Team4388/2026KPopRobotHunters
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Shikhar
2026-01-29 18:07:19 -07:00
parent 8bda61b983
commit 5d38173168
7 changed files with 76 additions and 14 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+20 -3
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@@ -19,18 +19,25 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
// Commands
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.ConditionalCommand;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.WaitCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import edu.wpi.first.wpilibj2.command.button.Trigger;
import frc4388.robot.commands.MoveForTimeCommand;
import frc4388.robot.commands.MoveUntilSuply;
import frc4388.robot.constants.Constants;
import frc4388.robot.constants.Constants.AutoConstants;
import frc4388.robot.constants.Constants.OIConstants;
import frc4388.robot.constants.Constants.SimConstants.Mode;
import frc4388.robot.constants.FieldConstants;
// Subsystems
import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.shooter.Shooter;
import frc4388.robot.subsystems.swerve.SwerveDrive;
import frc4388.robot.subsystems.vision.Vision;
import frc4388.utility.DeferredBlock;
@@ -39,6 +46,7 @@ import frc4388.utility.controller.DeadbandedXboxController;
// Autos
import frc4388.utility.controller.VirtualController;
import frc4388.utility.controller.XboxController;
import frc4388.utility.structs.LEDPatterns;
/**
* This class is where the bulk of the robot should be declared. Since
@@ -55,8 +63,8 @@ public class RobotContainer {
/* Subsystems */
public final LED m_robotLED = new LED();
public final Vision m_vision = new Vision(m_robotMap.rightCamera, m_robotMap.leftCamera);
// public final Elevator m_robotElevator = new Elevator(m_robotMap.elevatorIO, m_robotLED);
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
private Boolean operatorManualMode = false;
// public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain);
// public final LiDAR reefLidar = new LiDAR(m_robotMap.reefLidar, "Reef");
@@ -81,6 +89,10 @@ public class RobotContainer {
private SendableChooser<String> autoChooser;
private Command autoCommand;
private Command RobotShoot = new SequentialCommandGroup(
new InstantCommand(() -> m_robotLED.setMode(LEDPatterns.PARTY_TWINKLES), m_robotLED)
);
public RobotContainer() {
configureButtonBindings();
@@ -138,6 +150,8 @@ public class RobotContainer {
// new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
// .onTrue(new RotTo45(m_robotSwerveDrive));
new Trigger(() -> getDeadbandedDriverController().getRightTriggerAxis() >= 0.8 && !operatorManualMode)
.onTrue(RobotShoot);
new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> {m_robotSwerveDrive.softStop();}, m_robotSwerveDrive));
@@ -152,8 +166,11 @@ public class RobotContainer {
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.activateLuigiMode()));
new JoystickButton(getDeadbandedDriverController(), XboxController.BACK_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.deactivateLuigiMode()));
}
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.activateLuigiMode()));
}
//.onTrue(new InstantCommand(() -> m_robotLED.setMode(LEDPatterns.SOLID_PINK_HOT)));
/**
* Use this to pass the autonomous command to the main {@link Robot} class.
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 = 22;
public static final String GIT_SHA = "e2797ab77871b91d546e6e9793852cf94d8b712f";
public static final String GIT_DATE = "2026-01-27 19:28:57 MST";
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 String GIT_BRANCH = "Subsystem-Boilerplate";
public static final String BUILD_DATE = "2026-01-29 16:59:21 MST";
public static final long BUILD_UNIX_TIME = 1769731161482L;
public static final int DIRTY = 1;
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;
private BuildConstants(){}
}
src/main/java/frc4388/robot/subsystems/LED.java
+1 -1
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@@ -30,7 +30,7 @@ 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;
}
src/main/java/frc4388/robot/subsystems/intake/Intake.java
+1
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@@ -34,6 +34,7 @@ public class Intake extends SubsystemBase {
switch (mode) {
case Up:
io.setArmAngle(state, IntakeConstants.ARM_LIMIT_UPPER);
io.setRollerVelocity(state, IntakeConstants.ROLLER_STOP);
break;
case Down:
io.setArmAngle(state, IntakeConstants.ARM_LIMIT_LOWER);
src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+3 -1
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@@ -33,7 +33,9 @@ public class IntakeConstants {
// 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);
public static final AngularVelocity ROLLER_MAX_VELOCITY = RotationsPerSecond.of(0.0);
public static final AngularVelocity ROLLER_MAX_VELOCITY = RotationsPerSecond.of(4.0);
public static final AngularVelocity ROLLER_STOP = RotationsPerSecond.of(0.0);
public static final Slot0Configs ARM_PID = new Slot0Configs()
.withKP(2.0)
src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
+34 -3
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@@ -1,7 +1,5 @@
package frc4388.robot.subsystems.shooter;
import static edu.wpi.first.units.Units.Rotation;
import java.util.function.Supplier;
import org.littletonrobotics.junction.Logger;
@@ -9,7 +7,8 @@ import org.littletonrobotics.junction.Logger;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.utility.status.FaultReporter;
import frc4388.robot.subsystems.intake.IntakeConstants;
import frc4388.robot.subsystems.shooter.ShooterIO.ShooterState;
public class Shooter extends SubsystemBase {
ShooterIO io;
@@ -17,6 +16,7 @@ public class Shooter extends SubsystemBase {
Supplier<Pose2d> m_swervePoseSupplier;
public Shooter(
ShooterIO io,
Supplier<Pose2d> swervePoseSupplier
@@ -33,12 +33,43 @@ public class Shooter extends SubsystemBase {
}
public enum ShooterMode {
//Shooter is at speed it fires balls
Active,
//Shooter is at a resting velocity
Resting,
//Shooter is inactive (Off)
Inactive,
}
public void setMode(ShooterMode mode) {
switch (mode) {
case Active:
io.setMotor1Velocity(state, ShooterConstants.SHOOTER_ACTIVE_VELOCITY);
io.setMotor2Velocity(state, ShooterConstants.SHOOTER_ACTIVE_VELOCITY);
io.setIndexerVelocity(state, ShooterConstants.INDEXER_ACTIVE_VELOCITY);
break;
case Resting:
io.setMotor1Velocity(state, ShooterConstants.SHOOTER_RESTING_VELOCITY);
io.setMotor2Velocity(state, ShooterConstants.SHOOTER_RESTING_VELOCITY);
io.setIndexerVelocity(state, ShooterConstants.INDEXER_INACTIVE_VELOCITY);
break;
case Inactive:
io.setMotor1Velocity(state, ShooterConstants.SHOOTER_RESTING_VELOCITY);
io.setMotor2Velocity(state, ShooterConstants.SHOOTER_RESTING_VELOCITY);
io.setIndexerVelocity(state, ShooterConstants.INDEXER_INACTIVE_VELOCITY);
break;
}
}
// Calculate what should be done based off of the position of the robot
// TODO: Implement field zones
public FieldZone getTarget(Pose2d position) {
return FieldZone.InShootZone;
}
@Override
public void periodic() {
src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+11
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@@ -1,6 +1,7 @@
package frc4388.robot.subsystems.shooter;
import static edu.wpi.first.units.Units.Degrees;
import static edu.wpi.first.units.Units.RotationsPerSecond;
import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
import com.ctre.phoenix6.configs.MotorOutputConfigs;
@@ -9,6 +10,7 @@ import com.ctre.phoenix6.configs.TalonFXConfiguration;
import com.ctre.phoenix6.signals.NeutralModeValue;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.AngularVelocity;
import frc4388.utility.status.CanDevice;
public class ShooterConstants {
@@ -19,6 +21,15 @@ public class ShooterConstants {
public static final double SHOOTERMOTOR2_GEAR_RATIO = 1.;
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_INACTIVE_VELOCITY = RotationsPerSecond.of(0.0);
public static final AngularVelocity INDEXER_ACTIVE_VELOCITY = RotationsPerSecond.of(0.0);
public static final AngularVelocity INDEXER_INACTIVE_VELOCITY = RotationsPerSecond.of(0.0);
public static Slot0Configs SHOOTER_PID = new Slot0Configs()
.withKV(0.0)
.withKP(0.0)