RiseOfRidgebotics2020/src/main/java/frc4388/robot/RobotContainer.java

/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

package frc4388.robot;

import java.util.List;

import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.NeutralMode;

import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.command.WaitCommand;
import edu.wpi.first.wpilibj.controller.RamseteController;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.trajectory.Trajectory;
import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RamseteCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;

import frc4388.robot.Constants.*;
import frc4388.robot.commands.DriveStraightAtVelocityPID;
import frc4388.robot.commands.DriveWithJoystick;
import frc4388.robot.commands.DriveStraightToPositionMM;
import frc4388.robot.commands.DriveStraightToPositionPID;
import frc4388.robot.commands.DriveWithJoystick;
import frc4388.robot.commands.DriveWithJoystickUsingDeadAssistPID;
import frc4388.robot.commands.DriveWithJoystickDriveStraight;
import frc4388.robot.commands.RunClimberWithTriggers;
import frc4388.robot.commands.RunExtenderOutIn;
import frc4388.robot.commands.RunIntakeWithTriggers;
import frc4388.robot.commands.ShooterVelocityControlPID;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Intake;
import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.Climber;
import frc4388.robot.commands.RunLevelerWithJoystick;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Intake;
import frc4388.robot.subsystems.LED;
import frc4388.robot.commands.TrackTarget;
import frc4388.robot.commands.Wait;
import frc4388.robot.subsystems.Camera;
import frc4388.robot.subsystems.Leveler;
import frc4388.robot.subsystems.Storage;
import frc4388.utility.LEDPatterns;
import frc4388.utility.controller.IHandController;
import frc4388.utility.controller.XboxController;

/**
 * This class is where the bulk of the robot should be declared. Since
 * Command-based is a "declarative" paradigm, very little robot logic should
 * actually be handled in the {@link Robot} periodic methods (other than the
 * scheduler calls). Instead, the structure of the robot (including subsystems,
 * commands, and button mappings) should be declared here.
 */
public class RobotContainer {
    /* Subsystems */
    private final Drive m_robotDrive = new Drive();
    private final LED m_robotLED = new LED();
    private final Intake m_robotIntake = new Intake();
    private final Shooter m_robotShooter = new Shooter();
    private final Climber m_robotClimber = new Climber();
    private final Leveler m_robotLeveler = new Leveler();
    private final Storage m_robotStorage = new Storage();

    /* Cameras */
    private final Camera m_robotCameraFront = new Camera("front",0,160,120,40);
    private final Camera m_robotCameraBack = new Camera("back",1,160,120,40);

    /* Controllers */
    private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
    private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);

    /**
     * The container for the robot.  Contains subsystems, OI devices, and commands.
     */
    public RobotContainer() {
        configureButtonBindings();

        /* Default Commands */
        // drives the robot with a two-axis input from the driver controller
        m_robotDrive.setDefaultCommand(new DriveWithJoystickUsingDeadAssistPID(m_robotDrive, getDriverController()));
        // drives intake with input from triggers on the opperator controller
        m_robotIntake.setDefaultCommand(new RunIntakeWithTriggers(m_robotIntake, getOperatorController()));
        // drives climber with input from triggers on the opperator controller
        m_robotClimber.setDefaultCommand(new RunClimberWithTriggers(m_robotClimber, getDriverController()));
        // continually sends updates to the Blinkin LED controller to keep the lights on
        m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
        // runs the drum shooter in idle mode

        m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runShooterWithInput(m_operatorXbox.getLeftXAxis()), m_robotShooter));
        // drives the leveler with an axis input from the driver controller
    //    m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController()));
        // runs storage motor at 50 percent
    //    m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
    }

    /**
    * Use this method to define your button->command mappings.  Buttons can be created by
    * instantiating a {@link GenericHID} or one of its subclasses ({@link
    * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
    * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
    */
    private void configureButtonBindings() {
        /* Driver Buttons */
        new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
            .whenPressed(new RunCommand(() -> m_robotDrive.runTurningPID(0), m_robotDrive));

        /* Operator Buttons */
        // activates "Lit Mode"
        //new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
        //    .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
        //    .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
      
        new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
            .whileHeld(new ShooterVelocityControlPID(m_robotShooter, 4000));
            
        new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON)
            .whileHeld(new TrackTarget(m_robotShooter));
        
        new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON)
            .whenPressed(new RunExtenderOutIn(m_robotIntake));
      
        /* PID Test Command */
        // runs velocity PID while driving straight
        new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
            .whenPressed(new DriveStraightAtVelocityPID(m_robotDrive, 500))
            .whenReleased(new InstantCommand(() -> System.out.print("Gamer"), m_robotDrive));
        
        //new JoystickButton(getDriverJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
        //    .whileHeld(new DriveWithJoystickAuxPID(m_robotDrive, getDriverController()));
      
        // resets the yaw of the pigeon
        new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
            .whileHeld(new RunCommand(() -> m_robotDrive.tankDriveVelocity(9, 3), m_robotDrive));
      
        // turn 45 degrees
        new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
            .whenPressed(new RunCommand(() -> m_robotDrive.driveWithInputAux(0.2, 0), m_robotDrive));


        // sets solenoids into high gear
        new JoystickButton(getDriverJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
            .whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(true), m_robotDrive));

        // sets solenoids into low gear
        new JoystickButton(getDriverJoystick(), XboxController.LEFT_BUMPER_BUTTON)
            .whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(false), m_robotDrive));
        
        // interrupts any running command
        new JoystickButton(getDriverJoystick(), XboxController.LEFT_JOYSTICK_BUTTON)
            .whenPressed(new Wait(3, m_robotDrive));

        // safety for climber and leveler
        new JoystickButton(getOperatorJoystick(), XboxController.BACK_BUTTON)
            .whenPressed(new InstantCommand(() -> m_robotClimber.setSafetyPressed(), m_robotClimber))
            .whenReleased(new InstantCommand(() -> m_robotClimber.setSafetyNotPressed(), m_robotClimber));

        /* Storage Neo PID Test */
        new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
            .whileHeld(new TrackTarget(m_robotShooter));
    }
       
    /**
     * Sets Motors to a NeutralMode.
     * @param mode NeutralMode to set motors to
     */
    public void setDriveNeutralMode(NeutralMode mode) {
        m_robotDrive.setDriveTrainNeutralMode(mode);
    }

    /**
     * Sets the gear of the drivetrain
     * @param state the gearing of the gearbox (true is high, false is low)
     */
    public void setDriveGearState(boolean state) {
        m_robotDrive.setShiftState(state);
    }

    public void configDriveTrainSensors(FeedbackDevice type) {
        m_robotDrive.configMotorSensor(type);
    } 

    public void resetOdometry() {
        m_robotDrive.resetGyroAngles();
        m_robotDrive.setOdometry(new Pose2d());
    }

    /**
     * Use this to pass the autonomous command to the main {@link Robot} class.
     *
     * @return the command to run in autonomous
     */
    public Command getAutonomousCommand() {

        // Create config for trajectory
        /*TrajectoryConfig config = new TrajectoryConfig( DriveConstants.MAX_SPEED_METERS_PER_SECOND,
                                                        DriveConstants.MAX_ACCELERATION_METERS_PER_SECOND_SQUARED)
                                                        // Add kinematics to ensure max speed is actually obeyed
                                                        .setKinematics(DriveConstants.kDriveKinematics);
        
        Trajectory exampleTrajectory = TrajectoryGenerator.generateTrajectory(
            // Start at the origin facing the +X direction
            new Pose2d(0, 0, new Rotation2d(0)),
            // Pass through these two interior waypoints, making an 's' curve path
            List.of(
                new Translation2d(10, 0)
            ),
            // End 3 meters straight ahead of where we started, facing forward
            new Pose2d(20, 20, new Rotation2d(0)),
            // Pass config
            config);
            // 10 = 20, 20 = 35, 30 = 53.5
            // (0,10) = (8,22)
        RamseteCommand ramseteCommand = new RamseteCommand(
            exampleTrajectory,
            m_robotDrive::getPose,
            new RamseteController(), 
            DriveConstants.kDriveKinematics,
            m_robotDrive::tankDriveVelocity,
            m_robotDrive);

        // Run path following command, then stop at the end.
        return ramseteCommand.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));*/
        return new InstantCommand();
    }

    /**
     * Used for analog inputs like triggers and axises.
     * @return IHandController interface for the Driver Controller.
     */
    public IHandController getDriverController() {
        return m_driverXbox;
    }
    
    /**
     * Used for analog inputs like triggers and axises.
     * @return The IHandController interface for the Operator Controller.
     */
    public IHandController getOperatorController()
    {
        return m_operatorXbox;
    }
    
    /**
     * Gets the {@link edu.wpi.first.wpilibj.GenericHID#GenericHID(int) Generic HID} for the Operator Xbox Controller.
     * Generic HIDs/Joysticks can be used to set up JoystickButtons.
     * @return The IHandController interface for the Operator Controller.
     */
    public Joystick getOperatorJoystick()
    {
        return m_operatorXbox.getJoyStick();
    }
    
    /**
     * Gets the {@link edu.wpi.first.wpilibj.GenericHID#GenericHID(int) Generic HID} for the Driver Xbox Controller.
     * Generic HIDs/Joysticks can be used to set up JoystickButtons.
     * @return The IHandController interface for the Driver Controller.
     */
    public Joystick getDriverJoystick()
    {
        return m_driverXbox.getJoyStick();
    }
}