(AprilLidarAlignL4Left);
|
|
|
|
new JoystickButton(getButtonBox(), ButtonBox.One)
|
|
.onTrue(AprilLidarAlignL4Right);
|
|
|
|
new JoystickButton(getButtonBox(), ButtonBox.Six)
|
|
.onTrue(AprilLidarAlignL3Left);
|
|
|
|
new JoystickButton(getButtonBox(), ButtonBox.Two)
|
|
.onTrue(AprilLidarAlignL3Right);
|
|
|
|
new JoystickButton(getButtonBox(), ButtonBox.Seven)
|
|
.onTrue(AprilLidarAlignL2Left);
|
|
|
|
new JoystickButton(getButtonBox(), ButtonBox.Three)
|
|
.onTrue(AprilLidarAlignL2Right);
|
|
|
|
// Lower algae removal
|
|
new JoystickButton(getButtonBox(), ButtonBox.Eight)
|
|
.onTrue(lowerAlgaeRemove);
|
|
|
|
// Upper algae removal
|
|
new JoystickButton(getButtonBox(), ButtonBox.Four)
|
|
.onTrue(upperAlgaeRemove);
|
|
|
|
|
|
// Cancel button
|
|
new JoystickButton(getButtonBox(), ButtonBox.White)
|
|
.onTrue(new InstantCommand(() -> {
|
|
m_robotElevator.elevatorStop();
|
|
m_robotElevator.endeffectorStop();
|
|
m_robotSwerveDrive.endSlowPeriod();
|
|
}, m_robotElevator));
|
|
|
|
// Manual Mode Buttons
|
|
new Trigger(() -> (getDeadbandedOperatorController().getLeftTriggerAxis() >= 0.8 || getDeadbandedOperatorController().getRightTriggerAxis() >= 0.8) && operatorManualMode)
|
|
.onTrue (new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator))
|
|
.onFalse(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.ScoringFour), m_robotElevator));
|
|
|
|
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.BACK_BUTTON)
|
|
.onTrue(new InstantCommand(() -> {operatorManualMode = !operatorManualMode;}));
|
|
|
|
// new JoystickButton(getDeadbandedOperatorController(), XboxController.START_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(lowerAlgaeRemove);
|
|
|
|
//Controller Upper Algae Removal
|
|
new Trigger(() -> getDeadbandedOperatorController().getPOV() == 0 && !operatorManualMode)
|
|
.onTrue(upperAlgaeRemove);
|
|
|
|
// ? /* Programer Buttons (Controller 3)*/
|
|
|
|
// * /* Auto Recording */
|
|
// new JoystickButton(m_autoRecorderXbox, XboxController.LEFT_BUMPER_BUTTON)
|
|
// .whileTrue(new neoJoystickRecorder(m_robotSwerveDrive,
|
|
// new DeadbandedXboxController[]{getDeadbandedDriverController(), getDeadbandedOperatorController()},
|
|
// () -> autoplaybackName.get()))
|
|
// .onFalse(new InstantCommand());
|
|
|
|
// new JoystickButton(m_autoRecorderXbox, XboxController.RIGHT_BUMPER_BUTTON)
|
|
// .onTrue(new neoJoystickPlayback(m_robotSwerveDrive,
|
|
// () -> autoplaybackName.get(),
|
|
// new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
|
|
// true, false))
|
|
// .onFalse(new InstantCommand());
|
|
|
|
}
|
|
|
|
/**
|
|
* This method is used to replcate {@link Trigger Triggers} for {@link VirtualController Virtual Controllers}. <p/>
|
|
* Please use {@link RobotContainer#DualJoystickButton} in {@link RobotContainer#configureButtonBindings} for standard buttons.
|
|
*/
|
|
private void configureVirtualButtonBindings() {
|
|
|
|
// ? /* Driver Buttons */
|
|
|
|
/* Notice: the following buttons have not been replicated
|
|
* Swerve Drive Slow and Fast mode Gear Shifts : Fast mode is known to cause drift, so we disable that feature in Autoplayback
|
|
* Swerve Drive Rotation Gear Shifts : Same reason as Slow and Fast mode.
|
|
* Auto Recording controls : We don't want an Null Ouroboros for an auto.
|
|
*/
|
|
|
|
// ? /* Operator Buttons */
|
|
|
|
/* Notice: the following buttons have not been replicated
|
|
* 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.
|
|
* We don't need it in an auto.
|
|
* Climbing controls : We don't need to climb in auto.
|
|
*/
|
|
|
|
// ? 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.
|
|
|
|
}
|
|
|
|
/**
|
|
* Use this to pass the autonomous command to the main {@link Robot} class.
|
|
*
|
|
* @return the command to run in autonomous
|
|
*/
|
|
public Command getAutonomousCommand() {
|
|
|
|
|
|
//return autoPlayback;
|
|
//return new GotoPositionCommand(m_robotSwerveDrive, m_vision)
|
|
//return autoChooser.getSelected();
|
|
// try{
|
|
// // // Load the path you want to follow using its name in the GUI
|
|
// return autoCommand;
|
|
// } catch (Exception e) {
|
|
// DriverStation.reportError("Path planner error: " + e.getMessage(), e.getStackTrace());
|
|
return autoCommand;
|
|
// }
|
|
// return new PathPlannerAuto("Line-up-no-arm");
|
|
// zach told me to do the below comment
|
|
//return new GotoPositionCommand(m_robotSwerveDrive, m_vision);
|
|
// return new GotoPositionCommand(m_robotSwerveDrive, m_vision, AutoConstants.targetpos);
|
|
}
|
|
|
|
public void makeAutoChooser() {
|
|
autoChooser = new SendableChooser<String>();
|
|
|
|
File dir = new File("/home/lvuser/deploy/pathplanner/autos/");
|
|
// File dir = new File("C:\\Users\\Ridgebotics\\Documents\\GitHub\\2025RidgeScape\\src\\main\\deploy\\pathplanner\\autos\\");
|
|
String[] autos = dir.list();
|
|
|
|
if(autos == null) return;
|
|
|
|
for (String auto : autos) {
|
|
if (auto.endsWith(".auto"))
|
|
autoChooser.addOption(auto.replaceAll(".auto", ""), auto.replaceAll(".auto", ""));
|
|
// System.out.println(auto);
|
|
}
|
|
|
|
autoChooser.onChange((filename) -> {
|
|
autoCommand = new PathPlannerAuto(filename);
|
|
System.out.println("Robot Auto Changed " + filename);
|
|
});
|
|
// SmartDashboard.putData(autoChooser);
|
|
|
|
}
|
|
|
|
/**
|
|
* A button binding for two controllers, preferably an {@link DeadbandedXboxController Xbox Controller} and {@link VirtualController Virtual Xbox Controller}
|
|
* @param joystickA A controller
|
|
* @param joystickB A controller
|
|
* @param buttonNumber The button to bind to
|
|
*/
|
|
public Trigger DualJoystickButton(GenericHID joystickA, GenericHID joystickB, int buttonNumber) {
|
|
return new Trigger(() -> (joystickA.getRawButton(buttonNumber) || joystickB.getRawButton(buttonNumber)));
|
|
}
|
|
|
|
public DeadbandedXboxController getDeadbandedDriverController() {
|
|
return this.m_driverXbox;
|
|
}
|
|
|
|
public DeadbandedXboxController getDeadbandedOperatorController() {
|
|
return this.m_operatorXbox;
|
|
}
|
|
|
|
public ButtonBox getButtonBox() {
|
|
return this.m_buttonBox;
|
|
}
|
|
|
|
public VirtualController getVirtualDriverController() {
|
|
return m_virtualDriver;
|
|
}
|
|
|
|
public VirtualController getVirtualOperatorController() {
|
|
return m_virtualOperator;
|
|
}
|
|
}
|