Team4388/2026KPopRobotHunters
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This commit is contained in:
Shikhar
2026-02-02 19:41:24 -07:00
parent dc33af165d
commit de0952c14a
5 changed files with 72 additions and 51 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+40 -21
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@@ -11,6 +11,7 @@ import java.io.File;
import com.pathplanner.lib.commands.PathPlannerAuto;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.GenericHID;
@@ -19,30 +20,23 @@ 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;
import frc4388.utility.compute.TimesNegativeOne;
import frc4388.utility.configurable.ConfigurableString;
import frc4388.utility.controller.DeadbandedXboxController;
// Autos
import frc4388.utility.controller.VirtualController;
@@ -65,7 +59,7 @@ public class RobotContainer {
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 Vision m_vision = new Vision();
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);
@@ -116,19 +110,10 @@ public class RobotContainer {
DriverStation.silenceJoystickConnectionWarning(true);
m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
// IF the driver is holding the aim button, aim the robot towards the hub
if(m_driverXbox.getRightTriggerAxis() > 0.5) {
// Aim
m_robotSwerveDrive.driveFacingPosition(
getDeadbandedDriverController().getLeft(),
FieldConstants.BLUE_HUB_POS);
} else {
// Drive normally
m_robotSwerveDrive.driveWithInput(
getDeadbandedDriverController().getLeft(),
getDeadbandedDriverController().getRight(),true);
}
// Drive normally
m_robotSwerveDrive.driveWithInput(
getDeadbandedDriverController().getLeft(),
getDeadbandedDriverController().getRight(),true);
}, m_robotSwerveDrive)
.withName("SwerveDrive DefaultCommand"));
@@ -170,12 +155,46 @@ public class RobotContainer {
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.activateLuigiMode()));
// IF the driver is holding the aim button, aim the robot towards the hub
new Trigger(() -> getDeadbandedDriverController().getRightTriggerAxis() >= 0.5)
.whileTrue(new RunCommand(
() -> {
m_robotSwerveDrive.driveFacingPosition(
getDeadbandedDriverController().getLeft(),
FieldConstants.BLUE_HUB_POS);
}, m_robotSwerveDrive))
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive));
// IF the driver is holding the aim button, aim the robot towards the hub
new Trigger(() -> getDeadbandedDriverController().getLeftTriggerAxis() >= 0.5)
.whileTrue(new RunCommand(
() -> {
m_robotSwerveDrive.driveIntake(
getDeadbandedDriverController().getLeft()
);
}, 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));
}
//.onTrue(new InstantCommand(() -> m_robotLED.setMode(LEDPatterns.SOLID_PINK_HOT)));
src/main/java/frc4388/robot/RobotMap.java
+20 -20
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@@ -46,8 +46,8 @@ public class RobotMap {
// private Pigeon2 m_pigeon2 = new Pigeon2(SwerveDriveConstants.IDs.DRIVE_PIGEON.id);
// public RobotGyro gyro = new RobotGyro(m_pigeon2);
public final VisionIO leftCamera;
public final VisionIO rightCamera;
// public final VisionIO leftCamera;
// public final VisionIO rightCamera;
// public final LiDAR lidar = new
@@ -62,21 +62,21 @@ public class RobotMap {
public final SwerveIO swerveDrivetrain;
// /* Elevator Subsystem */
public final ShooterIO shooterIO;
public final IntakeIO intakeIO;
// public final ShooterIO shooterIO;
// public final IntakeIO intakeIO;
public RobotMap(SimConstants.Mode mode) {
switch (mode) {
case REAL:
// Configure cameras
PhotonCamera leftCameraReal = new PhotonCamera(VisionConstants.LEFT_CAMERA_NAME);
PhotonCamera rightCameraReal = new PhotonCamera(VisionConstants.RIGHT_CAMERA_NAME);
// PhotonCamera leftCameraReal = new PhotonCamera(VisionConstants.LEFT_CAMERA_NAME);
// PhotonCamera rightCameraReal = new PhotonCamera(VisionConstants.RIGHT_CAMERA_NAME);
leftCamera = new VisionReal(leftCameraReal, VisionConstants.RIGHT_CAMERA_POS); ;
rightCamera = new VisionReal(rightCameraReal, VisionConstants.LEFT_CAMERA_POS);
// leftCamera = new VisionReal(leftCameraReal, VisionConstants.RIGHT_CAMERA_POS); ;
// rightCamera = new VisionReal(rightCameraReal, VisionConstants.LEFT_CAMERA_POS);
FaultPhotonCamera.addDevice(leftCameraReal, "Left Camera");
FaultPhotonCamera.addDevice(rightCameraReal , "Right Camera");
// FaultPhotonCamera.addDevice(leftCameraReal, "Left Camera");
// FaultPhotonCamera.addDevice(rightCameraReal , "Right Camera");
// // Configure LiDAR
// reefLidar = new LidarReal(LiDARConstants.REEF_LIDAR_DIO_CHANNEL);
@@ -98,16 +98,16 @@ public class RobotMap {
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);
// 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");
@@ -136,11 +136,11 @@ public class RobotMap {
// case SIM:
// break;
default:
leftCamera = new VisionIO() {};
rightCamera = new VisionIO() {};
// 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/constants/BuildConstants.java
+5 -5
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@@ -7,12 +7,12 @@ 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 = 28;
public static final String GIT_SHA = "5f4d7887ffc93ef535cef23511da086cd7f6d8bd";
public static final String GIT_DATE = "2026-01-31 15:33:14 MST";
public static final int GIT_REVISION = 29;
public static final String GIT_SHA = "dc33af165d04720f576a5d490987d6ee079c4b8d";
public static final String GIT_DATE = "2026-01-31 21:38:10 MST";
public static final String GIT_BRANCH = "Subsystem-Boilerplate";
public static final String BUILD_DATE = "2026-01-31 21:37:04 MST";
public static final long BUILD_UNIX_TIME = 1769920624950L;
public static final String BUILD_DATE = "2026-02-02 19:39:42 MST";
public static final long BUILD_UNIX_TIME = 1770086382841L;
public static final int DIRTY = 1;
private BuildConstants(){}
src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
+1
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@@ -287,6 +287,7 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
}
public void driveIntake(Translation2d leftStick){
// if (invert){
// Translation2d stick = new Translation2d(-leftStick.getX(), -leftStick.getY());
src/main/java/frc4388/robot/subsystems/swerve/SwerveDriveConstants.java
+6 -5
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@@ -31,6 +31,7 @@ import frc4388.utility.structs.Gains;
// No mans land
// Beware, there be dragons.
public final class SwerveDriveConstants {
public static final String CANBUS_NAME = "drivetrain";
public static final double MAX_ROT_SPEED = Math.PI * 2;
public static final double AUTO_MAX_ROT_SPEED = 1.5;
public static final double MIN_ROT_SPEED = 1.0;
@@ -79,7 +80,7 @@ public final class SwerveDriveConstants {
private static final class ModuleSpecificConstants { //2025
//Front Left
private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(-0.368896484375);
private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(0.49707+0.35);
private static final boolean FRONT_LEFT_DRIVE_MOTOR_INVERTED = false;
private static final boolean FRONT_LEFT_STEER_MOTOR_INVERTED = true;
private static final boolean FRONT_LEFT_ENCODER_INVERTED = false;
@@ -87,7 +88,7 @@ public final class SwerveDriveConstants {
private static final Distance FRONT_LEFT_YPOS = Inches.of(HALF_HEIGHT);
//Front Right
private static final Angle FRONT_RIGHT_ENCODER_OFFSET = Rotations.of(-0.011474609375);
private static final Angle FRONT_RIGHT_ENCODER_OFFSET = Rotations.of(0.465332+0.3);
private static final boolean FRONT_RIGHT_DRIVE_MOTOR_INVERTED = true;
private static final boolean FRONT_RIGHT_STEER_MOTOR_INVERTED = true;
private static final boolean FRONT_RIGHT_ENCODER_INVERTED = false;
@@ -95,7 +96,7 @@ public final class SwerveDriveConstants {
private static final Distance FRONT_RIGHT_YPOS = Inches.of(-HALF_HEIGHT);
//Back Left
private static final Angle BACK_LEFT_ENCODER_OFFSET = Rotations.of(0.333251953125+0.5);
private static final Angle BACK_LEFT_ENCODER_OFFSET = Rotations.of(0.023438);
private static final boolean BACK_LEFT_DRIVE_MOTOR_INVERTED = false;
private static final boolean BACK_LEFT_STEER_MOTOR_INVERTED = true;
private static final boolean BACK_LEFT_ENCODER_INVERTED = false;
@@ -103,7 +104,7 @@ public final class SwerveDriveConstants {
private static final Distance BACK_LEFT_YPOS = Inches.of(HALF_HEIGHT);
//Back Right
private static final Angle BACK_RIGHT_ENCODER_OFFSET = Rotations.of(0.4306640625+0.5);
private static final Angle BACK_RIGHT_ENCODER_OFFSET = Rotations.of(0.029541+0.05);
private static final boolean BACK_RIGHT_DRIVE_MOTOR_INVERTED = false;
private static final boolean BACK_RIGHT_STEER_MOTOR_INVERTED = true;
private static final boolean BACK_RIGHT_ENCODER_INVERTED = false;
@@ -208,7 +209,7 @@ public final class SwerveDriveConstants {
}
public static final SwerveDrivetrainConstants DrivetrainConstants = new SwerveDrivetrainConstants()
.withPigeon2Id(IDs.DRIVE_PIGEON.id);
.withPigeon2Id(IDs.DRIVE_PIGEON.id).withCANBusName(CANBUS_NAME);
private static final SwerveModuleConstantsFactory<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> ConstantCreator =
new SwerveModuleConstantsFactory<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>() // holy verbosity batman.