Team4388/2026KPopRobotHunters
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demo

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Mira
2026-04-17 18:42:57 -06:00
parent 6316daedf7
commit a15a6d08bf
7 changed files with 49 additions and 319 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+16 -273
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@@ -263,94 +263,9 @@ public class RobotContainer {
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown())); .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
new JoystickButton(getDeadbandedDriverController(), XboxController.BACK_BUTTON)
.onTrue(new InstantCommand(() -> {
m_robotIntake.io.fixEncoder();
m_robotShooter.io.updateGains();
}));
// TEST-> the driver is holding the left trigger, drive slow and rotation up
new Trigger(() -> getDeadbandedDriverController().getLeftTriggerAxis() >= 0.5)
.onTrue(new InstantCommand(() -> {
m_robotSwerveDrive.setPercentOutput(0.10);
m_robotSwerveDrive.shiftUpRot();
}))
.onFalse(new InstantCommand(() -> {
m_robotSwerveDrive.setToFast();
// m_robotSwerveDrive.shiftDownRot();
}));
//TEST - > X positino on wheels
new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
.whileTrue(new RunCommand(() -> {
m_robotSwerveDrive.defenseXPosition();
}, m_robotSwerveDrive))
.onFalse(new InstantCommand(() -> {
m_robotSwerveDrive.stopDefenseXPosition();
}));
//TEST - > PID positinon
new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> {
currentPose = m_robotSwerveDrive.getCurrentPose();
}))
.whileTrue(new RunCommand(() -> {
m_stayInPosition.goToTargetPose(currentPose);
}, m_robotSwerveDrive))
.onFalse(new InstantCommand(() -> {
m_robotSwerveDrive.softStop();
}));
// IF the driver is holding the aim button, aim the robot towards the hub and shooter ready
new Trigger(() -> getDeadbandedDriverController().getRightTriggerAxis() >= 0.5)
.onTrue(new InstantCommand(() -> {
m_robotSwerveDrive.setToSlow();
}))
.whileTrue(new RunCommand(() -> {
m_robotSwerveDrive.driveFacingPosition(
getDeadbandedDriverController().getLeft(),
FieldPositions.HUB_POSITION,
ShooterConstants.AIM_LEAD_TIME.get()
);
}, m_robotSwerveDrive))
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive));
// D-PAD fine alignment
new Trigger(() -> getDeadbandedDriverController().getPOV() != -1)
.whileTrue(new RunCommand(
() -> m_robotSwerveDrive.driveFine(
new Translation2d(
1,
Rotation2d.fromDegrees(getDeadbandedDriverController().getPOV())
),
getDeadbandedDriverController().getRight(), 0.15
), m_robotSwerveDrive))
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive));
//Operator Controls
// new Trigger(() -> getDeadbandedOperatorController().getRightTriggerAxis() >= 0.5)
// .onTrue(new InstantCommand(() -> {
// m_robotIntake.setMode(IntakeMode.Extended);
// }));
//allow shooting with right trigger
new Trigger(() -> getDeadbandedOperatorController().getRightTriggerAxis() >= 0.5)
.onTrue(new InstantCommand(() -> {
m_robotShooter.allowShooting();
})).onFalse(new InstantCommand(() -> {
m_robotShooter.denyShooting();
}));
// manually shoot from climb post/ feed balls // manually shoot from climb post/ feed balls
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON) new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> { .onTrue(new InstantCommand(() -> {
m_robotShooter.spinUpFeeding(); m_robotShooter.spinUpFeeding();
@@ -361,228 +276,56 @@ public class RobotContainer {
})); }));
//set shooter ready (rev) with left trigger hold
new Trigger(() -> getDeadbandedOperatorController().getLeftTriggerAxis() >= 0.5)
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Idle);
m_robotShooter.spinUpShooting();
}))
.onFalse(new InstantCommand(() -> {
m_robotShooter.spinUpIdle();
}));
// new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
// .onTrue(new InstantCommand(() -> {
// m_robotIntake.setMode(IntakeMode.RetractedREMOVEME);
// }));
// new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
// .onTrue(new InstantCommand(() -> {
// m_robotIntake.setMode(IntakeMode.ExtendedREMOVEME);
// }));
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON) new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> { .onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.ExtendingRolling); m_robotIntake.setMode(IntakeMode.ExtendingRolling);
})); }));
new JoystickButton(getDeadbandedOperatorController(), XboxController.BACK_BUTTON)
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.EncoderFix);
}));
new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.LabubuGrowl);
}))
.onFalse(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.ExtendingRolling);
}));
new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON) new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> { .onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Retracting);
}))
.onFalse(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.ArmIdleRollingNot); m_robotIntake.setMode(IntakeMode.ArmIdleRollingNot);
})); }));
new Trigger(() -> getDeadbandedOperatorController().getPOV() == 90)
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.ExtendingIdle);
}))
.onFalse(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Idle);
}));
new Trigger(() -> getDeadbandedOperatorController().getPOV() == 270)
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Retracting);
}))
.onFalse(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Idle);
}));
new Trigger(() -> getDeadbandedOperatorController().getPOV() == 0)
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.RectractTorque);
}))
.onFalse(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Idle);
}));
new Trigger(() -> getDeadbandedOperatorController().getPOV() == 180)
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.ExpelBalls);
}))
.onFalse(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Idle);
}));
// .onFalse(new InstantCommand(() -> {
// m_robotIntake.setMode(IntakeMode.Idle);
// }));
// new JoystickButton(getDeadbandedOperatorController(), XboxController.START_BUTTON)
// .whileTrue(
// new PathPlannerAuto("Right_AutoClimb")
// )
// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive));
// new JoystickButton(getDeadbandedOperatorController(), XboxController.BACK_BUTTON)
// .whileTrue(
// new PathPlannerAuto("Left_AutoClimb")
// )
// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive));
// new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
// .onTrue(new InstantCommand(() -> {
// m_robotClimber.toggleDeployed();
// }));
} }
private void configureSINGLEBindings() { private void configureSINGLEBindings() {
//Driver controls //Driver controls
new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON) new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro())); .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
// new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.offsetOdoPosition(FieldConstants.BUMP_OFFSET_RED)));
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp())); .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown())); .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
// TEST-> the driver is holding the left trigger, drive slow and rotation up
// new Trigger(() -> getDeadbandedDriverController().getLeftTriggerAxis() >= 0.5)
// .onTrue(new InstantCommand(() -> {
// m_robotSwerveDrive.setToSlow();
// m_robotSwerveDrive.shiftUpRot();
// }))
// .onFalse(new InstantCommand(() -> {
// m_robotSwerveDrive.setToFast();
// m_robotSwerveDrive.shiftDownRot();
// }));
//TEST - > X positino on wheels
new JoystickButton(getDeadbandedDriverController(), XboxController.BACK_BUTTON)
.whileTrue(new RunCommand(() -> {
m_robotSwerveDrive.defenseXPosition();
}, m_robotSwerveDrive))
.onFalse(new InstantCommand(() -> {
m_robotSwerveDrive.stopDefenseXPosition();
}));
//TEST - > PID positinon
new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> {
currentPose = m_robotSwerveDrive.getCurrentPose();
}))
.whileTrue(new RunCommand(() -> {
m_stayInPosition.goToTargetPose(currentPose);
}, m_robotSwerveDrive))
.onFalse(new InstantCommand(() -> {
m_robotSwerveDrive.softStop();
}));
// IF the driver is holding the aim button, aim the robot towards the hub and shooter ready
new Trigger(() -> getDeadbandedDriverController().getLeftTriggerAxis() >= 0.5)
.onTrue(new InstantCommand(() -> {
m_robotSwerveDrive.setToSlow();
}))
.whileTrue(new RunCommand(() -> {
m_robotSwerveDrive.driveFacingPosition(
getDeadbandedDriverController().getLeft(),
FieldPositions.HUB_POSITION,
ShooterConstants.AIM_LEAD_TIME.get()
);
}, m_robotSwerveDrive)
);
// D-PAD fine alignment
new Trigger(() -> getDeadbandedDriverController().getPOV() != -1)
.whileTrue(new RunCommand(
() -> m_robotSwerveDrive.driveFine(
new Translation2d(
1,
Rotation2d.fromDegrees(getDeadbandedDriverController().getPOV())
),
getDeadbandedDriverController().getRight(), 0.15
), m_robotSwerveDrive))
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive));
//allow shooting with right trigger
new Trigger(() -> getDeadbandedDriverController().getRightTriggerAxis() >= 0.5)
.onTrue(new InstantCommand(() -> {
m_robotShooter.allowShooting();
})).onFalse(new InstantCommand(() -> {
m_robotShooter.denyShooting();
}));
// manually shoot from climb post/ feed balls
//set shooter ready (rev) with left trigger hold new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
new Trigger(() -> getDeadbandedDriverController().getLeftTriggerAxis() >= 0.5)
.onTrue(new InstantCommand(() -> { .onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Idle); m_robotShooter.spinUpFeeding();
m_robotIntake.rollerStop(); m_robotIntake.rollerStop();
m_robotShooter.spinUpShooting();
})) }))
.onFalse(new InstantCommand(() -> { .onFalse(new InstantCommand(() -> {
m_robotShooter.spinUpIdle(); m_robotShooter.spinUpIdle();
})); }));
// new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
// .onTrue(new InstantCommand(() -> {
// m_robotIntake.setMode(IntakeMode.ExtendedIdle);
// }))
// .onFalse(new InstantCommand(() -> {
// m_robotIntake.setMode(IntakeMode.Idle);
// }));
// new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
// .onTrue(new InstantCommand(() -> { new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
// m_robotIntake.setMode(IntakeMode.Retracting); .onTrue(new InstantCommand(() -> {
// })) m_robotIntake.setMode(IntakeMode.ExtendingRolling);
// .onFalse(new InstantCommand(() -> { }));
// m_robotIntake.setMode(IntakeMode.Idle);
// })); new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.ArmIdleRollingNot);
}));
} }
src/main/java/frc4388/robot/constants/BuildConstants.java
+6 -6
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@@ -7,12 +7,12 @@ public final class BuildConstants {
public static final String MAVEN_GROUP = ""; public static final String MAVEN_GROUP = "";
public static final String MAVEN_NAME = "2026KPopRobotHunters"; public static final String MAVEN_NAME = "2026KPopRobotHunters";
public static final String VERSION = "unspecified"; public static final String VERSION = "unspecified";
public static final int GIT_REVISION = 239; public static final int GIT_REVISION = 241;
public static final String GIT_SHA = "4d732970da558d90c4be1787635dc5786674bd27"; public static final String GIT_SHA = "6316daedf7fea6d03ec620bc433364a6881e3316";
public static final String GIT_DATE = "2026-04-10 13:59:21 MDT"; public static final String GIT_DATE = "2026-04-17 17:27:23 MDT";
public static final String GIT_BRANCH = "Encoder-Fix"; public static final String GIT_BRANCH = "demo";
public static final String BUILD_DATE = "2026-04-10 14:33:17 MDT"; public static final String BUILD_DATE = "2026-04-17 18:31:24 MDT";
public static final long BUILD_UNIX_TIME = 1775853197175L; public static final long BUILD_UNIX_TIME = 1776472284468L;
public static final int DIRTY = 1; public static final int DIRTY = 1;
private BuildConstants(){} private BuildConstants(){}
src/main/java/frc4388/robot/subsystems/intake/Intake.java
+1 -1
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@@ -146,7 +146,7 @@ public class Intake extends SubsystemBase {
break; break;
case ArmIdleRollingNot: case ArmIdleRollingNot:
// io.armOutput(0); // io.armOutput(0);
io.setRollerOutput(state, IntakeConstants.ROLLER_RETRACT_PERCENT_OUTPUT.get()); io.setRollerOutput(state, 0);
break; break;
case Bouncing: case Bouncing:
// io.setRollerOutput(state, 0); // io.setRollerOutput(state, 0);
src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
+6 -36
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@@ -210,43 +210,13 @@ public class Shooter extends SubsystemBase {
} }
break; break;
case ManualShoot: case ManualShoot:
io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_OVERRIDE_VELOCITY.get())); if(io.demoSpeed(state)){
io.setIndexerOutput(state, -0.5);
int bitmask2 = ( }else{
(shooterButtonReady ? 1 : 0) + io.setIndexerOutput(state, 0.2);
(badShooterVelocity ? 2 : 0)
);
switch (bitmask2) {
case 0b000: // No errors but button is not pressed
io.setIndexerOutput(state, 0);
m_robotLED.setMode(Constants.LEDConstants.OPREADY_FEED);
break;
case 0b001: // No errors and shoot button is pressed
io.setIndexerOutput(state, ShooterConstants.INDEXER_FORWARD_OUTPUT.get());
m_robotLED.setMode(Constants.LEDConstants.OPREADY_FEED);
break;
case 0b010: // Bad shooter velocity, button is not pressed
case 0b011: // Bad shooter velocty, button is pressed
io.setIndexerOutput(state, 0);
m_robotLED.setMode(Constants.LEDConstants.BAD_FLYWEEL);
break;
// case 0b100: // Driver error, button is not pressed
// case 0b101: // Driver error, button is pressed
// m_robotLED.setMode(Constants.LEDConstants.BAD_FLYWEEL);
// io.setIndexerOutput(state, ShooterConstants.INDEXER_REVERSE_OUTPUT.get());
// break;
// case 0b110: // Driver error, bad shooter vel, button is not pressed
// case 0b111: // Driver error, bad shooter vel, button is pressed
// m_robotLED.setMode(Constants.LEDConstants.BAD_FLYWEEL_BADPHYS);
// io.setIndexerOutput(state, ShooterConstants.INDEXER_REVERSE_OUTPUT.get());
// break;
} }
io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_OVERRIDE_VELOCITY.get()));
m_robotLED.setMode(Constants.LEDConstants.OPREADY_FEED);
break; break;
case Idle: case Idle:
src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+4 -3
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@@ -21,13 +21,13 @@ public class ShooterConstants {
public static final double SHOOTER_RADIUS = 2/39.37; public static final double SHOOTER_RADIUS = 2/39.37;
public static final double INDEXER_RADIUS = 0.625/39.37; public static final double INDEXER_RADIUS = 0.625/39.37;
public static final ConfigurableDouble SHOOTER_MAX_VELOCITY = new ConfigurableDouble("Shooter MAX Velocity", 60); public static final ConfigurableDouble SHOOTER_MAX_VELOCITY = new ConfigurableDouble("Shooter MAX Velocity", 60);
public static final ConfigurableDouble SHOOTER_OVERRIDE_VELOCITY = new ConfigurableDouble("Shooter OVERRIDE Velocity", -42); public static final ConfigurableDouble SHOOTER_OVERRIDE_VELOCITY = new ConfigurableDouble("Shooter OVERRIDE Velocity", -28);
// public static final ConfigurableDouble SHOOTER_FEED_VELOCITY = new ConfigurableDouble("Shooter Feed Velocity", -35); // public static final ConfigurableDouble SHOOTER_FEED_VELOCITY = new ConfigurableDouble("Shooter Feed Velocity", -35);
// public static final ConfigurableDouble SHOOTER_RESTING_VELOCITY = new ConfigurableDouble("Shooter Resting Velocity", 0.0); // public static final ConfigurableDouble SHOOTER_RESTING_VELOCITY = new ConfigurableDouble("Shooter Resting Velocity", 0.0);
public static final ConfigurableDouble SHOOTER_IDLE_PERCENT_OUTPUT = new ConfigurableDouble("Shooter idle % output", -0.15); public static final ConfigurableDouble SHOOTER_IDLE_PERCENT_OUTPUT = new ConfigurableDouble("Shooter idle % output", 0.0);
public static final ConfigurableDouble DEMO_PERCENT_OUTPUT = new ConfigurableDouble("Shooter idle % output", -0.15); public static final ConfigurableDouble DEMO_PERCENT_OUTPUT = new ConfigurableDouble("Demo % output", 0.15);
// public static final ConfigurableDouble SHOOTER_IDLE_TARGET_VEL = new ConfigurableDouble("Shooter idle target velocity", 20.); // public static final ConfigurableDouble SHOOTER_IDLE_TARGET_VEL = new ConfigurableDouble("Shooter idle target velocity", 20.);
// public static final ConfigurableDouble SHOOTER_IDLE_MAX_CURRENT = new ConfigurableDouble("Shooter Idle max current", 10); // public static final ConfigurableDouble SHOOTER_IDLE_MAX_CURRENT = new ConfigurableDouble("Shooter Idle max current", 10);
@@ -42,6 +42,7 @@ public class ShooterConstants {
public static final ConfigurableDouble AIM_LEAD_TIME = new ConfigurableDouble("Aim lead time", -1.1); public static final ConfigurableDouble AIM_LEAD_TIME = new ConfigurableDouble("Aim lead time", -1.1);
// Shoot mode tolerances // Shoot mode tolerances
public static final ConfigurableDouble ROBOT_MIN_HUB = new ConfigurableDouble("Shoot min dist M", 1.8); public static final ConfigurableDouble ROBOT_MIN_HUB = new ConfigurableDouble("Shoot min dist M", 1.8);
public static final ConfigurableDouble ROBOT_MAX_HUB = new ConfigurableDouble("Shoot max dist M", 4.8); public static final ConfigurableDouble ROBOT_MAX_HUB = new ConfigurableDouble("Shoot max dist M", 4.8);
src/main/java/frc4388/robot/subsystems/shooter/ShooterIO.java
+7
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@@ -52,6 +52,13 @@ public interface ShooterIO {
public default void updateInputs(ShooterState state) {} public default void updateInputs(ShooterState state) {}
public default void motorStalled(ShooterState state, Intake m_Intake, LED m_robotLED) {} public default void motorStalled(ShooterState state, Intake m_Intake, LED m_robotLED) {}
public default boolean demoSpeed(ShooterState state) {
boolean demo = false;
if((Math.abs(Math.abs(state.motor1TargetVelocity.in(RotationsPerSecond))-Math.abs(state.motor2TargetVelocity.in(RotationsPerSecond))) < 3)){
demo = true;
}
return demo;
}
public default void updateGains() {} public default void updateGains() {}
} }
src/main/java/frc4388/robot/subsystems/shooter/ShooterReal.java
+9
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@@ -156,6 +156,15 @@ public class ShooterReal implements ShooterIO {
state.indexerTargetOutput = percentOutput; state.indexerTargetOutput = percentOutput;
m_indexerMotor.set(percentOutput); m_indexerMotor.set(percentOutput);
} }
// @Override
// public boolean demoSpeed(ShooterState state) {
// boolean demo = false;
// if((Math.abs(Math.abs(state.motor1TargetVelocity.in(RotationsPerSecond))-Math.abs(state.motor2TargetVelocity.in(RotationsPerSecond))) < 3)){
// demo = true;
// }
// return demo;
// }
@Override @Override