Merge branch 'master' into add-climber

src/main/java/frc4388/robot/commands/DriveStraightAtVelocityPID.java

@@ -0,0 +1,53 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.Constants.DriveConstants;
+import frc4388.robot.subsystems.Drive;
+
+public class DriveStraightAtVelocityPID extends CommandBase {
+  Drive m_drive;
+  double m_targetVel;
+  double m_targetGyro;
+  /**
+   * Creates a new DriveStraightAtVelocityPID.
+   * @param subsystem The drive subsystem
+   * @param targetVel The target velocity for the motors in units
+   */
+  public DriveStraightAtVelocityPID(Drive subsystem, double targetVel) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    m_drive = subsystem;
+    m_targetVel = targetVel;
+    addRequirements(m_drive);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    m_targetGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN);
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    //System.err.println(m_drive.m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_TURN));
+    m_drive.runDriveStraightVelocityPID(-m_targetVel, m_targetGyro);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc4388/robot/commands/DriveStraightToPositionPID.java

@@ -0,0 +1,60 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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.commands;
+
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.Constants.DriveConstants;
+import frc4388.robot.subsystems.Drive;
+
+public class DriveStraightToPositionPID extends CommandBase {
+  Drive m_drive;
+  double m_targetPos;
+  double m_targetGyro;
+  
+  /**
+   * Creates a new DriveToDistancePID.
+   * @param subsystem drive subsystem
+   * @param targetPos distance to travel in inches
+   */
+  public DriveStraightToPositionPID(Drive subsystem, double targetPos) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    m_drive = subsystem;
+    m_targetPos = targetPos * DriveConstants.TICKS_PER_INCH;
+    addRequirements(m_drive);
+    SmartDashboard.putNumber("Distance Target Inches", targetPos);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    m_targetGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN);
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    //System.err.println(m_drive.m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_TURN));
+    m_drive.runDriveStraightPositionPID(m_targetPos, m_targetGyro);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    if (Math.abs(m_drive.m_leftFrontMotor.getActiveTrajectoryPosition() - m_targetPos) < 500){
+      return true;
+    } else {
+      return false;
+    }
+  }
+}

src/main/java/frc4388/robot/commands/DriveToDistanceMM.java

@@ -0,0 +1,60 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.Constants.DriveConstants;
+import frc4388.robot.subsystems.Drive;
+
+public class DriveToDistanceMM extends CommandBase {
+  Drive m_drive;
+  double m_distance;
+  double m_leftTarget;
+  double m_rightTarget;
+  
+  /**
+   * Creates a new DriveToDistancePID.
+   * @param subsystem drive subsystem
+   * @param distance distance to travel in inches
+   */
+  public DriveToDistanceMM(Drive subsystem, double distance) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    m_drive = subsystem;
+    m_distance = distance * DriveConstants.TICKS_PER_INCH;
+    addRequirements(m_drive);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    m_leftTarget = m_drive.m_leftFrontMotor.getActiveTrajectoryPosition() + m_distance;
+    m_rightTarget = -(m_drive.m_rightFrontMotor.getActiveTrajectoryPosition() + m_distance);
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    //m_drive.runMotionMagicPID(m_drive.m_leftFrontMotor, m_leftTarget);
+    //m_drive.runMotionMagicPID(m_drive.m_rightFrontMotor, m_rightTarget);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    if (Math.abs(m_drive.m_leftFrontMotor.getActiveTrajectoryPosition() - m_leftTarget) < 100){
+      return true;
+    } else {
+      return false;
+    }
+  }
+}

src/main/java/frc4388/robot/commands/DriveWithJoystick.java

@@ -16,7 +16,12 @@ public class DriveWithJoystick extends CommandBase {
   private IHandController m_controller;
 
   /**
-   * Creates a new DriveWithJoystick.
+   * Creates a new DriveWithJoystick to control the drivetrain with an Xbox controller.
+   * Applies a curved ramp to the input from the controllers to make the robot less "touchy".
+   * @param subsystem pass the Drive subsystem from {@link frc4388.robot.RobotContainer#RobotContainer() RobotContainer}
+   * @param controller pass the Driver {@link frc4388.utility.controller.IHandController#getClass() IHandController} using the
+   * {@link frc4388.robot.RobotContainer#getDriverJoystick() getDriverJoystick()} method in
+   * {@link frc4388.robot.RobotContainer#RobotContainer() RobotContainer}
    */
   public DriveWithJoystick(Drive subsystem, IHandController controller) {
     // Use addRequirements() here to declare subsystem dependencies.

src/main/java/frc4388/robot/commands/RunIntakeWithTriggers.java

@@ -16,9 +16,12 @@ public class RunIntakeWithTriggers extends CommandBase {
   private IHandController m_controller;
 
   /**
-   * Uses input from opperator triggers to control intake motor
-   * @param subsystem the intake subsystem
-   * @param controller the operator controller
+   * Uses input from opperator triggers to control intake motor.
+   * The right trigger will run the intake in and the left trigger will run it out.
+   * @param subsystem pass the Intake subsystem from {@link frc4388.robot.RobotContainer#RobotContainer() RobotContainer}
+   * @param controller pass the Operator {@link frc4388.utility.controller.IHandController#getClass() IHandController} using the
+   * {@link frc4388.robot.RobotContainer#getOperatorJoystick() getOperatorJoystick()} method in
+   * {@link frc4388.robot.RobotContainer#RobotContainer() RobotContainer}
    */
   public RunIntakeWithTriggers(Intake subsystem, IHandController controller) {
     // Use addRequirements() here to declare subsystem dependencies.
@@ -43,7 +46,7 @@ public class RunIntakeWithTriggers extends CommandBase {
         output = rightTrigger;
       }
       if (leftTrigger > rightTrigger) {
-        output = leftTrigger;
+        output = -leftTrigger;
       }
     } else {
       output = rightTrigger;

src/main/java/frc4388/robot/commands/RunLevelerWithJoystick.java

@@ -0,0 +1,53 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.subsystems.Leveler;
+import frc4388.utility.controller.IHandController;
+
+public class RunLevelerWithJoystick extends CommandBase {
+  private Leveler m_leveler;
+  private IHandController m_controller;
+
+  /**
+   * Creates a new RunLevelerWithJoystick to control the leveler with an Xbox controller.
+   * @param subsystem pass the Drive subsystem from {@link frc4388.robot.RobotContainer#RobotContainer() RobotContainer}
+   * @param controller pass the Driver {@link frc4388.utility.controller.IHandController#getClass() IHandController} using the
+   * {@link frc4388.robot.RobotContainer#getDriverJoystick() getDriverJoystick()} method in
+   * {@link frc4388.robot.RobotContainer#RobotContainer() RobotContainer}
+   */
+  public RunLevelerWithJoystick(Leveler subsystem, IHandController controller) {
+    m_leveler = subsystem;
+    m_controller = controller;
+    addRequirements(m_leveler);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    double input = m_controller.getLeftXAxis();
+    m_leveler.runLeveler(input);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}