Team4388/RiseOfRidgebotics2020
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Merge branch 'master' into covid-shooter-revert

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This commit is contained in:
Nirvan Bhalala
2021-04-22 16:42:19 -06:00
committed by GitHub
parent 2aa1aa8d6c 08963d3ee7
commit 785f984d9c
53 changed files with 484 additions and 48 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+94 -13
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@@ -38,14 +38,22 @@ import frc4388.robot.commands.auto.DriveOffLineBackward;
import frc4388.robot.commands.auto.DriveOffLineForward;
import frc4388.robot.commands.auto.EightBallAutoMiddle;
import frc4388.robot.commands.auto.FiveBallAutoMiddle;
import frc4388.robot.commands.auto.SequentialTest;
import frc4388.robot.commands.auto.SixBallAutoMiddle;
import frc4388.robot.commands.auto.Slalom;
import frc4388.robot.commands.auto.TankDriveVelocity;
import frc4388.robot.commands.auto.TenBallAutoMiddle;
import frc4388.robot.commands.InterruptSubystem;
import frc4388.robot.commands.auto.AutoPath1FromCenter;
import frc4388.robot.commands.auto.Barrel;
import frc4388.robot.commands.auto.BarrelMany;
import frc4388.robot.commands.auto.BarrelStart;
import frc4388.robot.commands.auto.Bounce;
import frc4388.robot.commands.auto.Wait;
import frc4388.robot.commands.climber.DisengageRachet;
import frc4388.robot.commands.climber.RunClimberWithTriggers;
import frc4388.robot.commands.climber.RunLevelerWithJoystick;
import frc4388.robot.commands.drive.DriveStraightAtVelocityPID;
import frc4388.robot.commands.drive.DriveStraightToPositionMM;
import frc4388.robot.commands.drive.DriveWithJoystick;
import frc4388.robot.commands.drive.PlaySongDrive;
@@ -106,7 +114,7 @@ public class RobotContainer {
/* Cameras */
private final Camera m_robotCameraFront = new Camera("front", 0, 160, 120, 40);
private final Camera m_robotCameraBack = new Camera("back", 1, 160, 120, 40);
private final LimeLight m_robotLime = new LimeLight();
public final LimeLight m_robotLime = new LimeLight();
/* Controllers */
private static XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
@@ -119,6 +127,10 @@ public class RobotContainer {
SixBallAutoMiddle m_sixBallAutoMiddle;
SixBallAutoMiddle m_sixBallAutoMiddle0;
SixBallAutoMiddle m_sixBallAutoMiddle1;
EightBallAutoMiddle m_eightBallAutoMiddle;
DriveOffLineForward m_driveOffLineForward;
@@ -129,8 +141,21 @@ public class RobotContainer {
TenBallAutoMiddle m_tenBallAutoMiddle;
Slalom m_slalom;
Barrel m_barrel;
BarrelStart m_barrelStart;
BarrelMany m_barrelMany;
Bounce m_bounce;
SequentialTest m_sequentialTest;
public static boolean m_isShooterManual = false;
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
*/
@@ -171,9 +196,8 @@ 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 storage not
//m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0), m_robotStorage));
m_robotStorage.setDefaultCommand(new ManageStorage(m_robotStorage));
//m_robotLime.setDefaultCommand(new RunCommand(() -> m_robotLime.limeOff(), m_robotLime));
m_robotLime.setDefaultCommand(new RunCommand(() -> m_robotLime.limeOff(), m_robotLime));
}
/**
@@ -190,12 +214,14 @@ public class RobotContainer {
.whenReleased(new InterruptSubystem(m_robotShooter))
.whenReleased(new InterruptSubystem(m_robotShooterHood));
// B driver test button
/*new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
.whenPressed(new TurnDegrees(m_robotDrive, 90));*/
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
.whileHeld(new RunCommand(() -> m_robotDrive.runDriveVelocityPID(2000, 45), m_robotDrive));
// Y driver test button
new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
.whenPressed(new Wait(m_robotDrive, 0, 0));
.whenPressed(new InstantCommand(() -> m_robotDrive.runTurningPID(1000), m_robotDrive));
// X driver test button
new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
@@ -326,6 +352,51 @@ public class RobotContainer {
m_sixBallAutoMiddle = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddlePaths));
String[] sixBallAutoMiddle0Paths = new String[]{
"SixBallMid0"
};
m_sixBallAutoMiddle0 = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddle0Paths));
String[] sixBallAutoMiddle1Paths = new String[]{
"SixBallMid1"
};
m_sixBallAutoMiddle1 = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddle1Paths));
String[] slalom = new String[]{
"Slalom"
};
m_slalom = new Slalom(m_robotDrive, buildPaths(slalom));
String[] barrel = new String[]{
"BarrelStart"
};
m_barrel = new Barrel(m_robotDrive, buildPaths(barrel));
String[] barrelStart = new String[]{
"Barrel"
};
m_barrelStart = new BarrelStart(m_robotDrive, buildPaths(barrelStart));
String[] bounce = new String[]{
"Bounce1",
"Bounce2",
"Bounce3",
"Bounce4"
};
m_bounce = new Bounce(m_robotDrive, this, buildPaths(bounce));
String[] barrelMany = new String[]{
"BarrelManyWaypoints"
};
m_barrelMany = new BarrelMany(m_robotDrive, buildPaths(barrelMany));
String[] eightBallAutoMiddlePaths = new String[]{
"EightBallMidComplete"
};
@@ -336,7 +407,7 @@ public class RobotContainer {
"DriveOffLineForward"
};
m_driveOffLineForward = new DriveOffLineForward(m_robotDrive, buildPaths(driveOffLineForwardPaths));
m_driveOffLineForward = new DriveOffLineForward(m_robotDrive, this, buildPaths(driveOffLineForwardPaths));
String[] driveOffLineBackwardPaths = new String[]{
"DriveOffLineBackward"
@@ -355,8 +426,14 @@ public class RobotContainer {
"TenBallMidComplete"
};
m_tenBallAutoMiddle = new TenBallAutoMiddle(m_robotShooterHood, m_robotStorage, m_robotIntake, m_robotShooter,
m_robotShooterAim, m_robotDrive,buildPaths(tenBallAutoMiddlePaths));
//m_tenBallAutoMiddle = new TenBallAutoMiddle(m_robotDrive, buildPaths(tenBallAutoMiddlePaths));
String[] sequentialTestPaths = new String[]{
"Seq1",
"Seq2"
};
m_sequentialTest = new SequentialTest(this, buildPaths(sequentialTestPaths));
}
/**
@@ -375,12 +452,15 @@ public class RobotContainer {
SmartDashboard.putNumber("Trajectory Total Time", m_totalTimeAuto);
//return m_sixBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return m_sixBallAutoMiddle1.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return m_eightBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return m_driveOffLineForward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return m_driveOffLinfeBackward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
return m_driveOffLineForward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return m_driveOffLineBackward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return m_fiveBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
return m_tenBallAutoMiddle.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
//return m_tenBallAutoMiddle.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
//return m_slalom.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
//return m_barrelStart.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
//return m_bounce.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
} catch (Exception e) {
System.err.println("ERROR");
}
@@ -506,6 +586,7 @@ public class RobotContainer {
return m_driverXbox;
}
/**
* Used for analog inputs like triggers and axises.
* @return The IHandController interface for the Operator Controller.