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working slalom 9s run, working drivestraightatvelocity (needs some work)

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This commit is contained in:
Aarav Shah
2021-03-27 12:00:20 -06:00
parent c4132c16be
commit 1b98d93cf9
27 changed files with 45 additions and 46 deletions
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src/main/java/frc4388/robot/Constants.java
+1 -1
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@@ -36,7 +36,7 @@ public final class Constants {
public static final boolean isRightMotorInverted = true;
public static final boolean isLeftMotorInverted = false;
public static final boolean isRightArcadeInverted = false;
public static final boolean isAuxPIDInverted = true;
public static final boolean isAuxPIDInverted = false;
/* Drive Configuration */
public static final int DRIVE_TIMEOUT_MS = 30; // Use for all motor config
src/main/java/frc4388/robot/RobotContainer.java
+6 -6
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@@ -195,14 +195,14 @@ public class RobotContainer {
/* Test Buttons */
// A driver test button
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.whenPressed(new DriveStraightAtVelocityPID(m_robotDrive, 1000));
.whileHeld(new DriveStraightAtVelocityPID(m_robotDrive, 5000));
// B driver test button
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
.whenPressed(new TurnDegrees(m_robotDrive, 45));
.whileHeld(new RunCommand(() -> m_robotDrive.runDriveVelocityPID(2000, 45), m_robotDrive));
// Y driver test button
new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
.whenPressed(new Wait(m_robotDrive, 0, 0));
.whenPressed(new InstantCommand(() -> m_robotDrive.runTurningPID(1000), m_robotDrive));
// X driver test button
new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
@@ -403,14 +403,14 @@ public class RobotContainer {
//return m_driveOffLineBackward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return m_fiveBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return m_tenBallAutoMiddle.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
//return m_slalom.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
return m_barrelStart.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
return m_slalom.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
//return m_barrelStart.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
} catch (Exception e) {
System.err.println("ERROR");
}
return new InstantCommand();
return new InstantCommand();
}
TrajectoryConfig getTrajectoryConfig() {
return new TrajectoryConfig(
src/main/java/frc4388/robot/commands/drive/DriveStraightAtVelocityPID.java
+1 -1
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@@ -29,7 +29,7 @@ public class DriveStraightAtVelocityPID extends CommandBase {
// Called when the command is initially scheduled.
@Override
public void initialize() {
m_targetGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN);
m_targetGyro = (m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN));
}
// Called every time the scheduler runs while the command is scheduled.
src/main/java/frc4388/robot/commands/drive/GotoCoordinatesRobotRelative.java
+1 -1
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@@ -46,7 +46,7 @@ public class GotoCoordinatesRobotRelative extends SequentialCommandGroup {
addCommands( new TurnDegrees(m_drive, m_currentAngle),
new Wait(m_drive, 0, 0),
new DriveStraightToPositionPID(m_drive, m_pneumatics, m_hypotDist),
new TurnDegrees(m_drive, m_endAngle - m_currentAngle));
new TurnDegrees(m_drive, (m_endAngle - m_currentAngle) % 360));
}
public GotoCoordinatesRobotRelative(Drive subsystem, Pneumatics subsystem2, double xTarget, double yTarget) {
src/main/java/frc4388/robot/subsystems/Drive.java
+2 -2
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@@ -412,7 +412,7 @@ public class Drive extends SubsystemBase {
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
m_rightFrontMotor.set(TalonFXControlMode.Velocity, targetVel, DemandType.AuxPID, targetGyro);
m_rightFrontMotor.set(TalonFXControlMode.Velocity, targetVel, DemandType.AuxPID, targetGyro);
m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
m_leftBackMotor.follow(m_leftFrontMotor);
m_rightBackMotor.follow(m_rightFrontMotor);
@@ -437,7 +437,7 @@ public class Drive extends SubsystemBase {
m_rightBackMotor.follow(m_rightFrontMotor);
m_driveTrain.feedWatchdog();
}
/**