Team4388/RiseOfRidgebotics2020
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Merge branch 'master' of https://github.com/Team4388/RiseOfRidgebotics2020

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This commit is contained in:
Aarav Shah
2020-02-27 20:07:41 -07:00
parent b8f36a0c16 70a23eab1f
commit 08b8797152
10 changed files with 224 additions and 110 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+40 -8
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@@ -21,12 +21,15 @@ 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.ParallelCommandGroup;
import edu.wpi.first.wpilibj2.command.RamseteCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.commands.DrivePositionMPAux;
import frc4388.robot.commands.DriveStraightAtVelocityPID;
import frc4388.robot.commands.DriveWithJoystick;
import frc4388.robot.commands.RunClimberWithTriggers;
import frc4388.robot.commands.RunExtenderOutIn;
@@ -39,9 +42,12 @@ import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.Climber;
import frc4388.robot.commands.RunLevelerWithJoystick;
import frc4388.robot.commands.TrackTarget;
import frc4388.robot.commands.TurnDegrees;
import frc4388.robot.commands.Wait;
import frc4388.robot.commands.storageOutake;
import frc4388.robot.subsystems.Camera;
import frc4388.robot.subsystems.Leveler;
import frc4388.robot.subsystems.Pneumatics;
import frc4388.robot.subsystems.Storage;
import frc4388.utility.controller.IHandController;
import frc4388.utility.controller.XboxController;
@@ -56,6 +62,7 @@ import frc4388.utility.controller.XboxController;
public class RobotContainer {
/* Subsystems */
private final Drive m_robotDrive = new Drive();
private final Pneumatics m_robotPneumatics = new Pneumatics();
private final LED m_robotLED = new LED();
private final Intake m_robotIntake = new Intake();
private final Shooter m_robotShooter = new Shooter();
@@ -75,6 +82,10 @@ public class RobotContainer {
* The container for the robot. Contains subsystems, OI devices, and commands.
*/
public RobotContainer() {
/* Passing Drive and Pneumatics Subsystems */
m_robotPneumatics.passRequiredSubsystem(m_robotDrive);
m_robotDrive.passRequiredSubsystem(m_robotPneumatics);
configureButtonBindings();
/* Default Commands */
@@ -103,11 +114,11 @@ public class RobotContainer {
/* Test Buttons */
// A driver test button
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.whenPressed(new InstantCommand());
.whenPressed(new TurnDegrees(90, m_robotDrive));
// B driver test button
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
.whenPressed(new InstantCommand());
.whenPressed(new DriveStraightAtVelocityPID(m_robotDrive, 6000));
// Y driver test button
new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
@@ -120,11 +131,11 @@ public class RobotContainer {
/* Driver Buttons */
// sets solenoids into high gear
new JoystickButton(getDriverJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(false), m_robotDrive));
.whenPressed(new InstantCommand(() -> m_robotPneumatics.setShiftState(false), m_robotDrive));
// sets solenoids into low gear
new JoystickButton(getDriverJoystick(), XboxController.LEFT_BUMPER_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(true), m_robotDrive));
.whenPressed(new InstantCommand(() -> m_robotPneumatics.setShiftState(true), m_robotDrive));
/* Operator Buttons */
//TODO: Shooter Buttons
@@ -175,11 +186,32 @@ public class RobotContainer {
RamseteCommand ramseteCommand = getRamseteCommand(trajectory);
// Run path following command, then stop at the end.
//return ramseteCommand.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//Runs an Autonomous command group that would shoot our preloaded balls, pick up 3 more from the trench, and shoot those
//This assumes that we are positioned against the right wall with our shooter facing the target.
return new SequentialCommandGroup(new Wait(2, m_robotDrive),
//add aim command
//add shooter command
new DrivePositionMPAux(m_robotDrive, 12.0, 10.0, 3, 120.0),
new ParallelCommandGroup(
new StorageIntakeGroup(m_robotIntake, m_robotStorage),
new DrivePositionMPAux(m_robotDrive, 12.0, 10.0, 3, 36.0)),
new ParallelCommandGroup(
new StorageIntakeGroup(m_robotIntake, m_robotStorage),
new DrivePositionMPAux(m_robotDrive, 12.0, 10.0, 3, 36.0)),
new StorageIntakeGroup(m_robotIntake, m_robotStorage),
//add aim command
//add shooter command
//Below this would be the picking up additional balls outside of those in the trench directly behind us
// return new InstantCommand();
return new DrivePositionMPAux(m_robotDrive, 500.0, 12.0, 2, 60.0, 0.0);
new TurnDegrees(-150, m_robotDrive),
new DrivePositionMPAux(m_robotDrive, 12.0, 10.0, 3, 96.0),
new StorageIntakeGroup(m_robotIntake, m_robotStorage),
new TurnDegrees(75, m_robotDrive),
new DrivePositionMPAux(m_robotDrive, 12.0, 10.0, 3, 18.0),
new TurnDegrees(-45, m_robotDrive),
new DrivePositionMPAux(m_robotDrive, 12.0, 10.0, 3, 6.0));
}
TrajectoryConfig getTrajectoryConfig() {
return new TrajectoryConfig(
DriveConstants.MAX_SPEED_METERS_PER_SECOND,
@@ -231,7 +263,7 @@ public class RobotContainer {
* @param state the gearing of the gearbox (true is high, false is low)
*/
public void setDriveGearState(boolean state) {
m_robotDrive.setShiftState(state);
m_robotPneumatics.setShiftState(state);
}
/**