Team4388/RiseOfRidgebotics2020
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hood turret and tracking working

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ryan123rudder
2020-02-29 18:42:37 -07:00
parent 7c9bdc030f
commit 493c4f69de
8 changed files with 184 additions and 35 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+18 -9
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@@ -16,22 +16,26 @@ import edu.wpi.first.wpilibj.controller.RamseteController;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.trajectory.Trajectory;
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.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.commands.CalibrateShooter;
import frc4388.robot.commands.DrivePositionMPAux;
import frc4388.robot.commands.DriveWithJoystick;
import frc4388.robot.commands.DriveStraightToPositionMM;
import frc4388.robot.commands.DriveStraightToPositionPID;
import frc4388.robot.commands.DriveWithJoystickUsingDeadAssistPID;
import frc4388.robot.commands.HoldTarget;
import frc4388.robot.commands.HoodPositionPID;
import frc4388.robot.commands.DriveWithJoystickDriveStraight;
import frc4388.robot.commands.RunClimberWithTriggers;
import frc4388.robot.commands.RunExtenderOutIn;
@@ -169,14 +173,18 @@ public class RobotContainer {
// safety for climber and leveler
new JoystickButton(getOperatorJoystick(), XboxController.BACK_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotClimber.setSafetyPressed(), m_robotClimber))
.whenReleased(new InstantCommand(() -> m_robotClimber.setSafetyNotPressed(), m_robotClimber));
//.whenPressed(new InstantCommand(() -> m_robotClimber.setSafetyPressed(), m_robotClimber))
//.whenReleased(new InstantCommand(() -> m_robotClimber.setSafetyNotPressed(), m_robotClimber));
.whileHeld(new RunCommand(() -> SmartDashboard.putNumber("Angle Current", m_robotShooter.m_angleAdjustMotor.getOutputCurrent())))
.whileHeld(new RunCommand(() -> SmartDashboard.putNumber("Rotate Current", m_robotShooterAim.m_shooterRotateMotor.getOutputCurrent())));
// starts tracking target
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotStorage))
//.whileHeld(new TrackTarget(m_robotShooter,m_robotShooterAim))
.whenReleased(new StoragePrepIntake(m_robotIntake, m_robotStorage));
//.whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotStorage))
.whileHeld(new ParallelCommandGroup(
new HoldTarget(m_robotShooter,m_robotShooterAim),
new HoodPositionPID(m_robotShooter)));
//.whenReleased(new StoragePrepIntake(m_robotIntake, m_robotStorage));
//.whenReleased(new RunCommand(() -> m_robotLime.limeOff()));
//Prepares storage for intaking
@@ -188,16 +196,17 @@ public class RobotContainer {
.whileHeld(new StorageOutake(m_robotStorage));
new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON)
.whileHeld(new RunCommand(() -> m_robotShooter.m_angleAdjustMotor.set(0.2)))
.whileHeld(new RunCommand(() -> m_robotShooter.m_angleAdjustMotor.set(0.3)))
.whenReleased(new RunCommand(() -> m_robotShooter.m_angleAdjustMotor.set(0)));
new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
.whileHeld(new RunCommand(() -> m_robotShooter.m_angleAdjustMotor.set(-0.2)))
.whileHeld(new RunCommand(() -> m_robotShooter.m_angleAdjustMotor.set(-0.3)))
.whenReleased(new RunCommand(() -> m_robotShooter.m_angleAdjustMotor.set(0)));
new JoystickButton(getOperatorJoystick(), XboxController.START_BUTTON)
.whileHeld(new RunCommand(() -> m_robotStorage.runStoragePositionPID(7)))
.whenReleased(new RunCommand(() -> m_robotShooter.m_angleAdjustMotor.set(0)));
.whileHeld(new CalibrateShooter(m_robotShooter, m_robotShooterAim));
}
/**