Team4388/RiseOfRidgebotics2020
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Merge branch 'master' into auto-programming

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This commit is contained in:
Keenan D. Buckley
2020-02-26 04:45:52 +00:00
committed by GitHub
parent 08d543ba74 2a3655758e
commit 606168599c
23 changed files with 956 additions and 187 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+41 -41
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@@ -30,6 +30,7 @@ import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.commands.DrivePositionMPAux;
import frc4388.robot.commands.DriveStraightAtVelocityPID;
import frc4388.robot.commands.DriveWithJoystick;
import frc4388.robot.commands.DriveStraightToPositionMM;
@@ -41,6 +42,7 @@ import frc4388.robot.commands.RunClimberWithTriggers;
import frc4388.robot.commands.RunExtenderOutIn;
import frc4388.robot.commands.RunIntakeWithTriggers;
import frc4388.robot.commands.ShooterVelocityControlPID;
import frc4388.robot.commands.StorageIntakeGroup;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Intake;
import frc4388.robot.subsystems.LED;
@@ -53,6 +55,7 @@ import frc4388.robot.subsystems.LED;
import frc4388.robot.commands.TrackTarget;
import frc4388.robot.commands.TurnDegrees;
import frc4388.robot.commands.Wait;
import frc4388.robot.commands.storageOutake;
import frc4388.robot.subsystems.Camera;
import frc4388.robot.subsystems.Leveler;
import frc4388.robot.subsystems.Storage;
@@ -93,7 +96,7 @@ public class RobotContainer {
/* Default Commands */
// drives the robot with a two-axis input from the driver controller
m_robotDrive.setDefaultCommand(new DriveWithJoystickUsingDeadAssistPID(m_robotDrive, getDriverController()));
m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, getDriverController()));
// drives intake 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
@@ -101,13 +104,12 @@ public class RobotContainer {
// 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.runShooterWithInput(m_operatorXbox.getLeftXAxis()), 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));
m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController()));
}
/**
* Use this method to define your button->command mappings. Buttons can be created by
@@ -117,53 +119,44 @@ public class RobotContainer {
*/
private void configureButtonBindings() {
/* Driver Buttons */
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.whenPressed(new RunCommand(() -> m_robotDrive.runTurningPID(0), m_robotDrive));
/* 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(getOperatorJoystick(), XboxController.X_BUTTON)
.whileHeld(new ShooterVelocityControlPID(m_robotShooter, 4000));
new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON)
.whileHeld(new TrackTarget(m_robotShooter));
new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON)
.whenPressed(new RunExtenderOutIn(m_robotIntake));
/* 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));
//new JoystickButton(getDriverJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
// .whileHeld(new DriveWithJoystickAuxPID(m_robotDrive, getDriverController()));
// resets the yaw of the pigeon
new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
.whileHeld(new RunCommand(() -> m_robotDrive.runMotionMagicPID(12, 0), m_robotDrive));
.whenPressed(new DriveStraightToPositionMM(m_robotDrive, 36));
// turn 45 degrees
new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
.whenPressed(new RunCommand(() -> m_robotDrive.driveWithInputAux(0.2, 0), m_robotDrive));
// sets solenoids into high gear
new JoystickButton(getDriverJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(true), m_robotDrive));
.whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(false), m_robotDrive));
// sets solenoids into low gear
new JoystickButton(getDriverJoystick(), XboxController.LEFT_BUMPER_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(false), m_robotDrive));
.whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(true), m_robotDrive));
/* Operator Buttons */
//TODO: Shooter Buttons
// shoots until released
//new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
// .whileHeld(new ShootShooter(m_robotShooter, m_robotStorage, 5));
// shoots one ball
//new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON)
// .whileHeld(new ShootShooter(m_robotShooter, m_robotStorage, 1));
// aims the turret
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whileHeld(new TrackTarget(m_robotShooter));
//.whenPressed(new RunCommand(() -> m_robotStorage.storeAim()));
// interrupts any running command
new JoystickButton(getDriverJoystick(), XboxController.LEFT_JOYSTICK_BUTTON)
.whenPressed(new TurnDegrees(90, m_robotDrive));
// extends or retracts the extender
new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
.whenPressed(new RunExtenderOutIn(m_robotIntake));
// safety for climber and leveler
new JoystickButton(getOperatorJoystick(), XboxController.BACK_BUTTON)
@@ -173,6 +166,14 @@ public class RobotContainer {
/* Storage Neo PID Test */
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whileHeld(new TrackTarget(m_robotShooter));
//Prepares storage for intaking
new JoystickButton(getOperatorJoystick(), XboxController.LEFT_TRIGGER_AXIS)
.whileHeld(new StorageIntakeGroup(m_robotIntake, m_robotStorage));
//Runs storage to outtake
new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_TRIGGER_AXIS)
.whileHeld(new storageOutake(m_robotStorage));
}
/**
@@ -236,10 +237,8 @@ public class RobotContainer {
// Run path following command, then stop at the end.
return ramseteCommand.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));*/
if (Constants.SELECTED_AUTO == 0) {
return new InstantCommand();
}
else if (Constants.SELECTED_AUTO == 1) {
if (Constants.SELECTED_AUTO == 1) {
return new SequentialCommandGroup( new Wait(5, m_robotDrive),
new TurnDegrees(45, m_robotDrive),
new InstantCommand(() -> m_robotDrive.setShiftState(false), m_robotDrive),
@@ -248,6 +247,7 @@ public class RobotContainer {
}
return new InstantCommand();
//return new DrivePositionMPAux(m_robotDrive, 500.0, 12.0, 2, 60.0, 0.0);
}
/**