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Added Hood with joy, full manual all programmed but not might not work

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This commit is contained in:
ryan123rudder
2020-03-11 20:56:18 -06:00
parent b55974b01c
commit db128a328a
6 changed files with 181 additions and 16 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+20 -16
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@@ -39,9 +39,12 @@ import frc4388.robot.commands.drive.PlaySongDrive;
import frc4388.robot.commands.drive.TurnDegrees;
import frc4388.robot.commands.intake.RunIntakeWithTriggers;
import frc4388.robot.commands.shooter.CalibrateShooter;
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;
@@ -61,6 +64,7 @@ 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;
import frc4388.utility.controller.XboxTriggerButton;
@@ -90,10 +94,12 @@ public class RobotContainer {
private 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 final XboxController m_buttonFox = new XboxController(OIConstants. BUTTON_FOX_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);
public static boolean m_isShooterManual = false;
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
@@ -121,6 +127,8 @@ 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(1500), m_robotShooter));
// drives climber with input from triggers on the opperator controller
@@ -226,23 +234,18 @@ 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)));
@@ -259,8 +262,8 @@ public class RobotContainer {
// Shooter Manual
new JoystickButton(getButtonFox(), ButtonFox.RIGHT_SWITCH)
.whileHeld(new PlaySongDrive(m_robotDrive))
.whenReleased(new InterruptSubystem(m_robotDrive));
.whileHeld(new ShooterManual(true))
.whenReleased(new ShooterManual(false));
// Goal Shooter Position
new JoystickButton(getButtonFox(), ButtonFox.LEFT_BUTTON)
@@ -384,6 +387,7 @@ public class RobotContainer {
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.
src/main/java/frc4388/robot/commands/shooter/RunHoodWithJoystick.java
+54
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@@ -0,0 +1,54 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package frc4388.robot.commands.shooter;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.subsystems.Leveler;
import frc4388.robot.subsystems.ShooterHood;
import frc4388.utility.controller.IHandController;
public class RunHoodWithJoystick extends CommandBase {
private ShooterHood m_hood;
private IHandController m_controller;
/**
* Creates a new RunLevelerWithJoystick to control the leveler with an Xbox controller.
* @param subsystem pass the Hood subsystem from {@link frc4388.robot.RobotContainer#RobotContainer() RobotContainer}
* @param controller pass the Operator {@link frc4388.utility.controller.IHandController#getClass() IHandController} using the
* {@link frc4388.robot.RobotContainer#getOperatorJoystick() getOperatorJoystick()} method in
* {@link frc4388.robot.RobotContainer#RobotContainer() RobotContainer}
*/
public RunHoodWithJoystick(ShooterHood subsystem, IHandController controller) {
m_hood = subsystem;
m_controller = controller;
addRequirements(m_hood);
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
double input = m_controller.getRightXAxis();
m_hood.runHood(input);
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}
src/main/java/frc4388/robot/commands/shooter/ShooterManual.java
+45
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@@ -0,0 +1,45 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package frc4388.robot.commands.shooter;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.RobotContainer;
public class ShooterManual extends CommandBase {
public boolean isManual = false;
/**
* Creates a new ShooterManual.
*/
public ShooterManual(boolean man) {
isManual = man;
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
RobotContainer.m_isShooterManual = isManual;
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
RobotContainer.m_isShooterManual = isManual;
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}
src/main/java/frc4388/robot/subsystems/ShooterHood.java
+5
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@@ -86,6 +86,11 @@ public class ShooterHood extends SubsystemBase {
m_angleAdjustPIDController.setReference(targetAngle, ControlType.kPosition);
}
public void runHood(double input)
{
m_angleAdjustMotor.set(input);
}
public void resetGyroAngleAdj(){
m_angleEncoder.setPosition(0);
}