Team4388/RiseOfRidgebotics2020
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Control and Shooter Fixes

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-Cleaned up casual controls to make them more readable and usable

- Changed JoystickManualButton to JoystickButton, which should make the shooter work in Casual now

NOTE: Robot sim is being whacky, so untested. If all else fails during Saturday demo, revert to comp or previous code.
This commit is contained in:
ryan123rudder
2021-11-19 17:48:21 -07:00
parent 91c3f69d11
commit 960959a4b5
1 changed files with 24 additions and 44 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+24 -44
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@@ -73,7 +73,6 @@ import frc4388.robot.subsystems.Storage;
import frc4388.robot.subsystems.Storage.StorageMode;
import frc4388.utility.controller.ButtonFox;
import frc4388.utility.controller.IHandController;
import frc4388.utility.controller.JoystickManualButton;
import frc4388.utility.controller.XboxController;
/**
@@ -203,6 +202,7 @@ public class RobotContainer {
new JoystickButton(getDriverJoystick(), XboxController.LEFT_BUMPER_BUTTON).whenPressed(new InstantCommand(() -> m_robotPneumatics.setShiftState(false), m_robotDrive));
// Disengages the ratchet to allow for a climb
new JoystickButton(getDriverJoystick(), XboxController.BACK_BUTTON).whileHeld(new DisengageRatchet(m_robotClimber));
/* Operator Buttons */
// shoots until released
new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
@@ -236,11 +236,7 @@ public class RobotContainer {
// Calibrates turret and hood
new JoystickButton(getOperatorJoystick(), XboxController.START_BUTTON).whileHeld(new CalibrateShooter(m_robotShooter, m_robotShooterAim, m_robotShooterHood));
// Run drum
new JoystickManualButton(getOperatorJoystick(), XboxController.B_BUTTON, false).whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false)
// .whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET))
.whenReleased(new InstantCommand(m_robotLime::limeOff));
// Run drum manual
new JoystickManualButton(getOperatorJoystick(), XboxController.B_BUTTON, true).whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(10000))).whenReleased(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(0)));
/* Button Box */
// Storage Manual
new JoystickButton(getButtonFox(), ButtonFox.LEFT_SWITCH).whenPressed(new InstantCommand(() -> m_robotStorage.changeStorageMode(StorageMode.MANUAL))).whenReleased(new InstantCommand(() -> m_robotStorage.changeStorageMode(StorageMode.RESET)));
@@ -262,49 +258,33 @@ public class RobotContainer {
// sets solenoids into low gear
new JoystickButton(getDriverJoystick(), XboxController.LEFT_BUMPER_BUTTON).whenPressed(new InstantCommand(() -> m_robotPneumatics.setShiftState(false), m_robotDrive));
/* Operator Buttons */
// shoots until released
// storage
new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
// .whileHeld(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood,
// m_robotStorage), false);
// .whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET));
// .whenReleased(new RunCommand(() -> m_robotLime.limeOff()));
.whenPressed(new RunCommand(() -> m_robotStorage.runStorage(-1), m_robotStorage)).whenReleased(new InterruptSubsystem(m_robotStorage));
// shoots one ball
.whenPressed(new RunCommand(() -> m_robotStorage.runStorage(-1), m_robotStorage))
.whenReleased(new InterruptSubsystem(m_robotStorage));
new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON)
// .whenPressed(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood,
// m_robotStorage), false);
// .whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET));
// .whenReleased(new RunCommand(() -> m_robotLime.limeOff()));
.whenPressed(new RunCommand(() -> m_robotStorage.runStorage(1.0), m_robotStorage)).whenReleased(new InterruptSubsystem(m_robotStorage));
.whenPressed(new RunCommand(() -> m_robotStorage.runStorage(1.0), m_robotStorage))
.whenReleased(new InterruptSubsystem(m_robotStorage));
// extends or retracts the extender
new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON).whileHeld(new RunCommand(() -> m_robotIntake.runExtender(0.5))).whenReleased(new InstantCommand(() -> m_robotIntake.runExtender(0)));
// .whileHeld(new RunCommand(() -> m_robotShooterHood.runHood(0.2), m_robotShooterHood));
new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON).whileHeld(new RunCommand(() -> m_robotIntake.runExtender(-0.5))).whenReleased(new InstantCommand(() -> m_robotIntake.runExtender(0)));
// .whileHeld(new RunCommand(() -> m_robotShooterHood.runHood(-0.2), m_robotShooterHood));
// 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));
// .whileHeld(new RunCommand(() -> m_robotShooterAim.runshooterRotatePID()));
// .whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(11000)));
// .whileHeld(new HoldTarget(m_robotShooter, m_robotShooterAim))
// .whileHeld(new RunCommand(() -> m_robotShooter.runAngleAdjustPID(30)));
// Trims shooter
new JoystickButton(getOperatorJoystick(), XboxController.TOP_BOTTOM_DPAD_AXIS).whenPressed(new TrimShooter(m_robotShooter));
new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
.whileHeld(new RunCommand(() -> m_robotIntake.runExtender(0.5)))
.whenReleased(new InstantCommand(() -> m_robotIntake.runExtender(0)));
new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON)
.whileHeld(new RunCommand(() -> m_robotIntake.runExtender(-0.5)))
.whenReleased(new InstantCommand(() -> m_robotIntake.runExtender(0)));
// Calibrates turret and hood
new JoystickButton(getOperatorJoystick(), XboxController.START_BUTTON).whileHeld(new CalibrateShooter(m_robotShooter, m_robotShooterAim, m_robotShooterHood));
new JoystickButton(getOperatorJoystick(), XboxController.START_BUTTON)
.whileHeld(new CalibrateShooter(m_robotShooter, m_robotShooterAim, m_robotShooterHood));
// Run drum manual
new JoystickManualButton(getOperatorJoystick(), XboxController.A_BUTTON, true).whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(6000))).whenReleased(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(0)));
/* Button Box */
// Storage Manual
new JoystickButton(getButtonFox(), ButtonFox.LEFT_SWITCH).whenPressed(new InstantCommand(() -> m_robotStorage.changeStorageMode(StorageMode.MANUAL))).whenReleased(new InstantCommand(() -> m_robotStorage.changeStorageMode(StorageMode.RESET)));
// Meg
new JoystickButton(getButtonFox(), ButtonFox.MIDDLE_SWITCH).whileHeld(new PlaySongDrive(m_robotDrive, m_robotShooter)).whenReleased(new InterruptSubsystem(m_robotDrive));
// Shooter Manual
new JoystickButton(getButtonFox(), ButtonFox.RIGHT_SWITCH).whileHeld(new ShooterManual(true)).whenReleased(new ShooterManual(false));
// Goal Shooter Position
new JoystickButton(getButtonFox(), ButtonFox.RIGHT_BUTTON).whileHeld(new PlaySongDrive(m_robotDrive, m_robotShooter)).whenReleased(new InterruptSubsystem(m_robotDrive));
// Trench Shooter Position
new JoystickButton(getButtonFox(), ButtonFox.LEFT_BUTTON).whileHeld(new ShooterTrenchPosition(m_robotShooter, m_robotShooterHood, m_robotShooterAim)).whenReleased(new InterruptSubsystem(m_robotShooter)).whenReleased(new InterruptSubsystem(m_robotShooterHood)).whenReleased(new InterruptSubsystem(m_robotShooterAim));
// .whenPressed(new SkipSong(m_robotDrive, 1));
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(6000)))
.whenReleased(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(0)));
}
public void buildAutos() {