Team4388/2026KPopRobotHunters
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instant commands for testing

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This commit is contained in:
Shikhar
2026-02-07 14:51:05 -07:00
parent f39bd20b9f
commit 2d9ed527be
6 changed files with 61 additions and 41 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+28 -12
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@@ -33,6 +33,8 @@ import frc4388.robot.constants.Constants.SimConstants.Mode;
import frc4388.robot.constants.FieldConstants;
// Subsystems
import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.intake.Intake;
import frc4388.robot.subsystems.shooter.Shooter;
import frc4388.robot.subsystems.swerve.SwerveDrive;
import frc4388.robot.subsystems.vision.Vision;
import frc4388.utility.DeferredBlock;
@@ -58,9 +60,10 @@ public class RobotContainer {
/* Subsystems */
public final LED m_robotLED = new LED();
//Testing of Colors
public final Vision m_vision = new Vision();
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
public final Intake m_robotIntake = new Intake(m_robotMap.intakeIO);
public final Shooter m_robotShooter = new Shooter(m_robotMap.shooterIO);
private Boolean operatorManualMode = false;
// public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain);
@@ -86,13 +89,21 @@ public class RobotContainer {
private SendableChooser<String> autoChooser;
private Command autoCommand;
// private Command RobotShoot = new SequentialCommandGroup(
// new InstantCommand(() -> System.out.println(m_robotLED.getMode())),
// new InstantCommand(() -> m_robotLED.setMode(LEDPatterns.PARTY_TWINKLES), m_robotLED),
// new InstantCommand(() -> System.out.println(m_robotLED.getMode())),
// new WaitCommand(5),
// new InstantCommand(() -> m_robotLED.setMode(LEDPatterns.SOLID_RED), m_robotLED),
// new InstantCommand(() -> System.out.println(m_robotLED.getMode()))
// );
private Command RobotShoot = new SequentialCommandGroup(
new InstantCommand(() -> System.out.println(m_robotLED.getMode())),
new InstantCommand(() -> m_robotLED.setMode(LEDPatterns.PARTY_TWINKLES), m_robotLED),
new InstantCommand(() -> System.out.println(m_robotLED.getMode())),
new WaitCommand(5),
new InstantCommand(() -> m_robotLED.setMode(LEDPatterns.SOLID_RED), m_robotLED),
new InstantCommand(() -> System.out.println(m_robotLED.getMode()))
new InstantCommand(() -> m_robotShooter.setMode(Shooter.ShooterMode.Active), m_robotShooter)
);
private Command RobotIntake = new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.setMode(Intake.IntakeMode.Down), m_robotIntake)
);
public RobotContainer() {
@@ -144,7 +155,12 @@ public class RobotContainer {
// .onTrue(new RotTo45(m_robotSwerveDrive));
new Trigger(() -> getDeadbandedDriverController().getRightTriggerAxis() >= 0.8 && !operatorManualMode)
.onTrue(RobotShoot);
.onTrue(RobotShoot)
.onFalse(new InstantCommand(() -> m_robotShooter.setMode(Shooter.ShooterMode.Resting), m_robotShooter));
new Trigger(() -> getDeadbandedDriverController().getLeftTriggerAxis() >= 0.8 && !operatorManualMode)
.onTrue(RobotIntake)
.onFalse(new InstantCommand(() -> m_robotIntake.setMode(Intake.IntakeMode.Up), m_robotShooter));
new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> {m_robotSwerveDrive.softStop();}, m_robotSwerveDrive));
@@ -157,11 +173,11 @@ public class RobotContainer {
new JoystickButton(getDeadbandedDriverController(), XboxController.START_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.activateLuigiMode()));
// new JoystickButton(getDeadbandedDriverController(), XboxController.START_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.activateLuigiMode()));
new JoystickButton(getDeadbandedDriverController(), XboxController.BACK_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.activateLuigiMode()));
// new JoystickButton(getDeadbandedDriverController(), XboxController.BACK_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.activateLuigiMode()));
// IF the driver is holding the aim button, aim the robot towards the hub
new Trigger(() -> getDeadbandedDriverController().getRightTriggerAxis() >= 0.5)
src/main/java/frc4388/robot/RobotMap.java
+13 -13
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@@ -61,9 +61,9 @@ public class RobotMap {
/* Swreve Drive Subsystem */
public final SwerveIO swerveDrivetrain;
// /* Elevator Subsystem */
// public final ShooterIO shooterIO;
// public final IntakeIO intakeIO;
// /* Shooter and Intake Subsystem */
public final ShooterIO shooterIO;
public final IntakeIO intakeIO;
public RobotMap(SimConstants.Mode mode) {
switch (mode) {
@@ -91,23 +91,23 @@ public class RobotMap {
swerveDrivetrain = new SwerveReal(swerveDrivetrainReal);
// Configure Shooter
// Configure Shooter 22,23,24
TalonFX shooter1 = new TalonFX(ShooterConstants.SHOOTER1_ID.id);
TalonFX shooter2 = new TalonFX(ShooterConstants.SHOOTER2_ID.id);
TalonFX indexer = new TalonFX(ShooterConstants.INDEXER_ID.id);
//Configure Intake
// TalonFX arm = new TalonFX(IntakeConstants.ARM_ID.id);
// TalonFX roller = new TalonFX(IntakeConstants.ROLLER_ID.id);
//Configure Intake 20,21
TalonFX arm = new TalonFX(IntakeConstants.ARM_ID.id);
TalonFX roller = new TalonFX(IntakeConstants.ROLLER_ID.id);
// DigitalInput basinLimitSwitch = new DigitalInput(ElevatorConstants.BASIN_LIMIT_SWITCH);
// DigitalInput endeffectorLimitSwitch = new DigitalInput(ElevatorConstants.ENDEFFECTOR_LIMIT_SWITCH);
// DigitalInput IRIntakeBeam = new DigitalInput(ElevatorConstants.INTAKE_LIMIT_SWITCH);
// shooterIO = new ShooterReal(shooter1, shooter2, indexer);
shooterIO = new ShooterReal(shooter1, shooter2, indexer);
// intakeIO = new IntakeReal(arm, roller);
intakeIO = new IntakeReal(arm, roller);
// Fault
FaultPidgeon2.addDevice(swerveDrivetrainReal.getPigeon2(), "Gyro");
@@ -116,8 +116,8 @@ public class RobotMap {
FaultTalonFX.addDevice(shooter1, "Shooter1");
FaultTalonFX.addDevice(shooter2, "Shooter2");
FaultTalonFX.addDevice(indexer, "Indexer");
// FaultTalonFX.addDevice(arm, "Arm");
// FaultTalonFX.addDevice(roller, "Roller");
FaultTalonFX.addDevice(arm, "Arm");
FaultTalonFX.addDevice(roller, "Roller");
FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(0).getDriveMotor(), "Module 0 Drive");
FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(0).getSteerMotor(), "Module 0 Steer");
@@ -139,8 +139,8 @@ public class RobotMap {
// leftCamera = new VisionIO() {};
// rightCamera = new VisionIO() {};
swerveDrivetrain = new SwerveIO() {};
// intakeIO = new IntakeIO() {};
// shooterIO = new ShooterIO() {};
intakeIO = new IntakeIO() {};
shooterIO = new ShooterIO() {};
break;
}
}
src/main/java/frc4388/robot/subsystems/intake/Intake.java
+5 -5
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@@ -18,11 +18,11 @@ public class Intake extends SubsystemBase {
Supplier<Pose2d> m_swervePoseSupplier;
public Intake(
IntakeIO io,
Supplier<Pose2d> swervePoseSupplier
IntakeIO io
// Supplier<Pose2d> swervePoseSupplier
) {
this.io = io;
this.m_swervePoseSupplier = swervePoseSupplier;
// this.m_swervePoseSupplier = swervePoseSupplier;
}
public enum IntakeMode {
@@ -33,11 +33,11 @@ public class Intake extends SubsystemBase {
public void setMode(IntakeMode mode) {
switch (mode) {
case Up:
io.setArmAngle(state, IntakeConstants.ARM_LIMIT_UPPER);
// io.setArmAngle(state, IntakeConstants.ARM_LIMIT_UPPER);
io.setRollerVelocity(state, IntakeConstants.ROLLER_STOP);
break;
case Down:
io.setArmAngle(state, IntakeConstants.ARM_LIMIT_LOWER);
// io.setArmAngle(state, IntakeConstants.ARM_LIMIT_LOWER);
io.setRollerVelocity(state, IntakeConstants.ROLLER_MAX_VELOCITY);
break;
}
src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+5 -3
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@@ -23,7 +23,6 @@ public class IntakeConstants {
//IDs
public static final CanDevice ARM_ID = new CanDevice("SHOOTER 1", 20);
public static final CanDevice ROLLER_ID = new CanDevice("SHOOTER 2", 21);
@@ -31,8 +30,11 @@ public class IntakeConstants {
// 0 is the forward angle on the robot.
// negative is left, positive is right
public static final Angle ARM_LIMIT_LOWER = Degrees.of(-180);
public static final Angle ARM_LIMIT_UPPER = Degrees.of(180);
//when testing the negative output of 10% made the robot put the intake up
public static final Angle ARM_LIMIT_LOWER = Degrees.of(90);
public static final Angle ARM_LIMIT_UPPER = Degrees.of(-90);
public static final AngularVelocity ROLLER_MAX_VELOCITY = RotationsPerSecond.of(4.0);
public static final AngularVelocity ROLLER_STOP = RotationsPerSecond.of(0.0);
src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
+6 -6
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@@ -14,15 +14,15 @@ public class Shooter extends SubsystemBase {
ShooterIO io;
ShooterStateAutoLogged state = new ShooterStateAutoLogged();
Supplier<Pose2d> m_swervePoseSupplier;
// Supplier<Pose2d> m_swervePoseSupplier;
public Shooter(
ShooterIO io,
Supplier<Pose2d> swervePoseSupplier
ShooterIO io
// Supplier<Pose2d> swervePoseSupplier
) {
this.io = io;
this.m_swervePoseSupplier = swervePoseSupplier;
// this.m_swervePoseSupplier = swervePoseSupplier;
}
public enum FieldZone {
@@ -80,8 +80,8 @@ public class Shooter extends SubsystemBase {
Logger.processInputs("Shooter", state);
Pose2d pose = m_swervePoseSupplier.get();
Angle robotRot = pose.getRotation().getMeasure();
// Pose2d pose = m_swervePoseSupplier.get();
// Angle robotRot = pose.getRotation().getMeasure();
io.updateInputs(state);
src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+4 -2
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@@ -22,9 +22,10 @@ public class ShooterConstants {
public static final double INDEXER_GEAR_RATIO = 1.;
public static final AngularVelocity SHOOTER_RESTING_VELOCITY = RotationsPerSecond.of(0.0);
public static final AngularVelocity SHOOTER_ACTIVE_VELOCITY = RotationsPerSecond.of(0.0);
public static final AngularVelocity SHOOTER_ACTIVE_VELOCITY = RotationsPerSecond.of(4.0);
public static final AngularVelocity SHOOTER_INACTIVE_VELOCITY = RotationsPerSecond.of(0.0);
public static final AngularVelocity INDEXER_ACTIVE_VELOCITY = RotationsPerSecond.of(0.0);
public static final AngularVelocity INDEXER_ACTIVE_VELOCITY = RotationsPerSecond.of(4.0);
public static final AngularVelocity INDEXER_INACTIVE_VELOCITY = RotationsPerSecond.of(0.0);
@@ -59,6 +60,7 @@ public class ShooterConstants {
// .withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
// );
public static final CanDevice SHOOTER1_ID = new CanDevice("SHOOTER 1", 22);
public static final CanDevice SHOOTER2_ID = new CanDevice("SHOOTER 2", 23);
public static final CanDevice INDEXER_ID = new CanDevice("INDEXER",24);