mirror of
https://github.com/Team4388/RiseOfRidgebotics2020.git
synced 2026-06-09 00:38:00 -06:00
Merge branch 'master' into add-shooter
This commit is contained in:
aarav18
@@ -25,11 +25,15 @@ import edu.wpi.first.wpilibj2.command.InstantCommand;
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import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
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import edu.wpi.first.wpilibj2.command.RamseteCommand;
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import edu.wpi.first.wpilibj2.command.RunCommand;
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import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
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import edu.wpi.first.wpilibj2.command.button.JoystickButton;
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import frc4388.robot.Constants.*;
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import frc4388.robot.commands.CalibrateShooter;
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import frc4388.robot.commands.DrivePositionMPAux;
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import frc4388.robot.commands.DriveStraightAtVelocityPID;
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import frc4388.robot.commands.DriveStraightToPositionMM;
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import frc4388.robot.commands.DriveStraightToPositionPID;
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import frc4388.robot.commands.DriveWithJoystick;
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import frc4388.robot.commands.DriveStraightToPositionMM;
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import frc4388.robot.commands.DriveStraightToPositionPID;
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@@ -42,6 +46,7 @@ import frc4388.robot.commands.RunExtenderOutIn;
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import frc4388.robot.commands.RunIntakeWithTriggers;
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import frc4388.robot.commands.ShooterVelocityControlPID;
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import frc4388.robot.commands.StorageIntake;
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import frc4388.robot.commands.GotoCoordinates;
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import frc4388.robot.commands.RunClimberWithTriggers;
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import frc4388.robot.commands.RunExtenderOutIn;
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import frc4388.robot.commands.RunIntakeWithTriggers;
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@@ -67,6 +72,12 @@ import frc4388.robot.commands.StorageRun;
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import frc4388.robot.subsystems.Camera;
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import frc4388.robot.subsystems.Leveler;
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import frc4388.robot.subsystems.LimeLight;
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import frc4388.robot.commands.TurnDegrees;
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import frc4388.robot.commands.Wait;
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import frc4388.robot.commands.storageOutake;
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import frc4388.robot.subsystems.Camera;
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import frc4388.robot.subsystems.Leveler;
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import frc4388.robot.subsystems.Pneumatics;
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import frc4388.robot.subsystems.Storage;
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import frc4388.utility.controller.IHandController;
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import frc4388.utility.controller.XboxController;
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@@ -81,6 +92,7 @@ import frc4388.utility.controller.XboxController;
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public class RobotContainer {
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/* Subsystems */
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private final Drive m_robotDrive = new Drive();
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private final Pneumatics m_robotPneumatics = new Pneumatics();
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private final LED m_robotLED = new LED();
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private final Intake m_robotIntake = new Intake();
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private final Shooter m_robotShooter = new Shooter();
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@@ -103,6 +115,10 @@ public class RobotContainer {
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* The container for the robot. Contains subsystems, OI devices, and commands.
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*/
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public RobotContainer() {
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/* Passing Drive and Pneumatics Subsystems */
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m_robotPneumatics.passRequiredSubsystem(m_robotDrive);
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m_robotDrive.passRequiredSubsystem(m_robotPneumatics);
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configureButtonBindings();
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/* Default Commands */
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@@ -134,15 +150,15 @@ public class RobotContainer {
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/* Test Buttons */
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// A driver test button
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new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
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.whenPressed(new InstantCommand());
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.whenPressed(new DriveStraightToPositionMM(m_robotDrive, 192));
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// B driver test button
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new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
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.whenPressed(new InstantCommand());
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.whileHeld(new DriveStraightAtVelocityPID(m_robotDrive, 6000));
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// Y driver test button
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new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
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.whenPressed(new InstantCommand());
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.whenPressed(new GotoCoordinates(m_robotDrive, 12, 12, 0));
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// X driver test button
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new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
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@@ -151,11 +167,11 @@ public class RobotContainer {
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/* Driver Buttons */
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// sets solenoids into high gear
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new JoystickButton(getDriverJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
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.whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(false), m_robotDrive));
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.whenPressed(new InstantCommand(() -> m_robotPneumatics.setShiftState(true), m_robotDrive));
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// sets solenoids into low gear
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new JoystickButton(getDriverJoystick(), XboxController.LEFT_BUMPER_BUTTON)
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.whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(true), m_robotDrive));
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.whenPressed(new InstantCommand(() -> m_robotPneumatics.setShiftState(false), m_robotDrive));
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/* Operator Buttons */
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@@ -225,11 +241,32 @@ public class RobotContainer {
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RamseteCommand ramseteCommand = getRamseteCommand(trajectory);
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// Run path following command, then stop at the end.
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//return ramseteCommand.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
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//Runs an Autonomous command group that would shoot our preloaded balls, pick up 3 more from the trench, and shoot those
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//This assumes that we are positioned against the right wall with our shooter facing the target.
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return new SequentialCommandGroup(new Wait(0, m_robotDrive),
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//add aim command
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//add shooter command
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//new DriveStraightToPositionMM(m_robotDrive, 48.0),
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/*new ParallelCommandGroup(
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new StorageIntakeGroup(m_robotIntake, m_robotStorage),
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new DriveStraightToPositionMM(m_robotDrive, 36.0)),
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new ParallelCommandGroup(
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new StorageIntakeGroup(m_robotIntake, m_robotStorage),
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new DriveStraightToPositionMM(m_robotDrive, 36.0)),
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new StorageIntakeGroup(m_robotIntake, m_robotStorage),*/
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//add aim command
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//add shooter command
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//Below this would be the picking up additional balls outside of those in the trench directly behind us
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// return new InstantCommand();
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return new DrivePositionMPAux(m_robotDrive, 500.0, 12.0, 2, 60.0, 0.0);
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//new GotoCoordinates(m_robotDrive, 36, 36),
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new GotoCoordinates(m_robotDrive, 36, 36, -90));//,
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//new StorageIntakeGroup(m_robotIntake, m_robotStorage),
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//new TurnDegrees(m_robotDrive, 75),
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//new DriveStraightToPositionMM(m_robotDrive, 18.0),
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//new TurnDegrees(m_robotDrive, -45),
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//new DriveStraightToPositionMM(m_robotDrive, 12.0));
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}
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TrajectoryConfig getTrajectoryConfig() {
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return new TrajectoryConfig(
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DriveConstants.MAX_SPEED_METERS_PER_SECOND,
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@@ -281,7 +318,7 @@ public class RobotContainer {
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* @param state the gearing of the gearbox (true is high, false is low)
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*/
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public void setDriveGearState(boolean state) {
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m_robotDrive.setShiftState(state);
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m_robotPneumatics.setShiftState(state);
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}
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/**
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