Team4388/RiseOfRidgebotics2020
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Merge branch 'master' into GalacticSearch

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This commit is contained in:
Kyra
2021-04-22 17:36:04 -06:00
parent 78ef2c117c e914c511a8
commit af63e94d2b
50 changed files with 498 additions and 162 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+74 -21
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@@ -107,7 +107,7 @@ 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 */
@@ -184,7 +184,7 @@ public class RobotContainer {
// 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));
m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(12000), m_robotShooter));
// drives climber with input from triggers on the opperator controller
m_robotClimber.setDefaultCommand(new RunClimberWithTriggers(m_robotClimber, getDriverController()));
// drives the leveler with an axis input from the driver controller
@@ -192,9 +192,9 @@ 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));
}
/**
@@ -205,14 +205,20 @@ public class RobotContainer {
*/
private void configureButtonBindings() {
/* Test Buttons */
// A driver test button
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.whileHeld(new ShooterTrenchPosition(m_robotShooter, m_robotShooterHood, m_robotShooterAim))
.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, 45));
.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)
@@ -250,17 +256,19 @@ public class RobotContainer {
//.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), m_robotStorage))
.whenPressed(new RunCommand(() -> m_robotStorage.runStorage(1.0), m_robotStorage))
.whenReleased(new InterruptSubystem(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)
@@ -271,10 +279,10 @@ public class RobotContainer {
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whileHeld(new TrackTarget(m_robotShooterAim))
.whileHeld(new RunCommand(() -> m_robotShooterHood.runAngleAdjustPID(m_robotShooterHood.addFireAngle())))
//.whenPressed(new StoragePrep(m_robotStorage))
//.whenReleased(new InterruptSubystem(m_robotStorage))
.whenReleased(new InstantCommand(() -> m_robotLime.limeOff()));
//.whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(13000)));
//.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)));
@@ -287,6 +295,7 @@ public class RobotContainer {
.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)
@@ -339,6 +348,51 @@ 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"
};
@@ -349,14 +403,14 @@ 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"
};
m_driveOffLineBackward = new DriveOffLineBackward(m_robotDrive, buildPaths(driveOffLineBackwardPaths));
String[] fiveBallAutoMiddlePaths = new String[]{
"FiveBallMidComplete"
};
@@ -367,17 +421,16 @@ public class RobotContainer {
"SixBallMidComplete",
"TenBallMidComplete"
};
m_tenBallAutoMiddle = new TenBallAutoMiddle(m_robotShooterHood, m_robotStorage, m_robotIntake, m_robotShooter,
m_robotShooterAim, m_robotDrive,buildPaths(tenBallAutoMiddlePaths));
String[] galacticSearchPaths = new String[]{
"GSC_ARED",
"GSC_ABLUE",
"GSC_BRED",
"GSC_BBLUE"
};
idenPath();
m_galacticSearch = new GalacticSearch(m_robotLime, m_robotIntake, buildPaths(galacticSearchPaths));
}
@@ -402,8 +455,8 @@ public class RobotContainer {
//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_slalom.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
@@ -417,7 +470,7 @@ public class RobotContainer {
System.err.println("ERROR");
}
return new InstantCommand();
return new InstantCommand();
}
TrajectoryConfig getTrajectoryConfig() {
@@ -451,7 +504,7 @@ public class RobotContainer {
String path = paths[0];
String trajectoryJSON = "paths/" + path + ".wpilib.json";
Path trajectoryPath = Filesystem.getDeployDirectory().toPath().resolve(trajectoryJSON);
SmartDashboard.putString("trajectoryPath Initial", trajectoryPath.toString());
Trajectory trajectory = TrajectoryUtil.fromPathweaverJson(trajectoryPath);
@@ -499,7 +552,7 @@ public class RobotContainer {
}
/**
*
*
*/
public void shiftClimberRachet(boolean state) {
m_robotClimber.shiftServo(state);