Team4388/RiseOfRidgebotics2020
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Merge branch 'master' into Storage-Neo-PID-Integration

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This commit is contained in:
Keenan D. Buckley
2020-02-11 17:28:41 -07:00
committed by GitHub
parent a4ac866d1c c94de7fdc6
commit 6694b3f289
10 changed files with 456 additions and 52 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+39 -7
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@@ -16,9 +16,18 @@ import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.commands.DriveStraightAtVelocityPID;
import frc4388.robot.commands.DriveStraightToPositionMM;
import frc4388.robot.commands.DriveStraightToPositionPID;
import frc4388.robot.commands.DriveWithJoystick;
import frc4388.robot.commands.DriveWithJoystickAuxPID;
import frc4388.robot.commands.RunClimberWithTriggers;
import frc4388.robot.commands.RunExtenderOutIn;
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;
@@ -42,6 +51,7 @@ public class RobotContainer {
private final Drive m_robotDrive = new Drive();
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();
@@ -59,12 +69,14 @@ public class RobotContainer {
/* Default Commands */
// drives the robot with a two-axis input from the driver controller
m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, getDriverController()));
// drives motor with input from triggers on the opperator controller
// 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
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
@@ -79,26 +91,46 @@ public class RobotContainer {
*/
private void configureButtonBindings() {
/* Driver Buttons */
//new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
// .whenPressed(new DriveStraightToPositionPID(m_robotDrive, 36));
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.whenPressed(new DriveStraightToPositionPID(m_robotDrive, 144));
/* 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.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)
.whenPressed(new InstantCommand(() -> m_robotDrive.resetGyroYaw(), m_robotDrive));
.whenPressed(new DriveStraightToPositionMM(m_robotDrive, 72));
// turn 45 degrees
new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
.whenPressed(new RunCommand(() -> m_robotDrive.runTurningPID(45), m_robotDrive));
//new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
// .whenPressed(new RunCommand(() -> m_robotDrive.runMotionMagicPID(5000, 0), m_robotDrive));
// sets solenoids into high gear
new JoystickButton(getDriverJoystick(), XboxController.START_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(true), m_robotDrive));
// 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));