Team4388/RiseOfRidgebotics2020
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Merge branch 'master' into add-ramsete-controller-and-trajectories

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This commit is contained in:
Keenan D. Buckley
2020-02-21 23:41:01 +00:00
committed by GitHub
parent fee7f99a9f 7eaf7c006a
commit c65b584ade
36 changed files with 479 additions and 70 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+27 -7
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@@ -29,6 +29,7 @@ import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.commands.DriveStraightAtVelocityPID;
import frc4388.robot.commands.DriveWithJoystick;
import frc4388.robot.commands.DriveStraightToPositionMM;
import frc4388.robot.commands.DriveStraightToPositionPID;
import frc4388.robot.commands.DriveWithJoystick;
@@ -44,6 +45,11 @@ import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.Climber;
import frc4388.robot.commands.RunLevelerWithJoystick;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Intake;
import frc4388.robot.subsystems.LED;
import frc4388.robot.commands.TrackTarget;
import frc4388.robot.subsystems.Camera;
import frc4388.robot.subsystems.Leveler;
import frc4388.robot.subsystems.Storage;
import frc4388.utility.LEDPatterns;
@@ -67,6 +73,10 @@ public class RobotContainer {
private final Leveler m_robotLeveler = new Leveler();
private final Storage m_robotStorage = new Storage();
/* 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);
/* Controllers */
private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
@@ -87,11 +97,12 @@ 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 drum shooter in idle mode
m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooter(0.15), m_robotShooter));
m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runShooterWithInput(m_operatorXbox.getLeftXAxis()), m_robotShooter));
// drives the leveler with an axis input from the driver controller
m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController()));
// m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController()));
// runs storage motor at 50 percent
m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
// m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
}
/**
@@ -107,12 +118,15 @@ public class RobotContainer {
/* Operator Buttons */
// activates "Lit Mode"
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
.whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
//new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
// .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
// .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
.whileHeld(new ShooterVelocityControlPID(m_robotShooter, 4000));
new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON)
.whileHeld(new TrackTarget(m_robotShooter));
new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON)
.whenPressed(new RunExtenderOutIn(m_robotIntake));
@@ -134,6 +148,7 @@ public class RobotContainer {
new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
.whenPressed(new RunCommand(() -> m_robotDrive.driveWithInputAux(0.2, 0), m_robotDrive));
// sets solenoids into high gear
new JoystickButton(getDriverJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(true), m_robotDrive));
@@ -146,9 +161,14 @@ public class RobotContainer {
new JoystickButton(getDriverJoystick(), XboxController.LEFT_JOYSTICK_BUTTON)
.whenPressed(new InstantCommand(() -> System.out.print("Gamer"), m_robotDrive));
// 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));
/* Storage Neo PID Test */
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whileHeld(new RunCommand(() -> m_robotStorage.runStoragePositionPID(0.5, 0.2, 0.0, 0.0, 0.0, 0.0, 1, -1)));
.whileHeld(new TrackTarget(m_robotShooter));
}
/**