Team4388/2026KPopRobotHunters
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Shikhar
2026-01-29 19:30:50 -07:00
parent 5d38173168
commit 48aa289b4e
6 changed files with 37 additions and 17 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+9 -1
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@@ -42,6 +42,7 @@ import frc4388.robot.subsystems.swerve.SwerveDrive;
import frc4388.robot.subsystems.vision.Vision;
import frc4388.utility.DeferredBlock;
import frc4388.utility.compute.TimesNegativeOne;
import frc4388.utility.configurable.ConfigurableString;
import frc4388.utility.controller.DeadbandedXboxController;
// Autos
import frc4388.utility.controller.VirtualController;
@@ -62,6 +63,8 @@ public class RobotContainer {
/* Subsystems */
public final LED m_robotLED = new LED();
//Testing of Colors
public final Vision m_vision = new Vision(m_robotMap.rightCamera, m_robotMap.leftCamera);
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
private Boolean operatorManualMode = false;
@@ -90,7 +93,12 @@ public class RobotContainer {
private Command autoCommand;
private Command RobotShoot = new SequentialCommandGroup(
new InstantCommand(() -> m_robotLED.setMode(LEDPatterns.PARTY_TWINKLES), m_robotLED)
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()))
);
public RobotContainer() {
src/main/java/frc4388/robot/constants/BuildConstants.java
+6 -6
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@@ -7,13 +7,13 @@ public final class BuildConstants {
public static final String MAVEN_GROUP = "";
public static final String MAVEN_NAME = "2026KPopRobotHunters";
public static final String VERSION = "unspecified";
public static final int GIT_REVISION = 23;
public static final String GIT_SHA = "8bda61b9837d7450a2fb4650bf02ffb1f4f06213";
public static final String GIT_DATE = "2026-01-29 16:59:53 MST";
public static final int GIT_REVISION = 24;
public static final String GIT_SHA = "5d381731689602f5fac161f1552170003ef30c14";
public static final String GIT_DATE = "2026-01-29 18:07:19 MST";
public static final String GIT_BRANCH = "Subsystem-Boilerplate";
public static final String BUILD_DATE = "2026-01-29 17:04:31 MST";
public static final long BUILD_UNIX_TIME = 1769731471423L;
public static final int DIRTY = 0;
public static final String BUILD_DATE = "2026-01-29 19:27:45 MST";
public static final long BUILD_UNIX_TIME = 1769740065495L;
public static final int DIRTY = 1;
private BuildConstants(){}
}
src/main/java/frc4388/robot/constants/Constants.java
+1 -3
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@@ -7,8 +7,6 @@
package frc4388.robot.constants;
import com.ctre.phoenix6.configs.Slot0Configs;
import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.apriltag.AprilTagFields;
import edu.wpi.first.math.Matrix;
@@ -21,7 +19,6 @@ import edu.wpi.first.math.numbers.N3;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.RobotBase;
import frc4388.utility.compute.Trim;
import frc4388.utility.status.CanDevice;
import frc4388.utility.structs.Gains;
import frc4388.utility.structs.LEDPatterns;
@@ -91,6 +88,7 @@ public final class Constants {
public static final Matrix<N3, N1> kSingleTagStdDevs = VecBuilder.fill(0.5, 0.5, 4);
public static final Matrix<N3, N1> kMultiTagStdDevs = VecBuilder.fill(0.1, 0.1, 1);
}
public static final class LEDConstants {
public static final int LED_SPARK_ID = 9;
src/main/java/frc4388/robot/subsystems/LED.java
+5 -1
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@@ -30,11 +30,15 @@ public class LED extends SubsystemBase implements Queryable {
private static Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
private LEDPatterns mode = LEDConstants.DEFAULT_PATTERN;
//hello
public void setMode(LEDPatterns pattern){
this.mode = pattern;
}
public String getMode(){
return mode.name();
}
@Override
public void periodic() {
update();
src/main/java/frc4388/robot/subsystems/vision/Vision.java
+14 -6
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@@ -2,15 +2,11 @@ package frc4388.robot.subsystems.vision;
import java.util.ArrayList;
import java.util.List;
import java.util.Optional;
import org.littletonrobotics.junction.AutoLogOutput;
import org.littletonrobotics.junction.Logger;
import com.ctre.phoenix6.Utils;
import com.ctre.phoenix6.hardware.CANcoder;
import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix6.swerve.SwerveDrivetrain;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -18,20 +14,22 @@ import frc4388.robot.subsystems.vision.VisionIO.PoseObservation;
import frc4388.utility.status.FaultReporter;
import frc4388.utility.status.Queryable;
import frc4388.utility.status.Status;
import frc4388.utility.structs.LEDPatterns;
public class Vision extends SubsystemBase implements Queryable {
public class Vision extends SubsystemBase implements Queryable{
VisionIO[] io;
VisionStateAutoLogged[] state;
public Pose2d lastVisionPose = new Pose2d();
public Pose2d lastPhysOdomPose = new Pose2d();
public LED m_robotLED;
public Vision(VisionIO... devices) {
FaultReporter.register(this);
io = devices;
state = new VisionStateAutoLogged[io.length];
m_robotLED = new LED();
for(int i = 0; i < io.length; i++) {
state[i] = new VisionStateAutoLogged();
}
@@ -44,6 +42,10 @@ public class Vision extends SubsystemBase implements Queryable {
Logger.processInputs("Vision/Camera" + i , state[i]);
}
Logger.recordOutput("Vision/isTagDectected", isTag());
if (isTag()){
m_robotLED.setMode(LEDPatterns.SOLID_GREEN_DARK);
}
}
public List<PoseObservation> getPosesToAdd(){
@@ -93,4 +95,10 @@ public class Vision extends SubsystemBase implements Queryable {
// throw new UnsupportedOperationException("Unimplemented method 'diagnosticStatus'");
}
// Simple LED helper class for compilation and basic usage; replace with real implementation if available.
private static class LED {
public void setMode(LEDPatterns mode) {
// no-op stub for compilation; integrate with hardware driver as needed
}
}
}
src/main/java/frc4388/utility/configurable/ConfigurableString.java
+2
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@@ -11,6 +11,7 @@ public class ConfigurableString {
* @param name the name of the Smart Dashboard key.
* @param defualtValue the initilization value
*/
public ConfigurableString(String name, String defualtValue) {
this.name = name;
this.defualtValue = defualtValue;
@@ -20,4 +21,5 @@ public class ConfigurableString {
public String get() {
return SmartDashboard.getString(name, defualtValue);
}
}