Team4388/RiseOfRidgebotics2020
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Merge branch 'master' into bouncePath

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This commit is contained in:
Evan Goertzen
2021-04-15 17:13:31 -06:00
committed by GitHub
parent e1fe28d54e b3373e68e9
commit 9dd6400418
37 changed files with 2106 additions and 109 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+87 -20
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@@ -56,17 +56,23 @@ 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;
import frc4388.robot.commands.drive.SkipSong;
import frc4388.robot.commands.drive.TurnDegrees;
import frc4388.robot.commands.intake.RunIntakeWithTriggers;
import frc4388.robot.commands.shooter.CalibrateShooter;
import frc4388.robot.commands.shooter.TrackTarget;
import frc4388.robot.commands.shooter.TrimShooter;
import frc4388.robot.commands.shooter.RunHoodWithJoystick;
import frc4388.robot.commands.shooter.ShootPrepGroup;
import frc4388.robot.commands.shooter.ShooterGoalPosition;
import frc4388.robot.commands.shooter.ShooterManual;
import frc4388.robot.commands.shooter.ShooterTrenchPosition;
import frc4388.robot.commands.shooter.ShooterVelocityControlPID;
import frc4388.robot.commands.shooter.TrackTarget;
import frc4388.robot.commands.shooter.TrimShooter;
import frc4388.robot.commands.storage.ManageStorage;
import frc4388.robot.commands.storage.StoragePrep;
import frc4388.robot.commands.storage.ManageStorage.StorageMode;
import frc4388.robot.subsystems.Camera;
import frc4388.robot.subsystems.Climber;
import frc4388.robot.subsystems.Drive;
@@ -79,7 +85,10 @@ import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.ShooterAim;
import frc4388.robot.subsystems.ShooterHood;
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;
/**
@@ -108,8 +117,10 @@ public class RobotContainer {
public final LimeLight m_robotLime = new LimeLight();
/* Controllers */
private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
private static XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
private static XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
private static XboxController m_buttonFox = new XboxController(OIConstants. BUTTON_FOX_ID);
private static XboxController m_manualXbox = new XboxController(3);
/* Autos */
double m_totalTimeAuto;
@@ -130,6 +141,7 @@ public class RobotContainer {
TenBallAutoMiddle m_tenBallAutoMiddle;
Slalom m_slalom;
Barrel m_barrel;
@@ -142,17 +154,20 @@ public class RobotContainer {
SequentialTest m_sequentialTest;
public static boolean m_isShooterManual = false;
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
*/
public RobotContainer() {
/* Passing Drive and Pneumatics Subsystems */
m_robotPneumatics.passRequiredSubsystem(m_robotDrive);
m_robotDrive.passRequiredSubsystem(m_robotPneumatics);
m_robotDrive.passRequiredSubsystem(m_robotPneumatics, m_robotShooter);
m_robotShooter.passRequiredSubsystem(m_robotShooterHood, m_robotShooterAim);
m_robotShooterHood.passRequiredSubsystem(m_robotShooter);
m_robotShooterAim.passRequiredSubsystem(m_robotShooter);
m_robotShooterAim.passRequiredSubsystem(m_robotShooter, m_robotDrive);
m_robotLeveler.passRequiredSubsystem(m_robotClimber);
@@ -171,6 +186,8 @@ public class RobotContainer {
m_robotIntake.setDefaultCommand(new RunIntakeWithTriggers(m_robotIntake, getOperatorController()));
// runs the turret with joystick
m_robotShooterAim.setDefaultCommand(new RunCommand(() -> m_robotShooterAim.runShooterWithInput(-m_operatorXbox.getLeftXAxis()), m_robotShooterAim));
// runs the hood with joystick
m_robotShooterHood.setDefaultCommand(new RunHoodWithJoystick(m_robotShooterHood, getOperatorController()));
// moves the drum not
m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(0), m_robotShooter));
// drives climber with input from triggers on the opperator controller
@@ -180,9 +197,10 @@ 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, StorageMode.IDLE));
m_robotLime.setDefaultCommand(new RunCommand(() -> m_robotLime.limeOff(), m_robotLime));
}
/**
@@ -193,9 +211,6 @@ public class RobotContainer {
*/
private void configureButtonBindings() {
/* Test Buttons */
// A driver test button
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.whileHeld(new DriveStraightAtVelocityPID(m_robotDrive, 5000));
// B driver test button
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
@@ -223,6 +238,9 @@ public class RobotContainer {
new JoystickButton(getDriverJoystick(), XboxController.BACK_BUTTON)
.whileHeld(new DisengageRachet(m_robotClimber));
/* Operator Buttons */
// shoots until released
new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
@@ -273,25 +291,54 @@ public class RobotContainer {
new JoystickButton(getOperatorJoystick(), XboxController.START_BUTTON)
.whileHeld(new CalibrateShooter(m_robotShooter, m_robotShooterAim, m_robotShooterHood));
//Prepares storage for intaking
//new XboxTriggerButton(m_operatorXbox, XboxTriggerButton.LEFT_TRIGGER)
//.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(0.8)))
//.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0)));
//.whileHeld(new StorageIntake(m_robotIntake, m_robotStorage));
//Runs storage to outtake
//new XboxTriggerButton(m_operatorXbox, XboxTriggerButton.RIGHT_TRIGGER)
//.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-0.8)))
//.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0)));
//Run drum
new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
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 Fox */
// 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 InterruptSubystem(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 InterruptSubystem(m_robotDrive));
// Trench Shooter Position
new JoystickButton(getButtonFox(), ButtonFox.LEFT_BUTTON)
.whileHeld(new ShooterTrenchPosition(m_robotShooter, m_robotShooterHood, m_robotShooterAim))
.whenReleased(new InterruptSubystem(m_robotShooter))
.whenReleased(new InterruptSubystem(m_robotShooterHood))
.whenReleased(new InterruptSubystem(m_robotShooterAim));
//.whenPressed(new SkipSong(m_robotDrive, 1));
}
public void buildAutos() {
//resetOdometry(new Pose2d(0, 0, new Rotation2d(180)));
String[] sixBallAutoMiddlePaths = new String[]{
"SixBallMidComplete"
};
@@ -368,6 +415,7 @@ public class RobotContainer {
m_fiveBallAutoMiddle = new FiveBallAutoMiddle(m_robotDrive, buildPaths(fiveBallAutoMiddlePaths));
String[] tenBallAutoMiddlePaths = new String[]{
"SixBallMidComplete",
"TenBallMidComplete"
};
@@ -379,6 +427,7 @@ public class RobotContainer {
};
m_sequentialTest = new SequentialTest(this, buildPaths(sequentialTestPaths));
}
/**
@@ -406,6 +455,7 @@ public class RobotContainer {
//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");
}
@@ -541,6 +591,12 @@ public class RobotContainer {
return m_operatorXbox;
}
public IHandController getButtonFoxObject()
{
return m_buttonFox;
}
/**
* 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.
@@ -560,4 +616,15 @@ public class RobotContainer {
{
return m_driverXbox.getJoyStick();
}
/**
* Gets the {@link edu.wpi.first.wpilibj.GenericHID#GenericHID(int) Generic HID} for the Button Fox.
* Generic HIDs/Joysticks can be used to set up JoystickButtons.
* @return The IHandController interface for the Button Fox.
*/
public Joystick getButtonFox()
{
return m_buttonFox.getJoyStick();
}
}