Team4388/RiseOfRidgebotics2020
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Added Mystery Feature

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Press Y on the operator controller and see what happens...
This commit is contained in:
Elijah Price
2020-02-09 18:33:27 -07:00
parent 68a39f8eca
commit 3e4942f893
5 changed files with 73 additions and 15 deletions
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src/main/deploy/HesAPirate.chrp
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src/main/java/frc4388/robot/RobotContainer.java
+3
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@@ -97,6 +97,9 @@ public class RobotContainer {
new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotDrive.resetGyroYaw(), m_robotDrive));
new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotDrive.playSong("HesAPirate")));
//new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
// .whenPressed(new RunCommand(() -> m_robotDrive.runMotionMagicPID(5000, 0), m_robotDrive));
// interrupts any running command
src/main/java/frc4388/robot/subsystems/Drive.java
+18
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@@ -17,6 +17,7 @@ import com.ctre.phoenix.motorcontrol.SensorTerm;
import com.ctre.phoenix.motorcontrol.StatusFrame;
import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.music.Orchestra;
import com.ctre.phoenix.sensors.PigeonIMU;
import com.ctre.phoenix.sensors.PigeonIMU_StatusFrame;
@@ -40,6 +41,7 @@ public class Drive extends SubsystemBase {
public WPI_TalonFX m_leftBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_BACK_CAN_ID);
public WPI_TalonFX m_rightBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_BACK_CAN_ID);
public static PigeonIMU m_pigeon = new PigeonIMU(DriveConstants.PIGEON_ID);
public Orchestra m_Orchestra = new Orchestra();
public DifferentialDrive m_driveTrain = new DifferentialDrive(m_leftFrontMotor, m_rightFrontMotor);
@@ -221,6 +223,12 @@ public class Drive extends SubsystemBase {
* true means talon's local output is PID0 - PID1, and other side Talon is PID0 + PID1
*/
m_rightFrontMotor.configAuxPIDPolarity(false, DriveConstants.DRIVE_TIMEOUT_MS);
m_Orchestra.addInstrument(m_leftBackMotor);
m_Orchestra.addInstrument(m_leftFrontMotor);
m_Orchestra.addInstrument(m_rightBackMotor);
m_Orchestra.addInstrument(m_rightFrontMotor);
}
@Override
@@ -414,4 +422,14 @@ public class Drive extends SubsystemBase {
m_pigeon.setYaw(0);
m_pigeon.setAccumZAngle(0);
}
/**
* Plays Music!
* @param song The name of the song to be played
*/
public void playSong(String song) {
String toPlay = song + ".chrp";
m_Orchestra.loadMusic(toPlay);
m_Orchestra.play();
}
}
vendordeps/Phoenix.json
+15 -15
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@@ -1,7 +1,7 @@
{
"fileName": "Phoenix.json",
"name": "CTRE-Phoenix",
"version": "5.17.4",
"version": "5.18.1",
"uuid": "ab676553-b602-441f-a38d-f1296eff6537",
"mavenUrls": [
"http://devsite.ctr-electronics.com/maven/release/"
@@ -11,19 +11,19 @@
{
"groupId": "com.ctre.phoenix",
"artifactId": "api-java",
"version": "5.17.4"
"version": "5.18.1"
},
{
"groupId": "com.ctre.phoenix",
"artifactId": "wpiapi-java",
"version": "5.17.4"
"version": "5.18.1"
}
],
"jniDependencies": [
{
"groupId": "com.ctre.phoenix",
"artifactId": "cci",
"version": "5.17.4",
"version": "5.18.1",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@@ -35,7 +35,7 @@
{
"groupId": "com.ctre.phoenix",
"artifactId": "diagnostics",
"version": "5.17.4",
"version": "5.18.1",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@@ -47,7 +47,7 @@
{
"groupId": "com.ctre.phoenix",
"artifactId": "canutils",
"version": "5.17.4",
"version": "5.18.1",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@@ -58,7 +58,7 @@
{
"groupId": "com.ctre.phoenix",
"artifactId": "platform-stub",
"version": "5.17.4",
"version": "5.18.1",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@@ -69,7 +69,7 @@
{
"groupId": "com.ctre.phoenix",
"artifactId": "core",
"version": "5.17.4",
"version": "5.18.1",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@@ -83,7 +83,7 @@
{
"groupId": "com.ctre.phoenix",
"artifactId": "wpiapi-cpp",
"version": "5.17.4",
"version": "5.18.1",
"libName": "CTRE_Phoenix_WPI",
"headerClassifier": "headers",
"sharedLibrary": false,
@@ -97,7 +97,7 @@
{
"groupId": "com.ctre.phoenix",
"artifactId": "api-cpp",
"version": "5.17.4",
"version": "5.18.1",
"libName": "CTRE_Phoenix",
"headerClassifier": "headers",
"sharedLibrary": false,
@@ -111,7 +111,7 @@
{
"groupId": "com.ctre.phoenix",
"artifactId": "cci",
"version": "5.17.4",
"version": "5.18.1",
"libName": "CTRE_PhoenixCCI",
"headerClassifier": "headers",
"sharedLibrary": false,
@@ -125,7 +125,7 @@
{
"groupId": "com.ctre.phoenix",
"artifactId": "diagnostics",
"version": "5.17.4",
"version": "5.18.1",
"libName": "CTRE_PhoenixDiagnostics",
"headerClassifier": "headers",
"sharedLibrary": false,
@@ -139,7 +139,7 @@
{
"groupId": "com.ctre.phoenix",
"artifactId": "canutils",
"version": "5.17.4",
"version": "5.18.1",
"libName": "CTRE_PhoenixCanutils",
"headerClassifier": "headers",
"sharedLibrary": false,
@@ -152,7 +152,7 @@
{
"groupId": "com.ctre.phoenix",
"artifactId": "platform-stub",
"version": "5.17.4",
"version": "5.18.1",
"libName": "CTRE_PhoenixPlatform",
"headerClassifier": "headers",
"sharedLibrary": false,
@@ -165,7 +165,7 @@
{
"groupId": "com.ctre.phoenix",
"artifactId": "core",
"version": "5.17.4",
"version": "5.18.1",
"libName": "CTRE_PhoenixCore",
"headerClassifier": "headers",
"sharedLibrary": false,
vendordeps/WPILibOldCommands.json
+37
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@@ -0,0 +1,37 @@
{
"fileName": "WPILibOldCommands.json",
"name": "WPILib-Old-Commands",
"version": "2020.0.0",
"uuid": "b066afc2-5c18-43c4-b758-43381fcb275e",
"mavenUrls": [],
"jsonUrl": "",
"javaDependencies": [
{
"groupId": "edu.wpi.first.wpilibOldCommands",
"artifactId": "wpilibOldCommands-java",
"version": "wpilib"
}
],
"jniDependencies": [],
"cppDependencies": [
{
"groupId": "edu.wpi.first.wpilibOldCommands",
"artifactId": "wpilibOldCommands-cpp",
"version": "wpilib",
"libName": "wpilibOldCommands",
"headerClassifier": "headers",
"sourcesClassifier": "sources",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"linuxathena",
"linuxraspbian",
"linuxaarch64bionic",
"windowsx86-64",
"windowsx86",
"linuxx86-64",
"osxx86-64"
]
}
]
}