mirror of
https://github.com/Team4388/RiseOfRidgebotics2020.git
synced 2026-06-09 00:38:00 -06:00
Merge branch 'master' into GalacticSearch
This commit is contained in:
Ryan
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# Details
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Date : 2020-03-13 19:46:18
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Directory c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main
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Total : 83 files, 4888 codes, 1770 comments, 1110 blanks, all 7768 lines
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[summary](results.md)
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## Files
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| filename | language | code | comment | blank | total |
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| :--- | :--- | ---: | ---: | ---: | ---: |
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|
| [src/main/deploy/paths/DriveOffLineBackward.wpilib.json](/src/main/deploy/paths/DriveOffLineBackward.wpilib.json) | JSON | 1 | 0 | 0 | 1 |
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| [src/main/deploy/paths/DriveOffLineForward.wpilib.json](/src/main/deploy/paths/DriveOffLineForward.wpilib.json) | JSON | 1 | 0 | 0 | 1 |
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| [src/main/deploy/paths/EightBallMid0.wpilib.json](/src/main/deploy/paths/EightBallMid0.wpilib.json) | JSON | 1 | 0 | 0 | 1 |
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| [src/main/deploy/paths/EightBallMid1.wpilib.json](/src/main/deploy/paths/EightBallMid1.wpilib.json) | JSON | 1 | 0 | 0 | 1 |
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| [src/main/deploy/paths/EightBallMid2.wpilib.json](/src/main/deploy/paths/EightBallMid2.wpilib.json) | JSON | 1 | 0 | 0 | 1 |
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| [src/main/deploy/paths/EightBallMidComplete.wpilib.json](/src/main/deploy/paths/EightBallMidComplete.wpilib.json) | JSON | 1 | 0 | 0 | 1 |
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| [src/main/deploy/paths/FiveBallMidComplete.wpilib.json](/src/main/deploy/paths/FiveBallMidComplete.wpilib.json) | JSON | 1 | 0 | 0 | 1 |
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| [src/main/deploy/paths/SixBallMid0.wpilib.json](/src/main/deploy/paths/SixBallMid0.wpilib.json) | JSON | 1 | 0 | 0 | 1 |
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| [src/main/deploy/paths/SixBallMid1.wpilib.json](/src/main/deploy/paths/SixBallMid1.wpilib.json) | JSON | 1 | 0 | 0 | 1 |
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| [src/main/deploy/paths/SixBallMidComplete.wpilib.json](/src/main/deploy/paths/SixBallMidComplete.wpilib.json) | JSON | 1 | 0 | 0 | 1 |
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| [src/main/deploy/paths/TenBallMidComplete.wpilib.json](/src/main/deploy/paths/TenBallMidComplete.wpilib.json) | JSON | 1 | 0 | 0 | 1 |
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|
| [src/main/driverStation/GOAT DRIVERSTATION.json](/src/main/driverStation/GOAT DRIVERSTATION.json) | JSON | 1,014 | 0 | 0 | 1,014 |
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|
| [src/main/driverStation/themes/Ridgbotics/ridgeboticstheme.css](/src/main/driverStation/themes/Ridgbotics/ridgeboticstheme.css) | CSS | 8 | 0 | 1 | 9 |
|
||||||
|
| [src/main/java/frc4388/robot/Constants.java](/src/main/java/frc4388/robot/Constants.java) | Java | 157 | 32 | 41 | 230 |
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|
| [src/main/java/frc4388/robot/Main.java](/src/main/java/frc4388/robot/Main.java) | Java | 9 | 16 | 5 | 30 |
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|
| [src/main/java/frc4388/robot/Robot.java](/src/main/java/frc4388/robot/Robot.java) | Java | 59 | 63 | 24 | 146 |
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|
| [src/main/java/frc4388/robot/RobotContainer.java](/src/main/java/frc4388/robot/RobotContainer.java) | Java | 312 | 145 | 96 | 553 |
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|
| [src/main/java/frc4388/robot/commands/InterruptSubystem.java](/src/main/java/frc4388/robot/commands/InterruptSubystem.java) | Java | 21 | 14 | 8 | 43 |
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|
| [src/main/java/frc4388/robot/commands/auto/AutoPath1FromCenter.java](/src/main/java/frc4388/robot/commands/auto/AutoPath1FromCenter.java) | Java | 22 | 19 | 6 | 47 |
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|
| [src/main/java/frc4388/robot/commands/auto/AutoPath2FromRight.java](/src/main/java/frc4388/robot/commands/auto/AutoPath2FromRight.java) | Java | 26 | 23 | 6 | 55 |
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|
| [src/main/java/frc4388/robot/commands/auto/DriveOffLineBackward.java](/src/main/java/frc4388/robot/commands/auto/DriveOffLineBackward.java) | Java | 13 | 14 | 5 | 32 |
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|
| [src/main/java/frc4388/robot/commands/auto/DriveOffLineForward.java](/src/main/java/frc4388/robot/commands/auto/DriveOffLineForward.java) | Java | 11 | 14 | 5 | 30 |
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| [src/main/java/frc4388/robot/commands/auto/EightBallAutoMiddle.java](/src/main/java/frc4388/robot/commands/auto/EightBallAutoMiddle.java) | Java | 11 | 14 | 5 | 30 |
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| [src/main/java/frc4388/robot/commands/auto/FiveBallAutoMiddle.java](/src/main/java/frc4388/robot/commands/auto/FiveBallAutoMiddle.java) | Java | 12 | 13 | 4 | 29 |
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| [src/main/java/frc4388/robot/commands/auto/SixBallAutoMiddle.java](/src/main/java/frc4388/robot/commands/auto/SixBallAutoMiddle.java) | Java | 16 | 14 | 6 | 36 |
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| [src/main/java/frc4388/robot/commands/auto/TankDriveVelocity.java](/src/main/java/frc4388/robot/commands/auto/TankDriveVelocity.java) | Java | 42 | 14 | 12 | 68 |
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| [src/main/java/frc4388/robot/commands/auto/TenBallAutoMiddle.java](/src/main/java/frc4388/robot/commands/auto/TenBallAutoMiddle.java) | Java | 40 | 16 | 4 | 60 |
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| [src/main/java/frc4388/robot/commands/auto/Wait.java](/src/main/java/frc4388/robot/commands/auto/Wait.java) | Java | 40 | 16 | 16 | 72 |
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| [src/main/java/frc4388/robot/commands/climber/DisengageRachet.java](/src/main/java/frc4388/robot/commands/climber/DisengageRachet.java) | Java | 26 | 14 | 9 | 49 |
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| [src/main/java/frc4388/robot/commands/climber/RunClimberWithTriggers.java](/src/main/java/frc4388/robot/commands/climber/RunClimberWithTriggers.java) | Java | 42 | 15 | 9 | 66 |
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| [src/main/java/frc4388/robot/commands/climber/RunLevelerWithJoystick.java](/src/main/java/frc4388/robot/commands/climber/RunLevelerWithJoystick.java) | Java | 28 | 17 | 9 | 54 |
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| [src/main/java/frc4388/robot/commands/drive/DrivePositionMPAux.java](/src/main/java/frc4388/robot/commands/drive/DrivePositionMPAux.java) | Java | 60 | 25 | 9 | 94 |
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| [src/main/java/frc4388/robot/commands/drive/DriveStraightAtVelocityPID.java](/src/main/java/frc4388/robot/commands/drive/DriveStraightAtVelocityPID.java) | Java | 29 | 17 | 7 | 53 |
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| [src/main/java/frc4388/robot/commands/drive/DriveStraightToPositionMM.java](/src/main/java/frc4388/robot/commands/drive/DriveStraightToPositionMM.java) | Java | 56 | 22 | 9 | 87 |
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| [src/main/java/frc4388/robot/commands/drive/DriveStraightToPositionPID.java](/src/main/java/frc4388/robot/commands/drive/DriveStraightToPositionPID.java) | Java | 49 | 22 | 9 | 80 |
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| [src/main/java/frc4388/robot/commands/drive/DriveWithJoystick.java](/src/main/java/frc4388/robot/commands/drive/DriveWithJoystick.java) | Java | 54 | 43 | 14 | 111 |
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| [src/main/java/frc4388/robot/commands/drive/DriveWithJoystickAuxPID.java](/src/main/java/frc4388/robot/commands/drive/DriveWithJoystickAuxPID.java) | Java | 48 | 17 | 13 | 78 |
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| [src/main/java/frc4388/robot/commands/drive/DriveWithJoystickDriveStraight.java](/src/main/java/frc4388/robot/commands/drive/DriveWithJoystickDriveStraight.java) | Java | 93 | 31 | 19 | 143 |
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| [src/main/java/frc4388/robot/commands/drive/DriveWithJoystickUsingDeadAssistPID.java](/src/main/java/frc4388/robot/commands/drive/DriveWithJoystickUsingDeadAssistPID.java) | Java | 132 | 41 | 22 | 195 |
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| [src/main/java/frc4388/robot/commands/drive/GotoCoordinatesFieldRelative.java](/src/main/java/frc4388/robot/commands/drive/GotoCoordinatesFieldRelative.java) | Java | 10 | 14 | 5 | 29 |
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| [src/main/java/frc4388/robot/commands/drive/GotoCoordinatesRobotRelative.java](/src/main/java/frc4388/robot/commands/drive/GotoCoordinatesRobotRelative.java) | Java | 54 | 14 | 20 | 88 |
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| [src/main/java/frc4388/robot/commands/drive/PlaySongDrive.java](/src/main/java/frc4388/robot/commands/drive/PlaySongDrive.java) | Java | 28 | 16 | 9 | 53 |
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| [src/main/java/frc4388/robot/commands/drive/SkipSong.java](/src/main/java/frc4388/robot/commands/drive/SkipSong.java) | Java | 32 | 14 | 11 | 57 |
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| [src/main/java/frc4388/robot/commands/drive/TurnDegrees.java](/src/main/java/frc4388/robot/commands/drive/TurnDegrees.java) | Java | 41 | 16 | 17 | 74 |
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| [src/main/java/frc4388/robot/commands/intake/RunExtenderOutIn.java](/src/main/java/frc4388/robot/commands/intake/RunExtenderOutIn.java) | Java | 46 | 16 | 16 | 78 |
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| [src/main/java/frc4388/robot/commands/intake/RunIntake.java](/src/main/java/frc4388/robot/commands/intake/RunIntake.java) | Java | 25 | 14 | 8 | 47 |
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| [src/main/java/frc4388/robot/commands/intake/RunIntakeWithTriggers.java](/src/main/java/frc4388/robot/commands/intake/RunIntakeWithTriggers.java) | Java | 36 | 19 | 9 | 64 |
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| [src/main/java/frc4388/robot/commands/shooter/CalibrateShooter.java](/src/main/java/frc4388/robot/commands/shooter/CalibrateShooter.java) | Java | 44 | 15 | 11 | 70 |
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| [src/main/java/frc4388/robot/commands/shooter/HoodPositionPID.java](/src/main/java/frc4388/robot/commands/shooter/HoodPositionPID.java) | Java | 33 | 18 | 9 | 60 |
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| [src/main/java/frc4388/robot/commands/shooter/PrepChecker.java](/src/main/java/frc4388/robot/commands/shooter/PrepChecker.java) | Java | 28 | 14 | 11 | 53 |
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| [src/main/java/frc4388/robot/commands/shooter/RunHoodWithJoystick.java](/src/main/java/frc4388/robot/commands/shooter/RunHoodWithJoystick.java) | Java | 29 | 17 | 9 | 55 |
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| [src/main/java/frc4388/robot/commands/shooter/ShootPrepGroup.java](/src/main/java/frc4388/robot/commands/shooter/ShootPrepGroup.java) | Java | 16 | 15 | 4 | 35 |
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| [src/main/java/frc4388/robot/commands/shooter/ShooterGoalPosition.java](/src/main/java/frc4388/robot/commands/shooter/ShooterGoalPosition.java) | Java | 32 | 13 | 8 | 53 |
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| [src/main/java/frc4388/robot/commands/shooter/ShooterManual.java](/src/main/java/frc4388/robot/commands/shooter/ShooterManual.java) | Java | 25 | 13 | 8 | 46 |
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| [src/main/java/frc4388/robot/commands/shooter/ShooterTrenchPosition.java](/src/main/java/frc4388/robot/commands/shooter/ShooterTrenchPosition.java) | Java | 32 | 13 | 8 | 53 |
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| [src/main/java/frc4388/robot/commands/shooter/ShooterVelocityControlPID.java](/src/main/java/frc4388/robot/commands/shooter/ShooterVelocityControlPID.java) | Java | 37 | 15 | 10 | 62 |
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| [src/main/java/frc4388/robot/commands/shooter/TrackTarget.java](/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java) | Java | 84 | 30 | 22 | 136 |
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| [src/main/java/frc4388/robot/commands/shooter/TrimShooter.java](/src/main/java/frc4388/robot/commands/shooter/TrimShooter.java) | Java | 41 | 14 | 11 | 66 |
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| [src/main/java/frc4388/robot/commands/storage/ManageStorage.java](/src/main/java/frc4388/robot/commands/storage/ManageStorage.java) | Java | 90 | 35 | 23 | 148 |
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| [src/main/java/frc4388/robot/commands/storage/ManageStoragePID.java](/src/main/java/frc4388/robot/commands/storage/ManageStoragePID.java) | Java | 86 | 33 | 24 | 143 |
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| [src/main/java/frc4388/robot/commands/storage/RunStorage.java](/src/main/java/frc4388/robot/commands/storage/RunStorage.java) | Java | 25 | 14 | 8 | 47 |
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| [src/main/java/frc4388/robot/commands/storage/StoragePrep.java](/src/main/java/frc4388/robot/commands/storage/StoragePrep.java) | Java | 33 | 14 | 8 | 55 |
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| [src/main/java/frc4388/robot/subsystems/Camera.java](/src/main/java/frc4388/robot/subsystems/Camera.java) | Java | 24 | 15 | 6 | 45 |
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| [src/main/java/frc4388/robot/subsystems/Climber.java](/src/main/java/frc4388/robot/subsystems/Climber.java) | Java | 58 | 20 | 16 | 94 |
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| [src/main/java/frc4388/robot/subsystems/Drive.java](/src/main/java/frc4388/robot/subsystems/Drive.java) | Java | 506 | 275 | 148 | 929 |
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| [src/main/java/frc4388/robot/subsystems/Intake.java](/src/main/java/frc4388/robot/subsystems/Intake.java) | Java | 36 | 36 | 14 | 86 |
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| [src/main/java/frc4388/robot/subsystems/LED.java](/src/main/java/frc4388/robot/subsystems/LED.java) | Java | 44 | 32 | 12 | 88 |
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| [src/main/java/frc4388/robot/subsystems/Leveler.java](/src/main/java/frc4388/robot/subsystems/Leveler.java) | Java | 29 | 18 | 11 | 58 |
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| [src/main/java/frc4388/robot/subsystems/LimeLight.java](/src/main/java/frc4388/robot/subsystems/LimeLight.java) | Java | 18 | 10 | 8 | 36 |
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| [src/main/java/frc4388/robot/subsystems/Pneumatics.java](/src/main/java/frc4388/robot/subsystems/Pneumatics.java) | Java | 50 | 27 | 14 | 91 |
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| [src/main/java/frc4388/robot/subsystems/Shooter.java](/src/main/java/frc4388/robot/subsystems/Shooter.java) | Java | 73 | 38 | 32 | 143 |
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| [src/main/java/frc4388/robot/subsystems/ShooterAim.java](/src/main/java/frc4388/robot/subsystems/ShooterAim.java) | Java | 108 | 31 | 39 | 178 |
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| [src/main/java/frc4388/robot/subsystems/ShooterHood.java](/src/main/java/frc4388/robot/subsystems/ShooterHood.java) | Java | 65 | 20 | 23 | 108 |
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| [src/main/java/frc4388/robot/subsystems/Storage.java](/src/main/java/frc4388/robot/subsystems/Storage.java) | Java | 84 | 33 | 28 | 145 |
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| [src/main/java/frc4388/utility/Gains.java](/src/main/java/frc4388/utility/Gains.java) | Java | 33 | 28 | 5 | 66 |
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| [src/main/java/frc4388/utility/LEDPatterns.java](/src/main/java/frc4388/utility/LEDPatterns.java) | Java | 30 | 10 | 6 | 46 |
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| [src/main/java/frc4388/utility/ShooterTables.java](/src/main/java/frc4388/utility/ShooterTables.java) | Java | 125 | 15 | 31 | 171 |
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| [src/main/java/frc4388/utility/Trims.java](/src/main/java/frc4388/utility/Trims.java) | Java | 9 | 6 | 3 | 18 |
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| [src/main/java/frc4388/utility/controller/ButtonFox.java](/src/main/java/frc4388/utility/controller/ButtonFox.java) | Java | 8 | 10 | 3 | 21 |
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| [src/main/java/frc4388/utility/controller/IHandController.java](/src/main/java/frc4388/utility/controller/IHandController.java) | Java | 10 | 3 | 9 | 22 |
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| [src/main/java/frc4388/utility/controller/JoystickManualButton.java](/src/main/java/frc4388/utility/controller/JoystickManualButton.java) | Java | 24 | 22 | 8 | 54 |
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| [src/main/java/frc4388/utility/controller/XboxController.java](/src/main/java/frc4388/utility/controller/XboxController.java) | Java | 151 | 26 | 46 | 223 |
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| [src/main/java/frc4388/utility/controller/XboxTriggerButton.java](/src/main/java/frc4388/utility/controller/XboxTriggerButton.java) | Java | 55 | 8 | 6 | 69 |
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[summary](results.md)
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@@ -0,0 +1,85 @@
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|||||||
|
filename, language, JSON, Java, CSS, comment, blank, total
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\deploy\paths\DriveOffLineBackward.wpilib.json, JSON, 1, 0, 0, 0, 0, 1
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|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\deploy\paths\DriveOffLineForward.wpilib.json, JSON, 1, 0, 0, 0, 0, 1
|
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|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\deploy\paths\EightBallMid0.wpilib.json, JSON, 1, 0, 0, 0, 0, 1
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\deploy\paths\EightBallMid1.wpilib.json, JSON, 1, 0, 0, 0, 0, 1
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\deploy\paths\EightBallMid2.wpilib.json, JSON, 1, 0, 0, 0, 0, 1
|
||||||
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c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\deploy\paths\EightBallMidComplete.wpilib.json, JSON, 1, 0, 0, 0, 0, 1
|
||||||
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c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\deploy\paths\FiveBallMidComplete.wpilib.json, JSON, 1, 0, 0, 0, 0, 1
|
||||||
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c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\deploy\paths\SixBallMid0.wpilib.json, JSON, 1, 0, 0, 0, 0, 1
|
||||||
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c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\deploy\paths\SixBallMid1.wpilib.json, JSON, 1, 0, 0, 0, 0, 1
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\deploy\paths\SixBallMidComplete.wpilib.json, JSON, 1, 0, 0, 0, 0, 1
|
||||||
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c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\deploy\paths\TenBallMidComplete.wpilib.json, JSON, 1, 0, 0, 0, 0, 1
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||||||
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c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\driverStation\GOAT DRIVERSTATION.json, JSON, 1014, 0, 0, 0, 0, 1014
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\driverStation\themes\Ridgbotics\ridgeboticstheme.css, CSS, 0, 0, 8, 0, 1, 9
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\Constants.java, Java, 0, 157, 0, 32, 41, 230
|
||||||
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c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\Main.java, Java, 0, 9, 0, 16, 5, 30
|
||||||
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c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\Robot.java, Java, 0, 59, 0, 63, 24, 146
|
||||||
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c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\RobotContainer.java, Java, 0, 312, 0, 145, 96, 553
|
||||||
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c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\InterruptSubystem.java, Java, 0, 21, 0, 14, 8, 43
|
||||||
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c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\auto\AutoPath1FromCenter.java, Java, 0, 22, 0, 19, 6, 47
|
||||||
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c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\auto\AutoPath2FromRight.java, Java, 0, 26, 0, 23, 6, 55
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\auto\DriveOffLineBackward.java, Java, 0, 13, 0, 14, 5, 32
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\auto\DriveOffLineForward.java, Java, 0, 11, 0, 14, 5, 30
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\auto\EightBallAutoMiddle.java, Java, 0, 11, 0, 14, 5, 30
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\auto\FiveBallAutoMiddle.java, Java, 0, 12, 0, 13, 4, 29
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\auto\SixBallAutoMiddle.java, Java, 0, 16, 0, 14, 6, 36
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\auto\TankDriveVelocity.java, Java, 0, 42, 0, 14, 12, 68
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\auto\TenBallAutoMiddle.java, Java, 0, 40, 0, 16, 4, 60
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\auto\Wait.java, Java, 0, 40, 0, 16, 16, 72
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\climber\DisengageRachet.java, Java, 0, 26, 0, 14, 9, 49
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\climber\RunClimberWithTriggers.java, Java, 0, 42, 0, 15, 9, 66
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\climber\RunLevelerWithJoystick.java, Java, 0, 28, 0, 17, 9, 54
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\drive\DrivePositionMPAux.java, Java, 0, 60, 0, 25, 9, 94
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\drive\DriveStraightAtVelocityPID.java, Java, 0, 29, 0, 17, 7, 53
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\drive\DriveStraightToPositionMM.java, Java, 0, 56, 0, 22, 9, 87
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\drive\DriveStraightToPositionPID.java, Java, 0, 49, 0, 22, 9, 80
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\drive\DriveWithJoystick.java, Java, 0, 54, 0, 43, 14, 111
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\drive\DriveWithJoystickAuxPID.java, Java, 0, 48, 0, 17, 13, 78
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\drive\DriveWithJoystickDriveStraight.java, Java, 0, 93, 0, 31, 19, 143
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\drive\DriveWithJoystickUsingDeadAssistPID.java, Java, 0, 132, 0, 41, 22, 195
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\drive\GotoCoordinatesFieldRelative.java, Java, 0, 10, 0, 14, 5, 29
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\drive\GotoCoordinatesRobotRelative.java, Java, 0, 54, 0, 14, 20, 88
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\drive\PlaySongDrive.java, Java, 0, 28, 0, 16, 9, 53
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\drive\SkipSong.java, Java, 0, 32, 0, 14, 11, 57
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\drive\TurnDegrees.java, Java, 0, 41, 0, 16, 17, 74
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\intake\RunExtenderOutIn.java, Java, 0, 46, 0, 16, 16, 78
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\intake\RunIntake.java, Java, 0, 25, 0, 14, 8, 47
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\intake\RunIntakeWithTriggers.java, Java, 0, 36, 0, 19, 9, 64
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\shooter\CalibrateShooter.java, Java, 0, 44, 0, 15, 11, 70
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\shooter\HoodPositionPID.java, Java, 0, 33, 0, 18, 9, 60
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\shooter\PrepChecker.java, Java, 0, 28, 0, 14, 11, 53
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\shooter\RunHoodWithJoystick.java, Java, 0, 29, 0, 17, 9, 55
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\shooter\ShootPrepGroup.java, Java, 0, 16, 0, 15, 4, 35
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\shooter\ShooterGoalPosition.java, Java, 0, 32, 0, 13, 8, 53
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\shooter\ShooterManual.java, Java, 0, 25, 0, 13, 8, 46
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\shooter\ShooterTrenchPosition.java, Java, 0, 32, 0, 13, 8, 53
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\shooter\ShooterVelocityControlPID.java, Java, 0, 37, 0, 15, 10, 62
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\shooter\TrackTarget.java, Java, 0, 84, 0, 30, 22, 136
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\shooter\TrimShooter.java, Java, 0, 41, 0, 14, 11, 66
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\storage\ManageStorage.java, Java, 0, 90, 0, 35, 23, 148
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\storage\ManageStoragePID.java, Java, 0, 86, 0, 33, 24, 143
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\storage\RunStorage.java, Java, 0, 25, 0, 14, 8, 47
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\storage\StoragePrep.java, Java, 0, 33, 0, 14, 8, 55
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\subsystems\Camera.java, Java, 0, 24, 0, 15, 6, 45
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\subsystems\Climber.java, Java, 0, 58, 0, 20, 16, 94
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\subsystems\Drive.java, Java, 0, 506, 0, 275, 148, 929
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\subsystems\Intake.java, Java, 0, 36, 0, 36, 14, 86
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\subsystems\LED.java, Java, 0, 44, 0, 32, 12, 88
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\subsystems\Leveler.java, Java, 0, 29, 0, 18, 11, 58
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\subsystems\LimeLight.java, Java, 0, 18, 0, 10, 8, 36
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\subsystems\Pneumatics.java, Java, 0, 50, 0, 27, 14, 91
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\subsystems\Shooter.java, Java, 0, 73, 0, 38, 32, 143
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\subsystems\ShooterAim.java, Java, 0, 108, 0, 31, 39, 178
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\subsystems\ShooterHood.java, Java, 0, 65, 0, 20, 23, 108
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\subsystems\Storage.java, Java, 0, 84, 0, 33, 28, 145
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\utility\Gains.java, Java, 0, 33, 0, 28, 5, 66
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\utility\LEDPatterns.java, Java, 0, 30, 0, 10, 6, 46
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\utility\ShooterTables.java, Java, 0, 125, 0, 15, 31, 171
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\utility\Trims.java, Java, 0, 9, 0, 6, 3, 18
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\utility\controller\ButtonFox.java, Java, 0, 8, 0, 10, 3, 21
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\utility\controller\IHandController.java, Java, 0, 10, 0, 3, 9, 22
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\utility\controller\JoystickManualButton.java, Java, 0, 24, 0, 22, 8, 54
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\utility\controller\XboxController.java, Java, 0, 151, 0, 26, 46, 223
|
||||||
|
c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\utility\controller\XboxTriggerButton.java, Java, 0, 55, 0, 8, 6, 69
|
||||||
|
Total, -, 1025, 3855, 8, 1770, 1110, 7768
|
||||||
|
@@ -0,0 +1,41 @@
|
|||||||
|
# Summary
|
||||||
|
|
||||||
|
Date : 2020-03-13 19:46:18
|
||||||
|
|
||||||
|
Directory c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main
|
||||||
|
|
||||||
|
Total : 83 files, 4888 codes, 1770 comments, 1110 blanks, all 7768 lines
|
||||||
|
|
||||||
|
[details](details.md)
|
||||||
|
|
||||||
|
## Languages
|
||||||
|
| language | files | code | comment | blank | total |
|
||||||
|
| :--- | ---: | ---: | ---: | ---: | ---: |
|
||||||
|
| Java | 70 | 3,855 | 1,770 | 1,109 | 6,734 |
|
||||||
|
| JSON | 12 | 1,025 | 0 | 0 | 1,025 |
|
||||||
|
| CSS | 1 | 8 | 0 | 1 | 9 |
|
||||||
|
|
||||||
|
## Directories
|
||||||
|
| path | files | code | comment | blank | total |
|
||||||
|
| :--- | ---: | ---: | ---: | ---: | ---: |
|
||||||
|
| . | 83 | 4,888 | 1,770 | 1,110 | 7,768 |
|
||||||
|
| deploy | 11 | 11 | 0 | 0 | 11 |
|
||||||
|
| deploy\paths | 11 | 11 | 0 | 0 | 11 |
|
||||||
|
| driverStation | 2 | 1,022 | 0 | 1 | 1,023 |
|
||||||
|
| driverStation\themes | 1 | 8 | 0 | 1 | 9 |
|
||||||
|
| driverStation\themes\Ridgbotics | 1 | 8 | 0 | 1 | 9 |
|
||||||
|
| java | 70 | 3,855 | 1,770 | 1,109 | 6,734 |
|
||||||
|
| java\frc4388 | 70 | 3,855 | 1,770 | 1,109 | 6,734 |
|
||||||
|
| java\frc4388\robot | 61 | 3,410 | 1,642 | 992 | 6,044 |
|
||||||
|
| java\frc4388\robot\commands | 45 | 1,778 | 831 | 475 | 3,084 |
|
||||||
|
| java\frc4388\robot\commands\auto | 10 | 233 | 157 | 69 | 459 |
|
||||||
|
| java\frc4388\robot\commands\climber | 3 | 96 | 46 | 27 | 169 |
|
||||||
|
| java\frc4388\robot\commands\drive | 13 | 686 | 292 | 164 | 1,142 |
|
||||||
|
| java\frc4388\robot\commands\intake | 3 | 107 | 49 | 33 | 189 |
|
||||||
|
| java\frc4388\robot\commands\shooter | 11 | 401 | 177 | 111 | 689 |
|
||||||
|
| java\frc4388\robot\commands\storage | 4 | 234 | 96 | 63 | 393 |
|
||||||
|
| java\frc4388\robot\subsystems | 12 | 1,095 | 555 | 351 | 2,001 |
|
||||||
|
| java\frc4388\utility | 9 | 445 | 128 | 117 | 690 |
|
||||||
|
| java\frc4388\utility\controller | 5 | 248 | 69 | 72 | 389 |
|
||||||
|
|
||||||
|
[details](details.md)
|
||||||
@@ -0,0 +1,127 @@
|
|||||||
|
Date : 2020-03-13 19:46:18
|
||||||
|
Directory : c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main
|
||||||
|
Total : 83 files, 4888 codes, 1770 comments, 1110 blanks, all 7768 lines
|
||||||
|
|
||||||
|
Languages
|
||||||
|
+----------+------------+------------+------------+------------+------------+
|
||||||
|
| language | files | code | comment | blank | total |
|
||||||
|
+----------+------------+------------+------------+------------+------------+
|
||||||
|
| Java | 70 | 3,855 | 1,770 | 1,109 | 6,734 |
|
||||||
|
| JSON | 12 | 1,025 | 0 | 0 | 1,025 |
|
||||||
|
| CSS | 1 | 8 | 0 | 1 | 9 |
|
||||||
|
+----------+------------+------------+------------+------------+------------+
|
||||||
|
|
||||||
|
Directories
|
||||||
|
+-------------------------------------------------------------------------------------------------------------------------------------------------+------------+------------+------------+------------+------------+
|
||||||
|
| path | files | code | comment | blank | total |
|
||||||
|
+-------------------------------------------------------------------------------------------------------------------------------------------------+------------+------------+------------+------------+------------+
|
||||||
|
| . | 83 | 4,888 | 1,770 | 1,110 | 7,768 |
|
||||||
|
| deploy | 11 | 11 | 0 | 0 | 11 |
|
||||||
|
| deploy\paths | 11 | 11 | 0 | 0 | 11 |
|
||||||
|
| driverStation | 2 | 1,022 | 0 | 1 | 1,023 |
|
||||||
|
| driverStation\themes | 1 | 8 | 0 | 1 | 9 |
|
||||||
|
| driverStation\themes\Ridgbotics | 1 | 8 | 0 | 1 | 9 |
|
||||||
|
| java | 70 | 3,855 | 1,770 | 1,109 | 6,734 |
|
||||||
|
| java\frc4388 | 70 | 3,855 | 1,770 | 1,109 | 6,734 |
|
||||||
|
| java\frc4388\robot | 61 | 3,410 | 1,642 | 992 | 6,044 |
|
||||||
|
| java\frc4388\robot\commands | 45 | 1,778 | 831 | 475 | 3,084 |
|
||||||
|
| java\frc4388\robot\commands\auto | 10 | 233 | 157 | 69 | 459 |
|
||||||
|
| java\frc4388\robot\commands\climber | 3 | 96 | 46 | 27 | 169 |
|
||||||
|
| java\frc4388\robot\commands\drive | 13 | 686 | 292 | 164 | 1,142 |
|
||||||
|
| java\frc4388\robot\commands\intake | 3 | 107 | 49 | 33 | 189 |
|
||||||
|
| java\frc4388\robot\commands\shooter | 11 | 401 | 177 | 111 | 689 |
|
||||||
|
| java\frc4388\robot\commands\storage | 4 | 234 | 96 | 63 | 393 |
|
||||||
|
| java\frc4388\robot\subsystems | 12 | 1,095 | 555 | 351 | 2,001 |
|
||||||
|
| java\frc4388\utility | 9 | 445 | 128 | 117 | 690 |
|
||||||
|
| java\frc4388\utility\controller | 5 | 248 | 69 | 72 | 389 |
|
||||||
|
+-------------------------------------------------------------------------------------------------------------------------------------------------+------------+------------+------------+------------+------------+
|
||||||
|
|
||||||
|
Files
|
||||||
|
+-------------------------------------------------------------------------------------------------------------------------------------------------+----------+------------+------------+------------+------------+
|
||||||
|
| filename | language | code | comment | blank | total |
|
||||||
|
+-------------------------------------------------------------------------------------------------------------------------------------------------+----------+------------+------------+------------+------------+
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\deploy\paths\DriveOffLineBackward.wpilib.json | JSON | 1 | 0 | 0 | 1 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\deploy\paths\DriveOffLineForward.wpilib.json | JSON | 1 | 0 | 0 | 1 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\deploy\paths\EightBallMid0.wpilib.json | JSON | 1 | 0 | 0 | 1 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\deploy\paths\EightBallMid1.wpilib.json | JSON | 1 | 0 | 0 | 1 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\deploy\paths\EightBallMid2.wpilib.json | JSON | 1 | 0 | 0 | 1 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\deploy\paths\EightBallMidComplete.wpilib.json | JSON | 1 | 0 | 0 | 1 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\deploy\paths\FiveBallMidComplete.wpilib.json | JSON | 1 | 0 | 0 | 1 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\deploy\paths\SixBallMid0.wpilib.json | JSON | 1 | 0 | 0 | 1 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\deploy\paths\SixBallMid1.wpilib.json | JSON | 1 | 0 | 0 | 1 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\deploy\paths\SixBallMidComplete.wpilib.json | JSON | 1 | 0 | 0 | 1 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\deploy\paths\TenBallMidComplete.wpilib.json | JSON | 1 | 0 | 0 | 1 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\driverStation\GOAT DRIVERSTATION.json | JSON | 1,014 | 0 | 0 | 1,014 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\driverStation\themes\Ridgbotics\ridgeboticstheme.css | CSS | 8 | 0 | 1 | 9 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\Constants.java | Java | 157 | 32 | 41 | 230 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\Main.java | Java | 9 | 16 | 5 | 30 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\Robot.java | Java | 59 | 63 | 24 | 146 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\RobotContainer.java | Java | 312 | 145 | 96 | 553 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\InterruptSubystem.java | Java | 21 | 14 | 8 | 43 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\auto\AutoPath1FromCenter.java | Java | 22 | 19 | 6 | 47 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\auto\AutoPath2FromRight.java | Java | 26 | 23 | 6 | 55 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\auto\DriveOffLineBackward.java | Java | 13 | 14 | 5 | 32 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\auto\DriveOffLineForward.java | Java | 11 | 14 | 5 | 30 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\auto\EightBallAutoMiddle.java | Java | 11 | 14 | 5 | 30 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\auto\FiveBallAutoMiddle.java | Java | 12 | 13 | 4 | 29 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\auto\SixBallAutoMiddle.java | Java | 16 | 14 | 6 | 36 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\auto\TankDriveVelocity.java | Java | 42 | 14 | 12 | 68 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\auto\TenBallAutoMiddle.java | Java | 40 | 16 | 4 | 60 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\auto\Wait.java | Java | 40 | 16 | 16 | 72 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\climber\DisengageRachet.java | Java | 26 | 14 | 9 | 49 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\climber\RunClimberWithTriggers.java | Java | 42 | 15 | 9 | 66 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\climber\RunLevelerWithJoystick.java | Java | 28 | 17 | 9 | 54 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\drive\DrivePositionMPAux.java | Java | 60 | 25 | 9 | 94 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\drive\DriveStraightAtVelocityPID.java | Java | 29 | 17 | 7 | 53 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\drive\DriveStraightToPositionMM.java | Java | 56 | 22 | 9 | 87 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\drive\DriveStraightToPositionPID.java | Java | 49 | 22 | 9 | 80 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\drive\DriveWithJoystick.java | Java | 54 | 43 | 14 | 111 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\drive\DriveWithJoystickAuxPID.java | Java | 48 | 17 | 13 | 78 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\drive\DriveWithJoystickDriveStraight.java | Java | 93 | 31 | 19 | 143 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\drive\DriveWithJoystickUsingDeadAssistPID.java | Java | 132 | 41 | 22 | 195 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\drive\GotoCoordinatesFieldRelative.java | Java | 10 | 14 | 5 | 29 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\drive\GotoCoordinatesRobotRelative.java | Java | 54 | 14 | 20 | 88 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\drive\PlaySongDrive.java | Java | 28 | 16 | 9 | 53 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\drive\SkipSong.java | Java | 32 | 14 | 11 | 57 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\drive\TurnDegrees.java | Java | 41 | 16 | 17 | 74 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\intake\RunExtenderOutIn.java | Java | 46 | 16 | 16 | 78 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\intake\RunIntake.java | Java | 25 | 14 | 8 | 47 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\intake\RunIntakeWithTriggers.java | Java | 36 | 19 | 9 | 64 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\shooter\CalibrateShooter.java | Java | 44 | 15 | 11 | 70 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\shooter\HoodPositionPID.java | Java | 33 | 18 | 9 | 60 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\shooter\PrepChecker.java | Java | 28 | 14 | 11 | 53 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\shooter\RunHoodWithJoystick.java | Java | 29 | 17 | 9 | 55 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\shooter\ShootPrepGroup.java | Java | 16 | 15 | 4 | 35 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\shooter\ShooterGoalPosition.java | Java | 32 | 13 | 8 | 53 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\shooter\ShooterManual.java | Java | 25 | 13 | 8 | 46 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\shooter\ShooterTrenchPosition.java | Java | 32 | 13 | 8 | 53 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\shooter\ShooterVelocityControlPID.java | Java | 37 | 15 | 10 | 62 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\shooter\TrackTarget.java | Java | 84 | 30 | 22 | 136 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\shooter\TrimShooter.java | Java | 41 | 14 | 11 | 66 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\storage\ManageStorage.java | Java | 90 | 35 | 23 | 148 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\storage\ManageStoragePID.java | Java | 86 | 33 | 24 | 143 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\storage\RunStorage.java | Java | 25 | 14 | 8 | 47 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\storage\StoragePrep.java | Java | 33 | 14 | 8 | 55 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\subsystems\Camera.java | Java | 24 | 15 | 6 | 45 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\subsystems\Climber.java | Java | 58 | 20 | 16 | 94 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\subsystems\Drive.java | Java | 506 | 275 | 148 | 929 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\subsystems\Intake.java | Java | 36 | 36 | 14 | 86 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\subsystems\LED.java | Java | 44 | 32 | 12 | 88 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\subsystems\Leveler.java | Java | 29 | 18 | 11 | 58 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\subsystems\LimeLight.java | Java | 18 | 10 | 8 | 36 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\subsystems\Pneumatics.java | Java | 50 | 27 | 14 | 91 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\subsystems\Shooter.java | Java | 73 | 38 | 32 | 143 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\subsystems\ShooterAim.java | Java | 108 | 31 | 39 | 178 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\subsystems\ShooterHood.java | Java | 65 | 20 | 23 | 108 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\subsystems\Storage.java | Java | 84 | 33 | 28 | 145 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\utility\Gains.java | Java | 33 | 28 | 5 | 66 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\utility\LEDPatterns.java | Java | 30 | 10 | 6 | 46 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\utility\ShooterTables.java | Java | 125 | 15 | 31 | 171 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\utility\Trims.java | Java | 9 | 6 | 3 | 18 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\utility\controller\ButtonFox.java | Java | 8 | 10 | 3 | 21 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\utility\controller\IHandController.java | Java | 10 | 3 | 9 | 22 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\utility\controller\JoystickManualButton.java | Java | 24 | 22 | 8 | 54 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\utility\controller\XboxController.java | Java | 151 | 26 | 46 | 223 |
|
||||||
|
| c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\utility\controller\XboxTriggerButton.java | Java | 55 | 8 | 6 | 69 |
|
||||||
|
| Total | | 4,888 | 1,770 | 1,110 | 7,768 |
|
||||||
|
+-------------------------------------------------------------------------------------------------------------------------------------------------+----------+------------+------------+------------+------------+
|
||||||
@@ -0,0 +1,2 @@
|
|||||||
|
SixBallMidComplete
|
||||||
|
TenBallMidComplete
|
||||||
@@ -1,6 +1,4 @@
|
|||||||
X,Y,Tangent X,Tangent Y,Fixed Theta,Name
|
X,Y,Tangent X,Tangent Y,Fixed Theta,Name
|
||||||
3.2,-2.4,0.2,2.5,true,
|
|
||||||
5.0,-1.1,3.0,0.0,true,
|
|
||||||
7.2,-1.1,1.5,0.0,true,
|
7.2,-1.1,1.5,0.0,true,
|
||||||
6.981146126504424,-1.7267749571307522,-0.16656954801462032,-0.6424825423421034,true,
|
6.981146126504424,-1.7267749571307522,-0.16656954801462032,-0.6424825423421034,true,
|
||||||
6.766985279057057,-2.6072139966365975,-0.1189782485818709,-0.2974456214546768,true,
|
6.766985279057057,-2.6072139966365975,-0.1189782485818709,-0.2974456214546768,true,
|
||||||
|
|||||||
@@ -1,2 +1,2 @@
|
|||||||
# Robot-Essentials
|
# Rise-of-Ridgebotics
|
||||||
Basic code for any Ridgebotics robot project
|
The codebase which never lost us a single match
|
||||||
|
|||||||
@@ -1,14 +1,7 @@
|
|||||||
Distance (in),Hood Ext. (u),Drum Velocity (u/ds),Center Displacment (deg)
|
Distance (in),Hood Ext. (u),Drum Velocity (u/ds),Center Displacment (deg)
|
||||||
1,10,8000,2
|
70,20,7000,2.5,
|
||||||
70,21,8000,2, check
|
127,27,8467,2,
|
||||||
100,24,9000,2
|
223,31.25,10398,2.75,
|
||||||
145,28,10000,1
|
272,32.4,11776,2.5,
|
||||||
230,31,12000,0,Add a 270
|
342,33,13733,2,
|
||||||
246,32,15000,0
|
458,30.5,17000,0,
|
||||||
320,32,17000,0,change 17000 and mark them lower
|
|
||||||
331,33,17000,0
|
|
||||||
397,33,16000,0
|
|
||||||
415,33,16250,0
|
|
||||||
436,31,18000,0
|
|
||||||
500,33,18000,0
|
|
||||||
501,33,18000,0
|
|
||||||
|
@@ -0,0 +1,8 @@
|
|||||||
|
Distance (in),Hood Ext. (u),Drum Velocity (u/ds),Center Displacment (deg)
|
||||||
|
1,10,7769,0
|
||||||
|
70,21,7769,0, check
|
||||||
|
100,24,8580,0
|
||||||
|
145,28,9390,0
|
||||||
|
230,31,11010,0,Add a 270
|
||||||
|
397,33,14250,0
|
||||||
|
415,33,14452,0
|
||||||
|
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,9 @@
|
|||||||
|
@import "/edu/wpi/first/shuffleboard/app/midnight.css";
|
||||||
|
|
||||||
|
.root{
|
||||||
|
-swatch-100: #66FF66;
|
||||||
|
-swatch-200: #4DFF4D;
|
||||||
|
-swatch-300: #1AFF1A;
|
||||||
|
-swatch-400: #00CC00;
|
||||||
|
-swatch-500: #009900;
|
||||||
|
}
|
||||||
@@ -120,8 +120,9 @@ public final class Constants {
|
|||||||
public static final int SHOOTER_SLOT_IDX = 0;
|
public static final int SHOOTER_SLOT_IDX = 0;
|
||||||
public static final int SHOOTER_PID_LOOP_IDX = 1;
|
public static final int SHOOTER_PID_LOOP_IDX = 1;
|
||||||
public static final int SHOOTER_TIMEOUT_MS = 30;
|
public static final int SHOOTER_TIMEOUT_MS = 30;
|
||||||
public static final Gains DRUM_SHOOTER_GAINS = new Gains(0.55, 0.0, 100, 0.0, 0, 1.0);
|
public static final Gains DRUM_SHOOTER_GAINS = new Gains(1.5, 0.0, 100, 0.055, 0, 1.0);
|
||||||
public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.0, 0.0, 0.0, 0.0, 0, 1.0);
|
//public static final Gains DRUM_SHOOTER_GAINS = new Gains(0.55, 0.0, 100, 0.0, 0, 1.0);
|
||||||
|
public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.6, 0.0, 0.0, 0.0, 0, 1.0);
|
||||||
public static final Gains SHOOTER_ANGLE_GAINS = new Gains(0.05, 0.0, 0.0, 0.0, 0, 0.3);
|
public static final Gains SHOOTER_ANGLE_GAINS = new Gains(0.05, 0.0, 0.0, 0.0, 0, 0.3);
|
||||||
public static final double SHOOTER_TURRET_MIN = -1.0;
|
public static final double SHOOTER_TURRET_MIN = -1.0;
|
||||||
public static final double ENCODER_TICKS_PER_REV = 2048;
|
public static final double ENCODER_TICKS_PER_REV = 2048;
|
||||||
@@ -135,12 +136,16 @@ public final class Constants {
|
|||||||
public static final int TURRET_LEFT_SOFT_LIMIT = -55;
|
public static final int TURRET_LEFT_SOFT_LIMIT = -55;
|
||||||
public static final double TURRET_SPEED_MULTIPLIER = 0.3;
|
public static final double TURRET_SPEED_MULTIPLIER = 0.3;
|
||||||
public static final double TURRET_CALIBRATE_SPEED = 0.075;
|
public static final double TURRET_CALIBRATE_SPEED = 0.075;
|
||||||
|
public static final double TURRET_MOTOR_ROTS_PER_ROT = 101.04972; //89.56696;
|
||||||
|
public static final double TURRET_MOTOR_POS_AT_ZERO_ROT = -28.452166;
|
||||||
|
|
||||||
public static final int HOOD_UP_SOFT_LIMIT = 33;
|
public static final int HOOD_UP_SOFT_LIMIT = 33;
|
||||||
public static final int HOOD_DOWN_SOFT_LIMIT = 3;
|
public static final int HOOD_DOWN_SOFT_LIMIT = 3;
|
||||||
public static final double HOOD_CONVERT_SLOPE = 0.47;
|
public static final double HOOD_CONVERT_SLOPE = 0.47;
|
||||||
public static final double HOOD_CONVERT_B = 40.5;
|
public static final double HOOD_CONVERT_B = 40.5;
|
||||||
public static final double HOOD_CALIBRATE_SPEED = 0.2;
|
public static final double HOOD_CALIBRATE_SPEED = 0.2;
|
||||||
|
public static final double HOOD_MOTOR_ROTS_PER_ROT = 1; //TODO: Find
|
||||||
|
public static final double HOOD_MOTOR_POS_AT_ZERO_ROT = 0; //TODO: Find
|
||||||
|
|
||||||
public static final double DRUM_RAMP_LIMIT = 1000;
|
public static final double DRUM_RAMP_LIMIT = 1000;
|
||||||
public static final double DRUM_VELOCITY_BOUND = 300;
|
public static final double DRUM_VELOCITY_BOUND = 300;
|
||||||
@@ -166,7 +171,7 @@ public final class Constants {
|
|||||||
public static final int STORAGE_CAN_ID = 11;
|
public static final int STORAGE_CAN_ID = 11;
|
||||||
public static final double STORAGE_PARTIAL_BALL = 2;
|
public static final double STORAGE_PARTIAL_BALL = 2;
|
||||||
public static final double STORAGE_FULL_BALL = 7;
|
public static final double STORAGE_FULL_BALL = 7;
|
||||||
public static final double STORAGE_SPEED = 1.0;
|
public static final double STORAGE_SPEED = 0.5;
|
||||||
public static final double STORAGE_TIMEOUT = 3000;
|
public static final double STORAGE_TIMEOUT = 3000;
|
||||||
|
|
||||||
/* Storage Characteristics */
|
/* Storage Characteristics */
|
||||||
@@ -208,9 +213,9 @@ public final class Constants {
|
|||||||
public static final double FOV = 29.8; //Field of view of limelight
|
public static final double FOV = 29.8; //Field of view of limelight
|
||||||
public static final double TARGET_HEIGHT = 71.5;
|
public static final double TARGET_HEIGHT = 71.5;
|
||||||
public static final double LIME_ANGLE = 24.7;
|
public static final double LIME_ANGLE = 24.7;
|
||||||
public static final double TURN_P_VALUE = 0.6;
|
public static final double TURN_P_VALUE = 0.8;
|
||||||
public static final double X_ANGLE_ERROR = 1.3;
|
public static final double X_ANGLE_ERROR = 1.3;
|
||||||
public static final double MOTOR_DEAD_ZONE = 0.3;
|
public static final double MOTOR_DEAD_ZONE = 0.2;
|
||||||
public static final double DISTANCE_ERROR_EQUATION_M = 1.1279;
|
public static final double DISTANCE_ERROR_EQUATION_M = 1.1279;
|
||||||
public static final double DISTANCE_ERROR_EQUATION_B = -15.0684;
|
public static final double DISTANCE_ERROR_EQUATION_B = -15.0684;
|
||||||
public static final double GRAV = 385.83;
|
public static final double GRAV = 385.83;
|
||||||
@@ -233,5 +238,6 @@ public final class Constants {
|
|||||||
public static final class OIConstants {
|
public static final class OIConstants {
|
||||||
public static final int XBOX_DRIVER_ID = 0;
|
public static final int XBOX_DRIVER_ID = 0;
|
||||||
public static final int XBOX_OPERATOR_ID = 1;
|
public static final int XBOX_OPERATOR_ID = 1;
|
||||||
|
public static final int BUTTON_FOX_ID = 2;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -49,14 +49,24 @@ import frc4388.robot.commands.climber.RunClimberWithTriggers;
|
|||||||
import frc4388.robot.commands.climber.RunLevelerWithJoystick;
|
import frc4388.robot.commands.climber.RunLevelerWithJoystick;
|
||||||
import frc4388.robot.commands.drive.DriveStraightAtVelocityPID;
|
import frc4388.robot.commands.drive.DriveStraightAtVelocityPID;
|
||||||
import frc4388.robot.commands.drive.DriveWithJoystick;
|
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.drive.TurnDegrees;
|
||||||
import frc4388.robot.commands.intake.RunIntakeWithTriggers;
|
import frc4388.robot.commands.intake.RunIntakeWithTriggers;
|
||||||
import frc4388.robot.commands.shooter.CalibrateShooter;
|
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.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.TrackTarget;
|
||||||
import frc4388.robot.commands.shooter.TrimShooter;
|
import frc4388.robot.commands.shooter.TrimShooter;
|
||||||
import frc4388.robot.commands.storage.ManageStorage;
|
import frc4388.robot.commands.storage.ManageStorage;
|
||||||
import frc4388.robot.commands.storage.ManageStorage.StorageMode;
|
import frc4388.robot.commands.storage.ManageStorage.StorageMode;
|
||||||
|
import frc4388.robot.commands.storage.StoragePrep;
|
||||||
import frc4388.robot.subsystems.Camera;
|
import frc4388.robot.subsystems.Camera;
|
||||||
import frc4388.robot.subsystems.Climber;
|
import frc4388.robot.subsystems.Climber;
|
||||||
import frc4388.robot.subsystems.Drive;
|
import frc4388.robot.subsystems.Drive;
|
||||||
@@ -69,7 +79,10 @@ import frc4388.robot.subsystems.Shooter;
|
|||||||
import frc4388.robot.subsystems.ShooterAim;
|
import frc4388.robot.subsystems.ShooterAim;
|
||||||
import frc4388.robot.subsystems.ShooterHood;
|
import frc4388.robot.subsystems.ShooterHood;
|
||||||
import frc4388.robot.subsystems.Storage;
|
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.IHandController;
|
||||||
|
import frc4388.utility.controller.JoystickManualButton;
|
||||||
import frc4388.utility.controller.XboxController;
|
import frc4388.utility.controller.XboxController;
|
||||||
|
|
||||||
/**
|
/**
|
||||||
@@ -98,11 +111,12 @@ public class RobotContainer {
|
|||||||
private final LimeLight m_robotLime = new LimeLight();
|
private final LimeLight m_robotLime = new LimeLight();
|
||||||
|
|
||||||
/* Controllers */
|
/* 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 Joystick m_joystick = new Joystick(0);
|
|
||||||
|
|
||||||
public boolean isGS = false;
|
public boolean isGS = false;
|
||||||
|
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 */
|
/* Autos */
|
||||||
double m_totalTimeAuto;
|
double m_totalTimeAuto;
|
||||||
@@ -137,17 +151,19 @@ public class RobotContainer {
|
|||||||
|
|
||||||
GalacticSearch m_galacticSearch;
|
GalacticSearch m_galacticSearch;
|
||||||
|
|
||||||
|
public static boolean m_isShooterManual = false;
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* The container for the robot. Contains subsystems, OI devices, and commands.
|
* The container for the robot. Contains subsystems, OI devices, and commands.
|
||||||
*/
|
*/
|
||||||
public RobotContainer() {
|
public RobotContainer() {
|
||||||
/* Passing Drive and Pneumatics Subsystems */
|
/* Passing Drive and Pneumatics Subsystems */
|
||||||
m_robotPneumatics.passRequiredSubsystem(m_robotDrive);
|
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_robotShooter.passRequiredSubsystem(m_robotShooterHood, m_robotShooterAim);
|
||||||
m_robotShooterHood.passRequiredSubsystem(m_robotShooter);
|
m_robotShooterHood.passRequiredSubsystem(m_robotShooter);
|
||||||
m_robotShooterAim.passRequiredSubsystem(m_robotShooter);
|
m_robotShooterAim.passRequiredSubsystem(m_robotShooter, m_robotDrive);
|
||||||
|
|
||||||
m_robotLeveler.passRequiredSubsystem(m_robotClimber);
|
m_robotLeveler.passRequiredSubsystem(m_robotClimber);
|
||||||
|
|
||||||
@@ -166,6 +182,8 @@ public class RobotContainer {
|
|||||||
m_robotIntake.setDefaultCommand(new RunIntakeWithTriggers(m_robotIntake, getOperatorController()));
|
m_robotIntake.setDefaultCommand(new RunIntakeWithTriggers(m_robotIntake, getOperatorController()));
|
||||||
// runs the turret with joystick
|
// runs the turret with joystick
|
||||||
m_robotShooterAim.setDefaultCommand(new RunCommand(() -> m_robotShooterAim.runShooterWithInput(-m_operatorXbox.getLeftXAxis()), m_robotShooterAim));
|
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
|
// moves the drum not
|
||||||
m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(0), m_robotShooter));
|
m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(0), m_robotShooter));
|
||||||
// drives climber with input from triggers on the opperator controller
|
// drives climber with input from triggers on the opperator controller
|
||||||
@@ -176,7 +194,7 @@ public class RobotContainer {
|
|||||||
m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
|
m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
|
||||||
// runs the storage not
|
// runs the storage not
|
||||||
//m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0), m_robotStorage));
|
//m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0), m_robotStorage));
|
||||||
m_robotStorage.setDefaultCommand(new ManageStorage(m_robotStorage, StorageMode.IDLE));
|
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));
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -189,8 +207,6 @@ public class RobotContainer {
|
|||||||
private void configureButtonBindings() {
|
private void configureButtonBindings() {
|
||||||
/* Test Buttons */
|
/* Test Buttons */
|
||||||
// A driver test button
|
// A driver test button
|
||||||
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
|
|
||||||
.whenPressed(new DriveStraightAtVelocityPID(m_robotDrive, 1000));
|
|
||||||
|
|
||||||
// B driver test button
|
// B driver test button
|
||||||
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
|
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
|
||||||
@@ -218,6 +234,9 @@ public class RobotContainer {
|
|||||||
new JoystickButton(getDriverJoystick(), XboxController.BACK_BUTTON)
|
new JoystickButton(getDriverJoystick(), XboxController.BACK_BUTTON)
|
||||||
.whileHeld(new DisengageRachet(m_robotClimber));
|
.whileHeld(new DisengageRachet(m_robotClimber));
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
/* Operator Buttons */
|
/* Operator Buttons */
|
||||||
// shoots until released
|
// shoots until released
|
||||||
new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
|
new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
|
||||||
@@ -268,36 +287,100 @@ public class RobotContainer {
|
|||||||
new JoystickButton(getOperatorJoystick(), XboxController.START_BUTTON)
|
new JoystickButton(getOperatorJoystick(), XboxController.START_BUTTON)
|
||||||
.whileHeld(new CalibrateShooter(m_robotShooter, m_robotShooterAim, m_robotShooterHood));
|
.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
|
//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)
|
.whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false)
|
||||||
//.whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET))
|
//.whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET))
|
||||||
.whenReleased(new InstantCommand(() -> m_robotLime.limeOff()));
|
.whenReleased(new InstantCommand(() -> m_robotLime.limeOff()));
|
||||||
|
|
||||||
new JoystickButton(m_joystick, 1)
|
//Run drum manual
|
||||||
.whenPressed(new IdentifyPath(m_robotLime));
|
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() {
|
public void buildAutos() {
|
||||||
|
//resetOdometry(new Pose2d(0, 0, new Rotation2d(180)));
|
||||||
|
|
||||||
|
String[] sixBallAutoMiddlePaths = new String[]{
|
||||||
|
"SixBallMidComplete"
|
||||||
|
};
|
||||||
|
|
||||||
|
m_sixBallAutoMiddle = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddlePaths));
|
||||||
|
|
||||||
|
String[] eightBallAutoMiddlePaths = new String[]{
|
||||||
|
"EightBallMidComplete"
|
||||||
|
};
|
||||||
|
|
||||||
|
m_eightBallAutoMiddle = new EightBallAutoMiddle(m_robotDrive, buildPaths(eightBallAutoMiddlePaths));
|
||||||
|
|
||||||
|
String[] driveOffLineForwardPaths = new String[]{
|
||||||
|
"DriveOffLineForward"
|
||||||
|
};
|
||||||
|
|
||||||
|
m_driveOffLineForward = new DriveOffLineForward(m_robotDrive, buildPaths(driveOffLineForwardPaths));
|
||||||
|
|
||||||
|
String[] driveOffLineBackwardPaths = new String[]{
|
||||||
|
"DriveOffLineBackward"
|
||||||
|
};
|
||||||
|
|
||||||
|
m_driveOffLineBackward = new DriveOffLineBackward(m_robotDrive, buildPaths(driveOffLineBackwardPaths));
|
||||||
|
|
||||||
|
String[] fiveBallAutoMiddlePaths = new String[]{
|
||||||
|
"FiveBallMidComplete"
|
||||||
|
};
|
||||||
|
|
||||||
|
m_fiveBallAutoMiddle = new FiveBallAutoMiddle(m_robotDrive, buildPaths(fiveBallAutoMiddlePaths));
|
||||||
|
|
||||||
|
String[] tenBallAutoMiddlePaths = new String[]{
|
||||||
|
"SixBallMidComplete",
|
||||||
|
"TenBallMidComplete"
|
||||||
|
};
|
||||||
|
|
||||||
|
m_tenBallAutoMiddle = new TenBallAutoMiddle(m_robotShooterHood, m_robotStorage, m_robotIntake, m_robotShooter,
|
||||||
|
m_robotShooterAim, m_robotDrive,buildPaths(tenBallAutoMiddlePaths));
|
||||||
|
|
||||||
String[] galacticSearchPaths = new String[]{
|
String[] galacticSearchPaths = new String[]{
|
||||||
"GSC_ARED",
|
"GSC_ARED",
|
||||||
"GSC_ABLUE",
|
"GSC_ABLUE",
|
||||||
"GSC_BRED",
|
"GSC_BRED",
|
||||||
"GSC_BBLUE"
|
"GSC_BBLUE"
|
||||||
};
|
};
|
||||||
idenPath();
|
idenPath();
|
||||||
m_galacticSearch = new GalacticSearch(m_robotLime, m_robotIntake, buildPaths(galacticSearchPaths));
|
m_galacticSearch = new GalacticSearch(m_robotLime, m_robotIntake, buildPaths(galacticSearchPaths));
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
public void idenPath()
|
public void idenPath()
|
||||||
@@ -321,7 +404,7 @@ public class RobotContainer {
|
|||||||
//return m_sixBallAutoMiddle1.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_eightBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
|
||||||
//return m_driveOffLineForward.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_driveOffLinfeBackward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
|
||||||
//return m_fiveBallAutoMiddle.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_tenBallAutoMiddle.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
|
||||||
//return m_slalom.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
|
//return m_slalom.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
|
||||||
@@ -330,6 +413,7 @@ public class RobotContainer {
|
|||||||
//return m_sequentialTest.andThen(() -> m_robotDrive.tankDriveVelocity(0,0));
|
//return m_sequentialTest.andThen(() -> m_robotDrive.tankDriveVelocity(0,0));
|
||||||
return m_galacticSearch.andThen(() -> m_robotDrive.tankDriveVelocity(0,0));
|
return m_galacticSearch.andThen(() -> m_robotDrive.tankDriveVelocity(0,0));
|
||||||
|
|
||||||
|
|
||||||
} catch (Exception e) {
|
} catch (Exception e) {
|
||||||
System.err.println("ERROR");
|
System.err.println("ERROR");
|
||||||
}
|
}
|
||||||
@@ -451,6 +535,12 @@ public class RobotContainer {
|
|||||||
return m_operatorXbox;
|
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.
|
* 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.
|
* Generic HIDs/Joysticks can be used to set up JoystickButtons.
|
||||||
@@ -470,4 +560,15 @@ public class RobotContainer {
|
|||||||
{
|
{
|
||||||
return m_driverXbox.getJoyStick();
|
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();
|
||||||
|
}
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -7,9 +7,21 @@
|
|||||||
|
|
||||||
package frc4388.robot.commands.auto;
|
package frc4388.robot.commands.auto;
|
||||||
|
|
||||||
|
import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup;
|
||||||
import edu.wpi.first.wpilibj2.command.RamseteCommand;
|
import edu.wpi.first.wpilibj2.command.RamseteCommand;
|
||||||
|
import edu.wpi.first.wpilibj2.command.RunCommand;
|
||||||
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
|
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
|
||||||
|
import frc4388.robot.Constants.IntakeConstants;
|
||||||
|
import frc4388.robot.commands.shooter.CalibrateShooter;
|
||||||
|
import frc4388.robot.commands.shooter.PrepChecker;
|
||||||
|
import frc4388.robot.commands.shooter.ShootPrepGroup;
|
||||||
|
import frc4388.robot.commands.storage.RunStorage;
|
||||||
import frc4388.robot.subsystems.Drive;
|
import frc4388.robot.subsystems.Drive;
|
||||||
|
import frc4388.robot.subsystems.Intake;
|
||||||
|
import frc4388.robot.subsystems.Shooter;
|
||||||
|
import frc4388.robot.subsystems.ShooterAim;
|
||||||
|
import frc4388.robot.subsystems.ShooterHood;
|
||||||
|
import frc4388.robot.subsystems.Storage;
|
||||||
|
|
||||||
// NOTE: Consider using this command inline, rather than writing a subclass. For more
|
// NOTE: Consider using this command inline, rather than writing a subclass. For more
|
||||||
// information, see:
|
// information, see:
|
||||||
@@ -18,11 +30,30 @@ public class TenBallAutoMiddle extends SequentialCommandGroup {
|
|||||||
/**
|
/**
|
||||||
* Creates a new TenBallAutoMiddle.
|
* Creates a new TenBallAutoMiddle.
|
||||||
*/
|
*/
|
||||||
public TenBallAutoMiddle(Drive drive, RamseteCommand[] paths) {
|
public TenBallAutoMiddle(ShooterHood shooterHood, Storage storage, Intake intake, Shooter shooter, ShooterAim shooterAim, Drive drive, RamseteCommand[] paths) {
|
||||||
// Add your commands in the super() call, e.g.
|
// Add your commands in the super() call, e.g.
|
||||||
// super(new FooCommand(), new BarCommand());
|
// super(new FooCommand(), new BarCommand());
|
||||||
addCommands(
|
addCommands(
|
||||||
paths[0]
|
new ParallelDeadlineGroup(
|
||||||
|
new Wait(drive, 0.1, 0),
|
||||||
|
new CalibrateShooter(shooter, shooterAim, shooterHood)
|
||||||
|
),
|
||||||
|
new ParallelDeadlineGroup(
|
||||||
|
new Wait(drive, 1, 0),
|
||||||
|
new RunCommand(() -> shooterAim.runShooterWithInput(-0.75), shooterAim)
|
||||||
|
),
|
||||||
|
new ParallelDeadlineGroup(
|
||||||
|
new Wait(drive, 4, 0),
|
||||||
|
new PrepChecker(shooter, shooterAim),
|
||||||
|
new RunCommand(() -> intake.runExtender(IntakeConstants.EXTENDER_SPEED), intake),
|
||||||
|
new ShootPrepGroup(shooter, shooterAim, shooterHood, storage)
|
||||||
|
),
|
||||||
|
new ParallelDeadlineGroup(
|
||||||
|
new ShootPrepGroup(shooter, shooterAim, shooterHood, storage),
|
||||||
|
new RunStorage(storage)
|
||||||
|
)
|
||||||
|
//paths[0],
|
||||||
|
//paths[1]
|
||||||
);
|
);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -33,9 +33,9 @@ public class DriveStraightToPositionMM extends CommandBase {
|
|||||||
m_pneumatics = subsystem2;
|
m_pneumatics = subsystem2;
|
||||||
try {
|
try {
|
||||||
if (m_pneumatics.m_isSpeedShiftHigh) {
|
if (m_pneumatics.m_isSpeedShiftHigh) {
|
||||||
m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_HIGH * 2;
|
m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_HIGH;
|
||||||
} else {
|
} else {
|
||||||
m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_LOW * 2;
|
m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_LOW;
|
||||||
}
|
}
|
||||||
} catch (Exception e) {
|
} catch (Exception e) {
|
||||||
System.err.println("Error In Motion Magic Switch Gains.");
|
System.err.println("Error In Motion Magic Switch Gains.");
|
||||||
|
|||||||
@@ -31,9 +31,9 @@ public class DriveStraightToPositionPID extends CommandBase {
|
|||||||
m_pneumatics = subsystem2;
|
m_pneumatics = subsystem2;
|
||||||
try {
|
try {
|
||||||
if (m_pneumatics.m_isSpeedShiftHigh) {
|
if (m_pneumatics.m_isSpeedShiftHigh) {
|
||||||
m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_HIGH * 2;
|
m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_HIGH;
|
||||||
} else {
|
} else {
|
||||||
m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_LOW * 2;
|
m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_LOW;
|
||||||
}
|
}
|
||||||
} catch (Exception e) {
|
} catch (Exception e) {
|
||||||
System.err.println("Error In Motion Magic Switch Gains.");
|
System.err.println("Error In Motion Magic Switch Gains.");
|
||||||
|
|||||||
@@ -94,7 +94,7 @@ public class DriveWithJoystick extends CommandBase {
|
|||||||
}
|
}
|
||||||
*/
|
*/
|
||||||
|
|
||||||
m_drive.driveWithInput(moveOutput, steerOutput);
|
m_drive.driveWithInput(-moveOutput, steerOutput);
|
||||||
}
|
}
|
||||||
|
|
||||||
// Called once the command ends or is interrupted.
|
// Called once the command ends or is interrupted.
|
||||||
|
|||||||
@@ -9,6 +9,7 @@ package frc4388.robot.commands.drive;
|
|||||||
|
|
||||||
import edu.wpi.first.wpilibj2.command.CommandBase;
|
import edu.wpi.first.wpilibj2.command.CommandBase;
|
||||||
import frc4388.robot.subsystems.Drive;
|
import frc4388.robot.subsystems.Drive;
|
||||||
|
import frc4388.robot.subsystems.Shooter;
|
||||||
|
|
||||||
public class PlaySongDrive extends CommandBase {
|
public class PlaySongDrive extends CommandBase {
|
||||||
private Drive m_drive;
|
private Drive m_drive;
|
||||||
@@ -16,10 +17,10 @@ public class PlaySongDrive extends CommandBase {
|
|||||||
/**
|
/**
|
||||||
* Creates a new PlaySongDrive.
|
* Creates a new PlaySongDrive.
|
||||||
*/
|
*/
|
||||||
public PlaySongDrive(Drive subsystem) {
|
public PlaySongDrive(Drive subsystem, Shooter shooter) {
|
||||||
// Use addRequirements() here to declare subsystem dependencies.
|
// Use addRequirements() here to declare subsystem dependencies.
|
||||||
m_drive = subsystem;
|
m_drive = subsystem;
|
||||||
addRequirements(m_drive);
|
addRequirements(m_drive, shooter);
|
||||||
}
|
}
|
||||||
|
|
||||||
// Called when the command is initially scheduled.
|
// Called when the command is initially scheduled.
|
||||||
|
|||||||
@@ -0,0 +1,56 @@
|
|||||||
|
/*----------------------------------------------------------------------------*/
|
||||||
|
/* 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.drive;
|
||||||
|
|
||||||
|
import edu.wpi.first.wpilibj2.command.CommandBase;
|
||||||
|
import frc4388.robot.subsystems.Drive;
|
||||||
|
|
||||||
|
public class SkipSong extends CommandBase {
|
||||||
|
Drive m_drive;
|
||||||
|
int m_index;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Creates a new SkipSong.
|
||||||
|
*/
|
||||||
|
public SkipSong(Drive m_robotDrive, int index) {
|
||||||
|
// Use addRequirements() here to declare subsystem dependencies.
|
||||||
|
m_drive = m_robotDrive;
|
||||||
|
m_index = index;
|
||||||
|
}
|
||||||
|
|
||||||
|
// 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() {
|
||||||
|
String[] songs = m_drive.songsStrings;
|
||||||
|
String song = m_drive.m_currentSong;
|
||||||
|
|
||||||
|
for (int i = 0; i < songs.length; i++) {
|
||||||
|
if (songs[i] == song) {
|
||||||
|
m_drive.selectSong(songs[i + m_index]);
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// 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 true;
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -7,6 +7,7 @@
|
|||||||
|
|
||||||
package frc4388.robot.commands.shooter;
|
package frc4388.robot.commands.shooter;
|
||||||
|
|
||||||
|
import com.revrobotics.CANDigitalInput.LimitSwitchPolarity;
|
||||||
import com.revrobotics.CANSparkMax.SoftLimitDirection;
|
import com.revrobotics.CANSparkMax.SoftLimitDirection;
|
||||||
|
|
||||||
import edu.wpi.first.wpilibj2.command.CommandBase;
|
import edu.wpi.first.wpilibj2.command.CommandBase;
|
||||||
@@ -59,6 +60,10 @@ public class CalibrateShooter extends CommandBase {
|
|||||||
// Returns true when the command should end.
|
// Returns true when the command should end.
|
||||||
@Override
|
@Override
|
||||||
public boolean isFinished() {
|
public boolean isFinished() {
|
||||||
|
if (m_shooterAim.m_shooterRotateMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen).get() &&
|
||||||
|
m_shooterHood.m_angleAdjustMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen).get()) {
|
||||||
|
return true;
|
||||||
|
}
|
||||||
return false;
|
return false;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -0,0 +1,52 @@
|
|||||||
|
/*----------------------------------------------------------------------------*/
|
||||||
|
/* 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.Shooter;
|
||||||
|
import frc4388.robot.subsystems.ShooterAim;
|
||||||
|
|
||||||
|
public class PrepChecker extends CommandBase {
|
||||||
|
Shooter m_shooter;
|
||||||
|
ShooterAim m_shooterAim;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Creates a new PrepChecker.
|
||||||
|
*/
|
||||||
|
public PrepChecker(Shooter shooter, ShooterAim shooterAim) {
|
||||||
|
// Use addRequirements() here to declare subsystem dependencies.
|
||||||
|
m_shooter = shooter;
|
||||||
|
m_shooterAim = shooterAim;
|
||||||
|
}
|
||||||
|
|
||||||
|
// 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() {
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
// 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() {
|
||||||
|
if (m_shooterAim.m_isAimReady && m_shooter.m_isDrumReady) {
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -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.getRightYAxis();
|
||||||
|
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;
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,52 @@
|
|||||||
|
/*----------------------------------------------------------------------------*/
|
||||||
|
/* 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.Shooter;
|
||||||
|
import frc4388.robot.subsystems.ShooterAim;
|
||||||
|
import frc4388.robot.subsystems.ShooterHood;
|
||||||
|
|
||||||
|
public class ShooterGoalPosition extends CommandBase {
|
||||||
|
Shooter m_shooter;
|
||||||
|
ShooterHood m_hood;
|
||||||
|
ShooterAim m_aim;
|
||||||
|
/**
|
||||||
|
* Creates a new ShooterGoalPosition.
|
||||||
|
*/
|
||||||
|
public ShooterGoalPosition(Shooter shooterSub, ShooterHood hoodSub, ShooterAim aimSub) {
|
||||||
|
m_shooter = shooterSub;
|
||||||
|
m_hood = hoodSub;
|
||||||
|
m_aim = aimSub;
|
||||||
|
addRequirements(m_shooter,m_hood,m_aim);
|
||||||
|
}
|
||||||
|
|
||||||
|
// 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() {
|
||||||
|
m_shooter.runDrumShooterVelocityPID(5000);
|
||||||
|
m_hood.runAngleAdjustPID(3);
|
||||||
|
m_aim.runshooterRotatePID(-26.5);
|
||||||
|
}
|
||||||
|
|
||||||
|
// 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;
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -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;
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,52 @@
|
|||||||
|
/*----------------------------------------------------------------------------*/
|
||||||
|
/* 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.Shooter;
|
||||||
|
import frc4388.robot.subsystems.ShooterAim;
|
||||||
|
import frc4388.robot.subsystems.ShooterHood;
|
||||||
|
|
||||||
|
public class ShooterTrenchPosition extends CommandBase {
|
||||||
|
Shooter m_shooter;
|
||||||
|
ShooterHood m_hood;
|
||||||
|
ShooterAim m_aim;
|
||||||
|
/**
|
||||||
|
* Creates a new ShooterTrenchPosition.
|
||||||
|
*/
|
||||||
|
public ShooterTrenchPosition(Shooter shooterSub, ShooterHood hoodSub, ShooterAim aimSub) {
|
||||||
|
m_shooter = shooterSub;
|
||||||
|
m_hood = hoodSub;
|
||||||
|
m_aim = aimSub;
|
||||||
|
addRequirements(m_shooter,m_hood,m_aim);
|
||||||
|
}
|
||||||
|
|
||||||
|
// 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() {
|
||||||
|
m_shooter.runDrumShooterVelocityPID(5000);
|
||||||
|
m_hood.runAngleAdjustPID(3);
|
||||||
|
m_aim.runshooterRotatePID(-26.5);
|
||||||
|
}
|
||||||
|
|
||||||
|
// 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;
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -34,7 +34,18 @@ public class ShooterVelocityControlPID extends CommandBase {
|
|||||||
// Called every time the scheduler runs while the command is scheduled.
|
// Called every time the scheduler runs while the command is scheduled.
|
||||||
@Override
|
@Override
|
||||||
public void execute() {
|
public void execute() {
|
||||||
m_shooter.runDrumShooterVelocityPID(m_shooter.addFireVel());
|
//Tells whether the target velocity has been reached
|
||||||
|
m_actualVel = m_shooter.m_shooterFalcon.getSelectedSensorPosition();
|
||||||
|
m_targetVel = m_shooter.addFireVel();
|
||||||
|
double error = m_actualVel - m_targetVel;
|
||||||
|
if (Math.abs(error) < ShooterConstants.DRUM_VELOCITY_BOUND){
|
||||||
|
m_shooter.m_isDrumReady = true;
|
||||||
|
m_shooter.runDrumShooterVelocityPID(m_targetVel);
|
||||||
|
}
|
||||||
|
else{
|
||||||
|
m_shooter.m_isDrumReady = false;
|
||||||
|
m_shooter.runDrumShooterVelocityPID(m_targetVel);
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
// Called once the command ends or is interrupted.
|
// Called once the command ends or is interrupted.
|
||||||
@@ -45,16 +56,6 @@ public class ShooterVelocityControlPID extends CommandBase {
|
|||||||
// Returns true when the command should end.
|
// Returns true when the command should end.
|
||||||
@Override
|
@Override
|
||||||
public boolean isFinished() {
|
public boolean isFinished() {
|
||||||
//Tells whether the target velocity has been reached
|
|
||||||
double upperBound = m_targetVel + ShooterConstants.DRUM_VELOCITY_BOUND;
|
|
||||||
double lowerBound = m_targetVel - ShooterConstants.DRUM_VELOCITY_BOUND;
|
|
||||||
if (m_actualVel < upperBound && m_actualVel > lowerBound){
|
|
||||||
m_shooter.m_isDrumReady = true;
|
|
||||||
}
|
|
||||||
else{
|
|
||||||
m_shooter.m_isDrumReady = false;
|
|
||||||
}
|
|
||||||
|
|
||||||
return false;
|
return false;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -111,6 +111,7 @@ public class TrackTarget extends CommandBase {
|
|||||||
|
|
||||||
m_shooter.m_fireVel = fireVel;
|
m_shooter.m_fireVel = fireVel;
|
||||||
m_shooterHood.m_fireAngle = fireAngle;// + m_shooter.shooterTrims.m_hoodTrim;
|
m_shooterHood.m_fireAngle = fireAngle;// + m_shooter.shooterTrims.m_hoodTrim;
|
||||||
|
m_shooterAim.m_targetDistance = distance;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|||||||
@@ -11,6 +11,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
|||||||
import edu.wpi.first.wpilibj2.command.CommandBase;
|
import edu.wpi.first.wpilibj2.command.CommandBase;
|
||||||
import frc4388.robot.Constants.StorageConstants;
|
import frc4388.robot.Constants.StorageConstants;
|
||||||
import frc4388.robot.subsystems.Storage;
|
import frc4388.robot.subsystems.Storage;
|
||||||
|
import frc4388.robot.subsystems.Storage.StorageMode;
|
||||||
|
|
||||||
public class ManageStorage extends CommandBase {
|
public class ManageStorage extends CommandBase {
|
||||||
Storage m_storage;
|
Storage m_storage;
|
||||||
@@ -26,17 +27,13 @@ public class ManageStorage extends CommandBase {
|
|||||||
|
|
||||||
/* Used for intaking a ball. Keeps track off when the 2nd ball in storage has moved */
|
/* Used for intaking a ball. Keeps track off when the 2nd ball in storage has moved */
|
||||||
boolean m_isStorageEmpty = true;
|
boolean m_isStorageEmpty = true;
|
||||||
|
|
||||||
public enum StorageMode{IDLE, INTAKE, RESET};
|
|
||||||
StorageMode m_storageMode = StorageMode.IDLE;
|
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* Creates a new ManageStorage.
|
* Creates a new ManageStorage.
|
||||||
*/
|
*/
|
||||||
public ManageStorage(Storage m_robotStorage, StorageMode storageMode) {
|
public ManageStorage(Storage m_robotStorage) {
|
||||||
// Use addRequirements() here to declare subsystem dependencies.
|
// Use addRequirements() here to declare subsystem dependencies.
|
||||||
m_storage = m_robotStorage;
|
m_storage = m_robotStorage;
|
||||||
m_storageMode = storageMode;
|
|
||||||
addRequirements(m_storage);
|
addRequirements(m_storage);
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -50,7 +47,7 @@ public class ManageStorage extends CommandBase {
|
|||||||
|
|
||||||
m_isStorageEmpty = !m_isBallInStorage;
|
m_isStorageEmpty = !m_isBallInStorage;
|
||||||
|
|
||||||
if (m_storageMode == StorageMode.RESET) {
|
if (m_storage.m_storageMode == StorageMode.RESET) {
|
||||||
m_resetStartTime = System.currentTimeMillis();
|
m_resetStartTime = System.currentTimeMillis();
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@@ -68,12 +65,14 @@ public class ManageStorage extends CommandBase {
|
|||||||
SmartDashboard.putBoolean("!Ball Storage!", m_isBallInStorage);
|
SmartDashboard.putBoolean("!Ball Storage!", m_isBallInStorage);
|
||||||
SmartDashboard.putBoolean("!Ball Shooter!", m_isBallInShooter);
|
SmartDashboard.putBoolean("!Ball Shooter!", m_isBallInShooter);
|
||||||
|
|
||||||
if (m_storageMode == StorageMode.IDLE) {
|
if (m_storage.m_storageMode == StorageMode.IDLE) {
|
||||||
runIdle();
|
runIdle();
|
||||||
} else if (m_storageMode == StorageMode.INTAKE) {
|
} else if (m_storage.m_storageMode == StorageMode.INTAKE) {
|
||||||
runIntake();
|
runIntake();
|
||||||
} else if (m_storageMode == StorageMode.RESET) {
|
} else if (m_storage.m_storageMode == StorageMode.RESET) {
|
||||||
runReset();
|
runReset();
|
||||||
|
} else if (m_storage.m_storageMode == StorageMode.MANUAL) {
|
||||||
|
runManual();
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -91,10 +90,10 @@ public class ManageStorage extends CommandBase {
|
|||||||
}
|
}
|
||||||
if (m_isStorageEmpty && m_isBallInStorage) { // If Ball moves into storage, set storage to full and swtich to idle mode
|
if (m_isStorageEmpty && m_isBallInStorage) { // If Ball moves into storage, set storage to full and swtich to idle mode
|
||||||
m_isStorageEmpty = false;
|
m_isStorageEmpty = false;
|
||||||
m_storageMode = StorageMode.IDLE;
|
m_storage.changeStorageMode(StorageMode.IDLE);
|
||||||
}
|
}
|
||||||
} else {
|
} else {
|
||||||
m_storageMode = StorageMode.IDLE;
|
m_storage.changeStorageMode(StorageMode.IDLE);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -106,7 +105,7 @@ public class ManageStorage extends CommandBase {
|
|||||||
m_storage.runStorage(0);
|
m_storage.runStorage(0);
|
||||||
|
|
||||||
if (m_isBallInIntake) {
|
if (m_isBallInIntake) {
|
||||||
m_storageMode = StorageMode.INTAKE;
|
m_storage.changeStorageMode(StorageMode.INTAKE);
|
||||||
}
|
}
|
||||||
m_isStorageEmpty = !m_isBallInStorage;
|
m_isStorageEmpty = !m_isBallInStorage;
|
||||||
}
|
}
|
||||||
@@ -120,17 +119,24 @@ public class ManageStorage extends CommandBase {
|
|||||||
m_storage.runStorage(-StorageConstants.STORAGE_SPEED);
|
m_storage.runStorage(-StorageConstants.STORAGE_SPEED);
|
||||||
|
|
||||||
if (m_isBallInIntake) {
|
if (m_isBallInIntake) {
|
||||||
m_storageMode = StorageMode.INTAKE;
|
m_storage.changeStorageMode(StorageMode.INTAKE);
|
||||||
} else if (m_resetStartTime + StorageConstants.STORAGE_TIMEOUT < System.currentTimeMillis()) {
|
} else if (m_resetStartTime + StorageConstants.STORAGE_TIMEOUT < System.currentTimeMillis()) {
|
||||||
m_storageMode = StorageMode.IDLE;
|
m_storage.changeStorageMode(StorageMode.IDLE);
|
||||||
}
|
}
|
||||||
m_isStorageEmpty = !m_isBallInStorage;
|
m_isStorageEmpty = !m_isBallInStorage;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Switches Storage to Manual only
|
||||||
|
*/
|
||||||
|
private void runManual() {
|
||||||
|
m_storage.runStorage(0);
|
||||||
|
}
|
||||||
|
|
||||||
// Called once the command ends or is interrupted.
|
// Called once the command ends or is interrupted.
|
||||||
@Override
|
@Override
|
||||||
public void end(boolean interrupted) {
|
public void end(boolean interrupted) {
|
||||||
m_storageMode = StorageMode.RESET;
|
m_storage.changeStorageMode(StorageMode.RESET);
|
||||||
}
|
}
|
||||||
|
|
||||||
// Returns true when the command should end.
|
// Returns true when the command should end.
|
||||||
|
|||||||
@@ -11,6 +11,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
|||||||
import edu.wpi.first.wpilibj2.command.CommandBase;
|
import edu.wpi.first.wpilibj2.command.CommandBase;
|
||||||
import frc4388.robot.Constants.StorageConstants;
|
import frc4388.robot.Constants.StorageConstants;
|
||||||
import frc4388.robot.subsystems.Storage;
|
import frc4388.robot.subsystems.Storage;
|
||||||
|
import frc4388.robot.subsystems.Storage.StorageMode;
|
||||||
|
|
||||||
public class ManageStoragePID extends CommandBase {
|
public class ManageStoragePID extends CommandBase {
|
||||||
Storage m_storage;
|
Storage m_storage;
|
||||||
@@ -30,16 +31,13 @@ public class ManageStoragePID extends CommandBase {
|
|||||||
/* Used for intaking a ball. Keeps track off when the 2nd ball in storage has moved */
|
/* Used for intaking a ball. Keeps track off when the 2nd ball in storage has moved */
|
||||||
boolean m_isStorageEmpty = true;
|
boolean m_isStorageEmpty = true;
|
||||||
|
|
||||||
public enum StorageMode{IDLE, INTAKE, RESET};
|
|
||||||
StorageMode m_storageMode = StorageMode.IDLE;
|
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* Creates a new ManageStorage.
|
* Creates a new ManageStorage.
|
||||||
*/
|
*/
|
||||||
public ManageStoragePID(Storage m_robotStorage, StorageMode storageMode) {
|
public ManageStoragePID(Storage m_robotStorage) {
|
||||||
// Use addRequirements() here to declare subsystem dependencies.
|
// Use addRequirements() here to declare subsystem dependencies.
|
||||||
m_storage = m_robotStorage;
|
m_storage = m_robotStorage;
|
||||||
m_storageMode = storageMode;
|
|
||||||
addRequirements(m_storage);
|
addRequirements(m_storage);
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -55,7 +53,7 @@ public class ManageStoragePID extends CommandBase {
|
|||||||
|
|
||||||
m_intakeStartPos = m_storage.getEncoderPosInches();
|
m_intakeStartPos = m_storage.getEncoderPosInches();
|
||||||
|
|
||||||
if (m_storageMode == StorageMode.RESET) {
|
if (m_storage.m_storageMode == StorageMode.RESET) {
|
||||||
m_resetStartTime = System.currentTimeMillis();
|
m_resetStartTime = System.currentTimeMillis();
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@@ -73,11 +71,11 @@ public class ManageStoragePID extends CommandBase {
|
|||||||
SmartDashboard.putBoolean("!Ball Storage!", m_isBallInStorage);
|
SmartDashboard.putBoolean("!Ball Storage!", m_isBallInStorage);
|
||||||
SmartDashboard.putBoolean("!Ball Shooter!", m_isBallInShooter);
|
SmartDashboard.putBoolean("!Ball Shooter!", m_isBallInShooter);
|
||||||
|
|
||||||
if (m_storageMode == StorageMode.IDLE) {
|
if (m_storage.m_storageMode == StorageMode.IDLE) {
|
||||||
runIdle();
|
runIdle();
|
||||||
} else if (m_storageMode == StorageMode.INTAKE) {
|
} else if (m_storage.m_storageMode == StorageMode.INTAKE) {
|
||||||
runIntake();
|
runIntake();
|
||||||
} else if (m_storageMode == StorageMode.RESET) {
|
} else if (m_storage.m_storageMode == StorageMode.RESET) {
|
||||||
runReset();
|
runReset();
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@@ -93,10 +91,10 @@ public class ManageStoragePID extends CommandBase {
|
|||||||
|
|
||||||
double error = (m_intakeStartPos + StorageConstants.STORAGE_FULL_BALL) - m_storage.getEncoderPosInches();
|
double error = (m_intakeStartPos + StorageConstants.STORAGE_FULL_BALL) - m_storage.getEncoderPosInches();
|
||||||
if (m_storage.getEncoderVel() == 0 && Math.abs(error) < 0.5) {
|
if (m_storage.getEncoderVel() == 0 && Math.abs(error) < 0.5) {
|
||||||
m_storageMode = StorageMode.IDLE;
|
m_storage.changeStorageMode(StorageMode.IDLE);
|
||||||
}
|
}
|
||||||
} else {
|
} else {
|
||||||
m_storageMode = StorageMode.IDLE;
|
m_storage.changeStorageMode(StorageMode.IDLE);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -108,7 +106,7 @@ public class ManageStoragePID extends CommandBase {
|
|||||||
m_storage.runStorage(0);
|
m_storage.runStorage(0);
|
||||||
|
|
||||||
if (m_isBallInIntake) {
|
if (m_isBallInIntake) {
|
||||||
m_storageMode = StorageMode.INTAKE;
|
m_storage.changeStorageMode(StorageMode.INTAKE);
|
||||||
m_intakeStartPos = m_storage.getEncoderPosInches();
|
m_intakeStartPos = m_storage.getEncoderPosInches();
|
||||||
}
|
}
|
||||||
m_isStorageEmpty = !m_isBallInStorage;
|
m_isStorageEmpty = !m_isBallInStorage;
|
||||||
@@ -123,10 +121,10 @@ public class ManageStoragePID extends CommandBase {
|
|||||||
m_storage.runStorage(-StorageConstants.STORAGE_SPEED);
|
m_storage.runStorage(-StorageConstants.STORAGE_SPEED);
|
||||||
|
|
||||||
if (m_isBallInIntake) {
|
if (m_isBallInIntake) {
|
||||||
m_storageMode = StorageMode.INTAKE;
|
m_storage.changeStorageMode(StorageMode.INTAKE);
|
||||||
m_intakeStartPos = m_storage.getEncoderPosInches();
|
m_intakeStartPos = m_storage.getEncoderPosInches();
|
||||||
} else if (m_resetStartTime + StorageConstants.STORAGE_TIMEOUT < System.currentTimeMillis()) {
|
} else if (m_resetStartTime + StorageConstants.STORAGE_TIMEOUT < System.currentTimeMillis()) {
|
||||||
m_storageMode = StorageMode.IDLE;
|
m_storage.changeStorageMode(StorageMode.IDLE);
|
||||||
}
|
}
|
||||||
m_isStorageEmpty = !m_isBallInStorage;
|
m_isStorageEmpty = !m_isBallInStorage;
|
||||||
}
|
}
|
||||||
@@ -134,7 +132,7 @@ public class ManageStoragePID extends CommandBase {
|
|||||||
// Called once the command ends or is interrupted.
|
// Called once the command ends or is interrupted.
|
||||||
@Override
|
@Override
|
||||||
public void end(boolean interrupted) {
|
public void end(boolean interrupted) {
|
||||||
m_storageMode = StorageMode.RESET;
|
m_storage.changeStorageMode(StorageMode.RESET);
|
||||||
}
|
}
|
||||||
|
|
||||||
// Returns true when the command should end.
|
// Returns true when the command should end.
|
||||||
|
|||||||
@@ -54,6 +54,7 @@ public class Drive extends SubsystemBase {
|
|||||||
|
|
||||||
/* Pneumatics Subsystem */
|
/* Pneumatics Subsystem */
|
||||||
public Pneumatics m_pneumaticsSubsystem;
|
public Pneumatics m_pneumaticsSubsystem;
|
||||||
|
Shooter m_shooter;
|
||||||
|
|
||||||
/* Low Gear Gains */
|
/* Low Gear Gains */
|
||||||
public static Gains m_gainsDistanceLow = DriveConstants.DRIVE_DISTANCE_GAINS_LOW;
|
public static Gains m_gainsDistanceLow = DriveConstants.DRIVE_DISTANCE_GAINS_LOW;
|
||||||
@@ -96,7 +97,8 @@ public class Drive extends SubsystemBase {
|
|||||||
SendableChooser<String> m_songChooser = new SendableChooser<String>();
|
SendableChooser<String> m_songChooser = new SendableChooser<String>();
|
||||||
|
|
||||||
/* Misc */
|
/* Misc */
|
||||||
String m_currentSong = "";
|
public String m_currentSong = "";
|
||||||
|
public String[] songsStrings;
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* Add your docs here.
|
* Add your docs here.
|
||||||
@@ -196,6 +198,8 @@ public class Drive extends SubsystemBase {
|
|||||||
m_rightFrontMotor.configSelectedFeedbackSensor(FeedbackDevice.SensorDifference, DriveConstants.PID_PRIMARY,
|
m_rightFrontMotor.configSelectedFeedbackSensor(FeedbackDevice.SensorDifference, DriveConstants.PID_PRIMARY,
|
||||||
DriveConstants.DRIVE_TIMEOUT_MS);
|
DriveConstants.DRIVE_TIMEOUT_MS);
|
||||||
|
|
||||||
|
m_rightFrontMotor.configSelectedFeedbackCoefficient(0.5, DriveConstants.PID_PRIMARY, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||||
|
|
||||||
/*
|
/*
|
||||||
* Configure the Pigeon IMU to the other Remote Slot available on the right
|
* Configure the Pigeon IMU to the other Remote Slot available on the right
|
||||||
* Talon
|
* Talon
|
||||||
@@ -281,11 +285,12 @@ public class Drive extends SubsystemBase {
|
|||||||
/* Create chooser to choose song to play */
|
/* Create chooser to choose song to play */
|
||||||
File songsDir = new File(Filesystem.getDeployDirectory().getAbsolutePath() + "/songs");
|
File songsDir = new File(Filesystem.getDeployDirectory().getAbsolutePath() + "/songs");
|
||||||
System.err.println(songsDir.getPath());
|
System.err.println(songsDir.getPath());
|
||||||
String[] songsStrings = songsDir.list();
|
songsStrings = songsDir.list();
|
||||||
for (String songString : songsStrings) {
|
for (String songString : songsStrings) {
|
||||||
m_songChooser.addOption(songString, songsDir.getAbsolutePath() + "/" + songString);
|
m_songChooser.addOption(songString, songsDir.getAbsolutePath() + "/" + songString);
|
||||||
}
|
}
|
||||||
Shuffleboard.getTab("Songs").add(m_songChooser);
|
Shuffleboard.getTab("Songs").add(m_songChooser);
|
||||||
|
selectSong(songsStrings[0]);
|
||||||
|
|
||||||
/* Start counting time */
|
/* Start counting time */
|
||||||
m_lastTimeMs = System.currentTimeMillis();
|
m_lastTimeMs = System.currentTimeMillis();
|
||||||
@@ -304,8 +309,10 @@ public class Drive extends SubsystemBase {
|
|||||||
*
|
*
|
||||||
* @param subsystem Subsystem needed.
|
* @param subsystem Subsystem needed.
|
||||||
*/
|
*/
|
||||||
public void passRequiredSubsystem(Pneumatics subsystem) {
|
public void passRequiredSubsystem(Pneumatics subsystem, Shooter shooter) {
|
||||||
m_pneumaticsSubsystem = subsystem;
|
m_pneumaticsSubsystem = subsystem;
|
||||||
|
m_shooter = shooter;
|
||||||
|
m_orchestra.addInstrument(m_shooter.m_shooterFalcon);
|
||||||
}
|
}
|
||||||
|
|
||||||
public void updateTime() {
|
public void updateTime() {
|
||||||
@@ -709,6 +716,16 @@ public class Drive extends SubsystemBase {
|
|||||||
return meters * DriveConstants.INCHES_PER_METER;
|
return meters * DriveConstants.INCHES_PER_METER;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Converts a value in inches per second to miles per hour
|
||||||
|
* @param ips The value in inches per second to convert
|
||||||
|
* @return The value in miles per hour
|
||||||
|
*/
|
||||||
|
public double inchesPerSecondToMilesPerHour(double ips) {
|
||||||
|
double mph = ips * (3600) * (1/63360);
|
||||||
|
return mph;
|
||||||
|
}
|
||||||
|
|
||||||
public void setRightMotorGains(boolean isHighGear) {
|
public void setRightMotorGains(boolean isHighGear) {
|
||||||
if (!isHighGear) {
|
if (!isHighGear) {
|
||||||
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
|
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
|
||||||
@@ -828,6 +845,7 @@ public class Drive extends SubsystemBase {
|
|||||||
|
|
||||||
public void updateSmartDashboard() {
|
public void updateSmartDashboard() {
|
||||||
try {
|
try {
|
||||||
|
|
||||||
// SmartDashboard.putNumber("Pigeon Yaw", getGyroYaw());
|
// SmartDashboard.putNumber("Pigeon Yaw", getGyroYaw());
|
||||||
// SmartDashboard.putNumber("Pigeon Pitch", getGyroPitch());
|
// SmartDashboard.putNumber("Pigeon Pitch", getGyroPitch());
|
||||||
// SmartDashboard.putNumber("Pigeon Roll", getGyroRoll());
|
// SmartDashboard.putNumber("Pigeon Roll", getGyroRoll());
|
||||||
@@ -835,6 +853,14 @@ public class Drive extends SubsystemBase {
|
|||||||
SmartDashboard.putData("Pigeon Gyro", m_pigeonGyro);
|
SmartDashboard.putData("Pigeon Gyro", m_pigeonGyro);
|
||||||
SmartDashboard.putData("Drive Train", m_driveTrain);
|
SmartDashboard.putData("Drive Train", m_driveTrain);
|
||||||
|
|
||||||
|
SmartDashboard.putNumber("Left Motor Position Raw", m_leftFrontMotor.getSensorCollection().getIntegratedSensorPosition());
|
||||||
|
SmartDashboard.putNumber("Right Motor Position Raw", m_rightFrontMotor.getSensorCollection().getIntegratedSensorPosition());
|
||||||
|
|
||||||
|
SmartDashboard.putNumber("Average Motor Position Raw", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_PRIMARY));
|
||||||
|
|
||||||
|
double avgSpeedMPH = inchesPerSecondToMilesPerHour(10 * ticksToInches(m_rightFrontMotor.getSelectedSensorVelocity(DriveConstants.PID_PRIMARY)));
|
||||||
|
|
||||||
|
SmartDashboard.putNumber("Avg Speed MPH", avgSpeedMPH);
|
||||||
|
|
||||||
//SmartDashboard.putNumber("Left Front Output", m_leftFrontMotor.get());
|
//SmartDashboard.putNumber("Left Front Output", m_leftFrontMotor.get());
|
||||||
//SmartDashboard.putNumber("Right Front Output", m_rightFrontMotor.get());
|
//SmartDashboard.putNumber("Right Front Output", m_rightFrontMotor.get());
|
||||||
@@ -849,8 +875,6 @@ public class Drive extends SubsystemBase {
|
|||||||
|
|
||||||
//SmartDashboard.putNumber("Left Back Motor Velocity Raw", m_leftBackMotor.getSelectedSensorVelocity());
|
//SmartDashboard.putNumber("Left Back Motor Velocity Raw", m_leftBackMotor.getSelectedSensorVelocity());
|
||||||
//SmartDashboard.putNumber("Right Back Motor Velocity Raw", m_rightBackMotor.getSelectedSensorVelocity());
|
//SmartDashboard.putNumber("Right Back Motor Velocity Raw", m_rightBackMotor.getSelectedSensorVelocity());
|
||||||
//SmartDashboard.putNumber("Left Motor Position Raw", m_leftFrontMotor.getSelectedSensorPosition());
|
|
||||||
//SmartDashboard.putNumber("Right Motor Position Raw", m_rightFrontMotor.getSelectedSensorPosition(0));
|
|
||||||
|
|
||||||
//SmartDashboard.putNumber("Right Motor Velocity Int Sensor", m_rightFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
|
//SmartDashboard.putNumber("Right Motor Velocity Int Sensor", m_rightFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
|
||||||
//SmartDashboard.putNumber("Left Motor Velocity Int Sensor", m_leftFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
|
//SmartDashboard.putNumber("Left Motor Velocity Int Sensor", m_leftFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
|
||||||
@@ -889,12 +913,13 @@ public class Drive extends SubsystemBase {
|
|||||||
SmartDashboard.putString("Odometry Values Meters", getPose().toString());
|
SmartDashboard.putString("Odometry Values Meters", getPose().toString());
|
||||||
//SmartDashboard.putNumber("Odometry Heading", getHeading());
|
//SmartDashboard.putNumber("Odometry Heading", getHeading());
|
||||||
|
|
||||||
SmartDashboard.putNumber("Time Seconds", m_currentTimeSec);
|
//SmartDashboard.putNumber("Time Seconds", m_currentTimeSec);
|
||||||
SmartDashboard.putNumber("Delta Time", m_deltaTimeMs);
|
//SmartDashboard.putNumber("Delta Time", m_deltaTimeMs);
|
||||||
|
|
||||||
if (m_currentSong != m_songChooser.getSelected()){
|
if (m_currentSong != m_songChooser.getSelected()){
|
||||||
m_currentSong = m_songChooser.getSelected();
|
m_currentSong = m_songChooser.getSelected();
|
||||||
selectSong(m_currentSong);
|
selectSong(m_currentSong);
|
||||||
|
|
||||||
//System.err.println(m_currentSong);
|
//System.err.println(m_currentSong);
|
||||||
}
|
}
|
||||||
} catch (Exception e) {
|
} catch (Exception e) {
|
||||||
@@ -902,4 +927,6 @@ public class Drive extends SubsystemBase {
|
|||||||
// e.printStackTrace(System.err);
|
// e.printStackTrace(System.err);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -54,7 +54,7 @@ public class Shooter extends SubsystemBase {
|
|||||||
m_shooterFalcon.setNeutralMode(NeutralMode.Coast);
|
m_shooterFalcon.setNeutralMode(NeutralMode.Coast);
|
||||||
m_shooterFalcon.setInverted(true);
|
m_shooterFalcon.setInverted(true);
|
||||||
m_shooterFalcon.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
|
m_shooterFalcon.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
|
||||||
m_shooterFalcon.configClosedloopRamp(1.0, ShooterConstants.SHOOTER_TIMEOUT_MS);
|
m_shooterFalcon.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS);
|
||||||
setShooterGains();
|
setShooterGains();
|
||||||
|
|
||||||
m_shooterFalcon.configPeakOutputReverse(0, ShooterConstants.SHOOTER_TIMEOUT_MS);
|
m_shooterFalcon.configPeakOutputReverse(0, ShooterConstants.SHOOTER_TIMEOUT_MS);
|
||||||
@@ -83,17 +83,15 @@ public class Shooter extends SubsystemBase {
|
|||||||
public void periodic() {
|
public void periodic() {
|
||||||
// This method will be called once per scheduler run
|
// This method will be called once per scheduler run
|
||||||
try{
|
try{
|
||||||
SmartDashboard.putNumber("Drum Velocity", m_shooterFalcon.getSelectedSensorVelocity());
|
SmartDashboard.putNumber("Drum Velocity", m_shooterFalcon.getSelectedSensorVelocity());
|
||||||
|
|
||||||
SmartDashboard.putNumber("Drum Velocity CSV", m_fireVel);
|
SmartDashboard.putNumber("Drum Velocity CSV", m_fireVel);
|
||||||
|
|
||||||
SmartDashboard.putNumber("Shooter Temp C", m_shooterFalcon.getTemperature());
|
SmartDashboard.putNumber("Shooter Temp C", m_shooterFalcon.getTemperature());
|
||||||
|
|
||||||
SmartDashboard.putNumber("Shooter Current", m_shooterFalcon.getSupplyCurrent());
|
SmartDashboard.putNumber("Shooter Current", m_shooterFalcon.getSupplyCurrent());
|
||||||
|
|
||||||
//SmartDashboard.putNumber("Hood Position", m_shooter.getAnglePosition());
|
SmartDashboard.putBoolean("Drum Ready" , m_isDrumReady);
|
||||||
|
|
||||||
SmartDashboard.putBoolean("Drum Ready" , m_isDrumReady);
|
|
||||||
}
|
}
|
||||||
|
|
||||||
catch(Exception e)
|
catch(Exception e)
|
||||||
|
|||||||
@@ -17,6 +17,7 @@ import com.revrobotics.CANSparkMax.SoftLimitDirection;
|
|||||||
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
|
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
|
||||||
import com.revrobotics.ControlType;
|
import com.revrobotics.ControlType;
|
||||||
|
|
||||||
|
import edu.wpi.first.wpilibj.GyroBase;
|
||||||
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
||||||
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
||||||
import frc4388.robot.Constants.ShooterConstants;
|
import frc4388.robot.Constants.ShooterConstants;
|
||||||
@@ -24,10 +25,14 @@ import frc4388.utility.Gains;
|
|||||||
|
|
||||||
public class ShooterAim extends SubsystemBase {
|
public class ShooterAim extends SubsystemBase {
|
||||||
public Shooter m_shooterSubsystem;
|
public Shooter m_shooterSubsystem;
|
||||||
|
public Drive m_driveSubsystem;
|
||||||
|
|
||||||
public CANSparkMax m_shooterRotateMotor = new CANSparkMax(ShooterConstants.SHOOTER_ROTATE_ID, MotorType.kBrushless);
|
public CANSparkMax m_shooterRotateMotor = new CANSparkMax(ShooterConstants.SHOOTER_ROTATE_ID, MotorType.kBrushless);
|
||||||
public static Gains m_shooterTurretGains = ShooterConstants.SHOOTER_TURRET_GAINS;
|
public static Gains m_shooterTurretGains = ShooterConstants.SHOOTER_TURRET_GAINS;
|
||||||
CANDigitalInput m_shooterRightLimit, m_shooterLeftLimit;
|
CANDigitalInput m_shooterRightLimit, m_shooterLeftLimit;
|
||||||
|
public GyroBase m_turretGyro;
|
||||||
|
|
||||||
|
public double m_targetDistance = 0;
|
||||||
|
|
||||||
public boolean m_isAimReady = false;
|
public boolean m_isAimReady = false;
|
||||||
|
|
||||||
@@ -42,6 +47,8 @@ public class ShooterAim extends SubsystemBase {
|
|||||||
//resetGyroShooterRotate();
|
//resetGyroShooterRotate();
|
||||||
m_shooterRotateMotor.setIdleMode(IdleMode.kBrake);
|
m_shooterRotateMotor.setIdleMode(IdleMode.kBrake);
|
||||||
|
|
||||||
|
m_turretGyro = getGyroInterface();
|
||||||
|
|
||||||
m_shooterLeftLimit = m_shooterRotateMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
|
m_shooterLeftLimit = m_shooterRotateMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
|
||||||
m_shooterRightLimit = m_shooterRotateMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
|
m_shooterRightLimit = m_shooterRotateMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
|
||||||
m_shooterRightLimit.enableLimitSwitch(true);
|
m_shooterRightLimit.enableLimitSwitch(true);
|
||||||
@@ -58,6 +65,10 @@ public class ShooterAim extends SubsystemBase {
|
|||||||
@Override
|
@Override
|
||||||
public void periodic() {
|
public void periodic() {
|
||||||
// This method will be called once per scheduler run
|
// This method will be called once per scheduler run
|
||||||
|
SmartDashboard.putNumber("Turret Angle Raw", getShooterRotatePosition());
|
||||||
|
|
||||||
|
SmartDashboard.putData("Turret Angle", m_turretGyro);
|
||||||
|
|
||||||
SmartDashboard.putBoolean("Turret Aimed" , m_isAimReady);
|
SmartDashboard.putBoolean("Turret Aimed" , m_isAimReady);
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -65,8 +76,9 @@ public class ShooterAim extends SubsystemBase {
|
|||||||
* Passes subsystem needed.
|
* Passes subsystem needed.
|
||||||
* @param subsystem Subsystem needed.
|
* @param subsystem Subsystem needed.
|
||||||
*/
|
*/
|
||||||
public void passRequiredSubsystem(Shooter subsystem) {
|
public void passRequiredSubsystem(Shooter subsystem0, Drive subsystem1) {
|
||||||
m_shooterSubsystem = subsystem;
|
m_shooterSubsystem = subsystem0;
|
||||||
|
m_driveSubsystem = subsystem1;
|
||||||
}
|
}
|
||||||
|
|
||||||
public void runShooterWithInput(double input) {
|
public void runShooterWithInput(double input) {
|
||||||
@@ -98,6 +110,68 @@ public class ShooterAim extends SubsystemBase {
|
|||||||
|
|
||||||
public double getShooterRotatePosition()
|
public double getShooterRotatePosition()
|
||||||
{
|
{
|
||||||
return m_shooterRotateMotor.getEncoder().getPosition();
|
return m_shooterRotateEncoder.getPosition();
|
||||||
|
}
|
||||||
|
|
||||||
|
public double getShooterAngleDegrees() {
|
||||||
|
return (m_shooterRotateEncoder.getPosition() - ShooterConstants.TURRET_MOTOR_POS_AT_ZERO_ROT) * 360/ShooterConstants.TURRET_MOTOR_ROTS_PER_ROT;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Gets the angle of the Shooter relative to the target.
|
||||||
|
*/
|
||||||
|
public double getTargetAngleDegrees() {
|
||||||
|
return m_driveSubsystem.getHeading() + getShooterAngleDegrees();
|
||||||
|
}
|
||||||
|
|
||||||
|
public double getTargetXDisplacement() {
|
||||||
|
return m_targetDistance * Math.cos(getTargetAngleDegrees());
|
||||||
|
}
|
||||||
|
|
||||||
|
public double getTargetYDisplacement() {
|
||||||
|
return m_targetDistance * Math.sin(getTargetAngleDegrees());
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Gets the angle of the Shooter relative to the inner port.
|
||||||
|
* Use for tuning the Shooter Displacement
|
||||||
|
*/
|
||||||
|
public double getInnerPortAngleDegrees() {
|
||||||
|
return Math.atan( getTargetYDisplacement() / (getTargetXDisplacement() + 29.25) );
|
||||||
|
}
|
||||||
|
|
||||||
|
public GyroBase getGyroInterface() {
|
||||||
|
return new GyroBase(){
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public void close() throws Exception {
|
||||||
|
// TODO Auto-generated method stub
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public void reset() {
|
||||||
|
// TODO Auto-generated method stub
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public double getRate() {
|
||||||
|
// TODO Auto-generated method stub
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public double getAngle() {
|
||||||
|
// TODO Auto-generated method stub
|
||||||
|
return getShooterAngleDegrees();
|
||||||
|
}
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public void calibrate() {
|
||||||
|
// TODO Auto-generated method stub
|
||||||
|
|
||||||
|
}
|
||||||
|
};
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -58,6 +58,8 @@ public class ShooterHood extends SubsystemBase {
|
|||||||
public void periodic() {
|
public void periodic() {
|
||||||
// This method will be called once per scheduler run
|
// This method will be called once per scheduler run
|
||||||
SmartDashboard.putNumber("Fire Angle CSV", m_fireAngle);
|
SmartDashboard.putNumber("Fire Angle CSV", m_fireAngle);
|
||||||
|
|
||||||
|
SmartDashboard.putNumber("Hood Angle Raw", getAnglePositionDegrees());
|
||||||
}
|
}
|
||||||
|
|
||||||
/**
|
/**
|
||||||
@@ -86,6 +88,11 @@ public class ShooterHood extends SubsystemBase {
|
|||||||
m_angleAdjustPIDController.setReference(targetAngle, ControlType.kPosition);
|
m_angleAdjustPIDController.setReference(targetAngle, ControlType.kPosition);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
public void runHood(double input)
|
||||||
|
{
|
||||||
|
m_angleAdjustMotor.set(input);
|
||||||
|
}
|
||||||
|
|
||||||
public void resetGyroAngleAdj(){
|
public void resetGyroAngleAdj(){
|
||||||
m_angleEncoder.setPosition(0);
|
m_angleEncoder.setPosition(0);
|
||||||
}
|
}
|
||||||
@@ -93,4 +100,8 @@ public class ShooterHood extends SubsystemBase {
|
|||||||
public double getAnglePosition(){
|
public double getAnglePosition(){
|
||||||
return m_angleEncoder.getPosition();
|
return m_angleEncoder.getPosition();
|
||||||
}
|
}
|
||||||
|
|
||||||
|
public double getAnglePositionDegrees(){
|
||||||
|
return ((m_angleEncoder.getPosition() - ShooterConstants.HOOD_MOTOR_POS_AT_ZERO_ROT) * 360/ShooterConstants.HOOD_MOTOR_ROTS_PER_ROT) - 90;
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -36,6 +36,9 @@ public class Storage extends SubsystemBase {
|
|||||||
|
|
||||||
public boolean m_isStorageReadyToFire = false;
|
public boolean m_isStorageReadyToFire = false;
|
||||||
|
|
||||||
|
public enum StorageMode{IDLE, INTAKE, RESET, MANUAL};
|
||||||
|
public StorageMode m_storageMode = StorageMode.IDLE;
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* Creates a new Storage.
|
* Creates a new Storage.
|
||||||
*/
|
*/
|
||||||
@@ -134,4 +137,8 @@ public class Storage extends SubsystemBase {
|
|||||||
public boolean getBeamIntake(){
|
public boolean getBeamIntake(){
|
||||||
return m_beamIntake.get();
|
return m_beamIntake.get();
|
||||||
}
|
}
|
||||||
|
|
||||||
|
public void changeStorageMode(StorageMode storageMode){
|
||||||
|
m_storageMode = storageMode;
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -0,0 +1,20 @@
|
|||||||
|
/*----------------------------------------------------------------------------*/
|
||||||
|
/* Copyright (c) 2018-2019 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.utility.controller;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* button fox
|
||||||
|
* @author Ryan Manley
|
||||||
|
*/
|
||||||
|
public class ButtonFox {
|
||||||
|
public static final int RIGHT_SWITCH = 1;
|
||||||
|
public static final int MIDDLE_SWITCH = 2;
|
||||||
|
public static final int LEFT_SWITCH = 3;
|
||||||
|
public static final int RIGHT_BUTTON = 4;
|
||||||
|
public static final int LEFT_BUTTON = 5;
|
||||||
|
}
|
||||||
@@ -0,0 +1,54 @@
|
|||||||
|
/*----------------------------------------------------------------------------*/
|
||||||
|
/* Copyright (c) 2008-2019 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.utility.controller;
|
||||||
|
|
||||||
|
import edu.wpi.first.wpilibj.GenericHID;
|
||||||
|
import edu.wpi.first.wpilibj2.command.button.Button;
|
||||||
|
import frc4388.robot.RobotContainer;
|
||||||
|
|
||||||
|
import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* A {@link Button} that gets its state from a {@link GenericHID}.
|
||||||
|
*/
|
||||||
|
public class JoystickManualButton extends Button {
|
||||||
|
private final GenericHID m_joystick;
|
||||||
|
private final int m_buttonNumber;
|
||||||
|
private boolean m_buttonType;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Creates a joystick button for triggering commands.
|
||||||
|
*
|
||||||
|
* @param joystick The GenericHID object that has the button (e.g. Joystick,
|
||||||
|
* KinectStick, etc)
|
||||||
|
* @param buttonNumber The button number (see
|
||||||
|
* {@link GenericHID#getRawButton(int) }
|
||||||
|
*/
|
||||||
|
public JoystickManualButton(GenericHID joystick, int buttonNumber, boolean buttonType) {
|
||||||
|
requireNonNullParam(joystick, "joystick", "JoystickButton");
|
||||||
|
|
||||||
|
m_joystick = joystick;
|
||||||
|
m_buttonNumber = buttonNumber;
|
||||||
|
m_buttonType = buttonType;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Gets the value of the joystick button.
|
||||||
|
*
|
||||||
|
* @return The value of the joystick button
|
||||||
|
*/
|
||||||
|
@Override
|
||||||
|
public boolean get() {
|
||||||
|
boolean m = RobotContainer.m_isShooterManual;
|
||||||
|
if (m_buttonType == m) {
|
||||||
|
return m_joystick.getRawButton(m_buttonNumber);
|
||||||
|
} else {
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -60,6 +60,10 @@ public class XboxController implements IHandController
|
|||||||
m_stick = new Joystick(portNumber);
|
m_stick = new Joystick(portNumber);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
public void setJoystick(Joystick joy) {
|
||||||
|
m_stick = joy;
|
||||||
|
}
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* @return Joystick for Xbox Controller
|
* @return Joystick for Xbox Controller
|
||||||
*/
|
*/
|
||||||
|
|||||||
Reference in New Issue
Block a user