Team4388/RiseOfRidgebotics2020
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Merge branch 'master' into add-shooter-subsystem-PID-new

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This commit is contained in:
Keenan D. Buckley
2020-02-11 00:16:16 +00:00
committed by GitHub
parent 9d8f047bed df1468d6ae
commit 57cbc028b9
23 changed files with 922 additions and 145 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+53 -19
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@@ -18,13 +18,22 @@ import frc4388.robot.Constants.*;
import frc4388.robot.commands.DriveAtVelocityPID;
import frc4388.robot.commands.DriveToDistanceMM;
import frc4388.robot.commands.DriveToDistancePID;
import frc4388.robot.commands.DriveStraightAtVelocityPID;
import frc4388.robot.commands.DriveWithJoystick;
import frc4388.robot.commands.RunClimberWithTriggers;
import frc4388.robot.commands.RunIntakeWithTriggers;
import frc4388.robot.commands.ShooterVelocityControlPID;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Intake;
import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.Climber;
import frc4388.robot.commands.RunLevelerWithJoystick;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Intake;
import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.Leveler;
import frc4388.robot.subsystems.Storage;
import frc4388.utility.LEDPatterns;
import frc4388.utility.controller.IHandController;
import frc4388.utility.controller.XboxController;
@@ -42,6 +51,9 @@ public class RobotContainer {
private final LED m_robotLED = new LED();
private final Intake m_robotIntake = new Intake();
private final Shooter m_robotShooter = new Shooter();
private final Climber m_robotClimber = new Climber();
private final Leveler m_robotLeveler = new Leveler();
private final Storage m_robotStorage = new Storage();
/* Controllers */
private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
@@ -58,9 +70,16 @@ public class RobotContainer {
m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, getDriverController()));
// drives motor with input from triggers on the opperator controller
m_robotIntake.setDefaultCommand(new RunIntakeWithTriggers(m_robotIntake, getOperatorController()));
// drives climber with input from triggers on the opperator controller
m_robotClimber.setDefaultCommand(new RunClimberWithTriggers(m_robotClimber, getDriverController()));
// continually sends updates to the Blinkin LED controller to keep the lights on
m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
// runs the drum shooter in idle mode
m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooter(0.15), m_robotShooter));
// drives the leveler with an axis input from the driver controller
m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController()));
// runs storage motor at 50 percent
m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
}
/**
@@ -74,32 +93,41 @@ public class RobotContainer {
// test command to spin the robot while pressing A on the driver controller
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.whileHeld(() -> m_robotDrive.driveWithInput(0, 1), m_robotDrive);
//new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
// .whenPressed(new DriveStraightToPositionPID(m_robotDrive, 36));
/* Operator Buttons */
// activates "Lit Mode"
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
.whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
.whenPressed(new DriveToDistancePID(m_robotDrive, 5000));
new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
.whenPressed(new DriveToDistanceMM(m_robotDrive, 5000));
new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
.whenPressed(new DriveAtVelocityPID(m_robotDrive, 2000));
new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
.whileHeld(new ShooterVelocityControlPID(m_robotShooter, 4000));
/* PID Test Command */
// runs velocity PID while driving straight
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
.whenPressed(new DriveStraightAtVelocityPID(m_robotDrive, 500))
.whenReleased(new InstantCommand(() -> System.out.print("Gamer"), m_robotDrive));
// resets the yaw of the pigeon
new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotDrive.resetGyroYaw(), m_robotDrive));
/*new JoystickButton(getDriverJoystick(), XboxController.LEFT_JOYSTICK_BUTTON)
.whenPressed(new InstantCommand(null, m_robotDrive));*/
// sets solenoids into high gear
new JoystickButton(getDriverJoystick(), XboxController.START_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(true), m_robotDrive));
new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
.whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooter(0.2), m_robotShooter));
// sets solenoids into low gear
new JoystickButton(getDriverJoystick(), XboxController.BACK_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(false), m_robotDrive));
// interrupts any running command
new JoystickButton(getDriverJoystick(), XboxController.LEFT_JOYSTICK_BUTTON)
.whenPressed(new InstantCommand(() -> System.out.print("Gamer"), m_robotDrive));
}
/**
* Sets Motors to a NeutralMode.
* @param mode NeutralMode to set motors to
@@ -119,14 +147,16 @@ public class RobotContainer {
}
/**
* Add your docs here.
* Used for analog inputs like triggers and axises.
* @return IHandController interface for the Driver Controller.
*/
public IHandController getDriverController() {
return m_driverXbox;
}
/**
* Add your docs here.
* Used for analog inputs like triggers and axises.
* @return The IHandController interface for the Operator Controller.
*/
public IHandController getOperatorController()
{
@@ -134,7 +164,9 @@ public class RobotContainer {
}
/**
* Add your docs here.
* Gets the {@link edu.wpi.first.wpilibj.GenericHID#GenericHID(int) Generic HID} for the Operator Xbox Controller.
* Generic HIDs/Joysticks can be used to set up JoystickButtons.
* @return The IHandController interface for the Operator Controller.
*/
public Joystick getOperatorJoystick()
{
@@ -142,7 +174,9 @@ public class RobotContainer {
}
/**
* Add your docs here.
* Gets the {@link edu.wpi.first.wpilibj.GenericHID#GenericHID(int) Generic HID} for the Driver Xbox Controller.
* Generic HIDs/Joysticks can be used to set up JoystickButtons.
* @return The IHandController interface for the Driver Controller.
*/
public Joystick getDriverJoystick()
{