mirror of
https://github.com/Team4388/RiseOfRidgebotics2020.git
synced 2026-06-09 00:38:00 -06:00
Merge pull request #30 from Team4388/add-elijahs-mystery-feature
Add Drive Songs
This commit is contained in:
ryan123rudder
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@@ -16,6 +16,7 @@ import edu.wpi.first.wpilibj2.command.RunCommand;
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import edu.wpi.first.wpilibj2.command.button.JoystickButton;
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import frc4388.robot.Constants.*;
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import frc4388.robot.commands.DriveStraightAtVelocityPID;
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import frc4388.robot.commands.DriveWithJoystick;
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import frc4388.robot.commands.DriveStraightToPositionMM;
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import frc4388.robot.commands.DriveStraightToPositionPID;
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import frc4388.robot.commands.DriveWithJoystickUsingDeadAssistPID;
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@@ -119,6 +120,7 @@ public class RobotContainer {
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new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
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.whenPressed(new RunCommand(() -> m_robotDrive.runTurningPID(45), m_robotDrive));
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// sets solenoids into high gear
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new JoystickButton(getDriverJoystick(), XboxController.START_BUTTON)
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.whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(true), m_robotDrive));
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@@ -0,0 +1,52 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package frc4388.robot.commands;
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import edu.wpi.first.wpilibj2.command.CommandBase;
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import frc4388.robot.subsystems.Drive;
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public class PlaySongDrive extends CommandBase {
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private Drive m_drive;
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/**
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* Creates a new PlaySongDrive.
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*/
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public PlaySongDrive(Drive subsystem) {
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// Use addRequirements() here to declare subsystem dependencies.
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m_drive = subsystem;
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addRequirements(m_drive);
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}
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// Called when the command is initially scheduled.
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@Override
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public void initialize() {
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m_drive.m_rightFrontMotor.set(0);
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m_drive.m_leftFrontMotor.set(0);
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m_drive.m_rightBackMotor.set(0);
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m_drive.m_leftBackMotor.set(0);
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}
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// Called every time the scheduler runs while the command is scheduled.
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@Override
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public void execute() {
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m_drive.playSong();
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//System.err.println("Playing " + m_drive.m_orchestra.isPlaying());
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//m_drive.m_driveTrain.feedWatchdog();
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}
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// Called once the command ends or is interrupted.
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@Override
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public void end(boolean interrupted) {
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}
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// Returns true when the command should end.
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@Override
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public boolean isFinished() {
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return false;
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}
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}
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@@ -7,6 +7,16 @@
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package frc4388.robot.subsystems;
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import java.io.File;
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import java.io.FilenameFilter;
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import java.io.IOException;
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import java.nio.file.Files;
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import java.nio.file.Path;
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import java.nio.file.Paths;
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import java.util.ArrayList;
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import java.util.List;
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import java.util.stream.Collectors;
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import java.util.stream.Stream;
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import com.ctre.phoenix.motorcontrol.ControlMode;
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import com.ctre.phoenix.motorcontrol.DemandType;
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import com.ctre.phoenix.motorcontrol.FeedbackDevice;
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@@ -18,11 +28,15 @@ import com.ctre.phoenix.motorcontrol.SensorTerm;
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import com.ctre.phoenix.motorcontrol.StatusFrame;
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import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
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import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
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import com.ctre.phoenix.music.Orchestra;
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import com.ctre.phoenix.sensors.PigeonIMU;
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import com.ctre.phoenix.sensors.PigeonIMU_StatusFrame;
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import edu.wpi.first.wpilibj.Filesystem;
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import edu.wpi.first.wpilibj.DoubleSolenoid;
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import edu.wpi.first.wpilibj.drive.DifferentialDrive;
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import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
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import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
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import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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@@ -42,6 +56,7 @@ public class Drive extends SubsystemBase {
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public WPI_TalonFX m_leftBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_BACK_CAN_ID);
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public WPI_TalonFX m_rightBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_BACK_CAN_ID);
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public static PigeonIMU m_pigeon = new PigeonIMU(DriveConstants.PIGEON_ID);
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public Orchestra m_orchestra = new Orchestra();
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public DifferentialDrive m_driveTrain = new DifferentialDrive(m_leftFrontMotor, m_rightFrontMotor);
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@@ -51,6 +66,8 @@ public class Drive extends SubsystemBase {
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public static Gains m_gainsTurning = DriveConstants.DRIVE_TURNING_GAINS;
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public static Gains m_gainsMotionMagic = DriveConstants.DRIVE_MOTION_MAGIC_GAINS;
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SendableChooser<String> m_songChooser = new SendableChooser<String>();
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public DoubleSolenoid speedShift;
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/**
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@@ -80,7 +97,7 @@ public class Drive extends SubsystemBase {
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/* flip input so forward becomes back, etc */
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m_leftFrontMotor.setInverted(false);
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m_rightFrontMotor.setInverted(true);
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m_driveTrain.setRightSideInverted(false);
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//m_driveTrain.setRightSideInverted(false);
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m_leftBackMotor.setInverted(InvertType.FollowMaster);
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m_rightBackMotor.setInverted(InvertType.FollowMaster);
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@@ -235,8 +252,22 @@ public class Drive extends SubsystemBase {
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* true means talon's local output is PID0 - PID1, and other side Talon is PID0 + PID1
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*/
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m_rightFrontMotor.configAuxPIDPolarity(false, DriveConstants.DRIVE_TIMEOUT_MS);
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m_orchestra.addInstrument(m_leftBackMotor);
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m_orchestra.addInstrument(m_rightFrontMotor);
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m_orchestra.addInstrument(m_rightBackMotor);
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m_orchestra.addInstrument(m_leftFrontMotor);
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File songsDir = new File(Filesystem.getDeployDirectory().getAbsolutePath() + "/songs");
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System.err.println(songsDir.getPath());
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String[] songsStrings = songsDir.list();
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for (String songString : songsStrings){
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m_songChooser.addOption(songString, songsDir.getAbsolutePath() + "/" + songString);
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}
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Shuffleboard.getTab("Songs").add(m_songChooser);
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}
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String currentSong = "";
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@Override
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public void periodic() {
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try {
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@@ -264,6 +295,11 @@ public class Drive extends SubsystemBase {
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SmartDashboard.putNumber("PID 0 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_PRIMARY));
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SmartDashboard.putNumber("PID 1 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN));
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if (currentSong != m_songChooser.getSelected()){
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currentSong = m_songChooser.getSelected();
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selectSong(currentSong);
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System.err.println(currentSong);
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}
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} catch (Exception e) {
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System.err.println("Error in the Drive Subsystem");
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//e.printStackTrace(System.err);
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@@ -333,7 +369,7 @@ public class Drive extends SubsystemBase {
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* using the Differential Drive class to manage the two inputs
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*/
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public void driveWithInput(double move, double steer){
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m_driveTrain.arcadeDrive(move, steer);
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//m_driveTrain.arcadeDrive(move, steer);
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}
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/**
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@@ -362,7 +398,7 @@ public class Drive extends SubsystemBase {
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m_rightFrontMotor.set(TalonFXControlMode.Position, targetPos, DemandType.AuxPID, targetGyro);
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m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
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m_driveTrain.feedWatchdog();
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//m_driveTrain.feedWatchdog();
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}
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/**
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@@ -376,7 +412,7 @@ public class Drive extends SubsystemBase {
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m_rightFrontMotor.set(TalonFXControlMode.Velocity, targetVel, DemandType.AuxPID, targetGyro);
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m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
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m_driveTrain.feedWatchdog();
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//m_driveTrain.feedWatchdog();
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}
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/**
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@@ -392,6 +428,7 @@ public class Drive extends SubsystemBase {
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m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
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m_driveTrain.feedWatchdog();
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}
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/**
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@@ -442,6 +479,21 @@ public class Drive extends SubsystemBase {
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m_pigeon.setAccumZAngle(0);
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}
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/**
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* Plays Music!
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*/
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public void playSong() {
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m_orchestra.play();
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}
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/**
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* Selects a song to play!
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* @param song The name of the song to be played
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*/
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public void selectSong(String song) {
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SmartDashboard.putString("Selected Song", song);
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m_orchestra.loadMusic(song);
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}
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/**
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* Set to high or low gear based on boolean state, true = high, false = low
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* @param state Chooses between high or low gear
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@@ -59,9 +59,9 @@ public class Storage extends SubsystemBase {
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final boolean beam_on = m_beamSensors[0].get();
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if (beam_on) {
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System.err.println("Beam on");
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//System.err.println("Beam on");
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} else {
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System.err.println("Beam off");
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//System.err.println("Beam off");
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}
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}
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+15
-15
@@ -1,7 +1,7 @@
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{
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"fileName": "Phoenix.json",
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"name": "CTRE-Phoenix",
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"version": "5.17.4",
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"version": "5.18.1",
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"uuid": "ab676553-b602-441f-a38d-f1296eff6537",
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"mavenUrls": [
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"http://devsite.ctr-electronics.com/maven/release/"
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@@ -11,19 +11,19 @@
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{
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"groupId": "com.ctre.phoenix",
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"artifactId": "api-java",
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"version": "5.17.4"
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"version": "5.18.1"
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},
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{
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"groupId": "com.ctre.phoenix",
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"artifactId": "wpiapi-java",
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"version": "5.17.4"
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"version": "5.18.1"
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}
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],
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"jniDependencies": [
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{
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"groupId": "com.ctre.phoenix",
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"artifactId": "cci",
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"version": "5.17.4",
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"version": "5.18.1",
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"isJar": false,
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"skipInvalidPlatforms": true,
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"validPlatforms": [
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@@ -35,7 +35,7 @@
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{
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"groupId": "com.ctre.phoenix",
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"artifactId": "diagnostics",
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"version": "5.17.4",
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"version": "5.18.1",
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"isJar": false,
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"skipInvalidPlatforms": true,
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"validPlatforms": [
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@@ -47,7 +47,7 @@
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{
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"groupId": "com.ctre.phoenix",
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"artifactId": "canutils",
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"version": "5.17.4",
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"version": "5.18.1",
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"isJar": false,
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"skipInvalidPlatforms": true,
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"validPlatforms": [
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@@ -58,7 +58,7 @@
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{
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"groupId": "com.ctre.phoenix",
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"artifactId": "platform-stub",
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"version": "5.17.4",
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"version": "5.18.1",
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"isJar": false,
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"skipInvalidPlatforms": true,
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"validPlatforms": [
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@@ -69,7 +69,7 @@
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{
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"groupId": "com.ctre.phoenix",
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"artifactId": "core",
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"version": "5.17.4",
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"version": "5.18.1",
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"isJar": false,
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"skipInvalidPlatforms": true,
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"validPlatforms": [
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@@ -83,7 +83,7 @@
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{
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"groupId": "com.ctre.phoenix",
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"artifactId": "wpiapi-cpp",
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"version": "5.17.4",
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"version": "5.18.1",
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"libName": "CTRE_Phoenix_WPI",
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"headerClassifier": "headers",
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"sharedLibrary": false,
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@@ -97,7 +97,7 @@
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{
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"groupId": "com.ctre.phoenix",
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"artifactId": "api-cpp",
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"version": "5.17.4",
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"version": "5.18.1",
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"libName": "CTRE_Phoenix",
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"headerClassifier": "headers",
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"sharedLibrary": false,
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@@ -111,7 +111,7 @@
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{
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"groupId": "com.ctre.phoenix",
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"artifactId": "cci",
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"version": "5.17.4",
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"version": "5.18.1",
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"libName": "CTRE_PhoenixCCI",
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"headerClassifier": "headers",
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"sharedLibrary": false,
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@@ -125,7 +125,7 @@
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{
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"groupId": "com.ctre.phoenix",
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"artifactId": "diagnostics",
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"version": "5.17.4",
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"version": "5.18.1",
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"libName": "CTRE_PhoenixDiagnostics",
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"headerClassifier": "headers",
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"sharedLibrary": false,
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@@ -139,7 +139,7 @@
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{
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"groupId": "com.ctre.phoenix",
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"artifactId": "canutils",
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"version": "5.17.4",
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"version": "5.18.1",
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"libName": "CTRE_PhoenixCanutils",
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"headerClassifier": "headers",
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"sharedLibrary": false,
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@@ -152,7 +152,7 @@
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{
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"groupId": "com.ctre.phoenix",
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"artifactId": "platform-stub",
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"version": "5.17.4",
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"version": "5.18.1",
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"libName": "CTRE_PhoenixPlatform",
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"headerClassifier": "headers",
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"sharedLibrary": false,
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@@ -165,7 +165,7 @@
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{
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"groupId": "com.ctre.phoenix",
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"artifactId": "core",
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"version": "5.17.4",
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"version": "5.18.1",
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"libName": "CTRE_PhoenixCore",
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"headerClassifier": "headers",
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"sharedLibrary": false,
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@@ -0,0 +1,37 @@
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{
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"fileName": "WPILibOldCommands.json",
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"name": "WPILib-Old-Commands",
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"version": "2020.0.0",
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"uuid": "b066afc2-5c18-43c4-b758-43381fcb275e",
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"mavenUrls": [],
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"jsonUrl": "",
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"javaDependencies": [
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{
|
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"groupId": "edu.wpi.first.wpilibOldCommands",
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"artifactId": "wpilibOldCommands-java",
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"version": "wpilib"
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||||
}
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||||
],
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"jniDependencies": [],
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"cppDependencies": [
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||||
{
|
||||
"groupId": "edu.wpi.first.wpilibOldCommands",
|
||||
"artifactId": "wpilibOldCommands-cpp",
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||||
"version": "wpilib",
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||||
"libName": "wpilibOldCommands",
|
||||
"headerClassifier": "headers",
|
||||
"sourcesClassifier": "sources",
|
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"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
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"binaryPlatforms": [
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||||
"linuxathena",
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||||
"linuxraspbian",
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"linuxaarch64bionic",
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||||
"windowsx86-64",
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||||
"windowsx86",
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||||
"linuxx86-64",
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"osxx86-64"
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
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