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https://github.com/Team4388/RiseOfRidgebotics2020.git
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Merge pull request #60 from Team4388/highlanders-day
Highlanders Day Merge
This commit is contained in:
Keenan D. Buckley
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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 |
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| [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
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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
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c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\deploy\paths\EightBallMid1.wpilib.json, JSON, 1, 0, 0, 0, 0, 1
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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
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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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c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\driverStation\GOAT DRIVERSTATION.json, JSON, 1014, 0, 0, 0, 0, 1014
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c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\driverStation\themes\Ridgbotics\ridgeboticstheme.css, CSS, 0, 0, 8, 0, 1, 9
|
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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
|
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c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\auto\EightBallAutoMiddle.java, Java, 0, 11, 0, 14, 5, 30
|
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c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\auto\FiveBallAutoMiddle.java, Java, 0, 12, 0, 13, 4, 29
|
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c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\auto\SixBallAutoMiddle.java, Java, 0, 16, 0, 14, 6, 36
|
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c:\Users\Ridgebotics\Documents\GitHub\RiseOfRidgebotics2020\src\main\java\frc4388\robot\commands\auto\TankDriveVelocity.java, Java, 0, 42, 0, 14, 12, 68
|
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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
|
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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 |
|
||||
+-------------------------------------------------------------------------------------------------------------------------------------------------+----------+------------+------------+------------+------------+
|
||||
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|
||||
EightBallMid0
|
||||
EightBallMid1
|
||||
EightBallMid2
|
||||
@@ -0,0 +1,2 @@
|
||||
SixBallMid0
|
||||
SixBallMid1
|
||||
@@ -0,0 +1,2 @@
|
||||
SixBallMidComplete
|
||||
TenBallMidComplete
|
||||
@@ -0,0 +1,3 @@
|
||||
X,Y,Tangent X,Tangent Y,Fixed Theta,Name
|
||||
3.2,-2.3,0.5,0.0,true,
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||||
3.7,-2.3,0.5,0.0,true,
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||||
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|
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3.2,-2.3,0.5,0.0,true,
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||||
3.7,-2.3,0.5,0.0,true,
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||||
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|
||||
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|
||||
3.2,-2.4,0.2,2.5,true,
|
||||
5.006107200045366,-0.7154598441848491,2.0,0.0,true,
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|
||||
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|
||||
5.006,-0.715,3.048,0.0,true,
|
||||
7.2,-0.7154598441848491,1.0,0.0,true,
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|
||||
X,Y,Tangent X,Tangent Y,Fixed Theta,Name
|
||||
7.2,-0.715,1.5,0.0,true,
|
||||
6.612,-2.7,-0.6,-0.3,true,
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||||
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|
||||
X,Y,Tangent X,Tangent Y,Fixed Theta,Name
|
||||
3.2,-2.4,0.2,2.5,true,
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||||
5.0,-1.1,3.0,0.0,true,
|
||||
7.2,-1.1,1.5,0.0,true,
|
||||
6.6123135559006245,-2.7023965955020937,-0.39262822032017564,-0.17846737287280634,true,
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||||
6.279174459871384,-2.2621770757491713,0.13087607344005825,0.40452604517836144,true,
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||||
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|
||||
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|
||||
3.2,-2.3,0.5,0.0,true,
|
||||
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||||
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|
||||
5.886546239551211,-2.3573596746146683,-0.22605867230555443,-0.11897824858187134,true,
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||||
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|
||||
X,Y,Tangent X,Tangent Y,Fixed Theta,Name
|
||||
3.2,-2.4,0.2,2.5,true,
|
||||
5.006107200045366,-1.3,2.0,0.0,true,
|
||||
@@ -0,0 +1,3 @@
|
||||
X,Y,Tangent X,Tangent Y,Fixed Theta,Name
|
||||
5.006,-1.3,3.048,0.0,true,
|
||||
7.2,-1.3,1.0,0.0,true,
|
||||
@@ -0,0 +1,4 @@
|
||||
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,
|
||||
@@ -0,0 +1,8 @@
|
||||
X,Y,Tangent X,Tangent Y,Fixed Theta,Name
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||||
7.2,-1.1,1.5,0.0,true,
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||||
6.981146126504424,-1.7267749571307522,-0.16656954801462032,-0.6424825423421034,true,
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||||
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||||
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||||
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||||
File diff suppressed because one or more lines are too long
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|
||||
{
|
||||
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||||
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|
||||
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|
||||
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|
||||
"wheelBase": 0.648,
|
||||
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||||
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|
||||
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|
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||||
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|
||||
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@@ -335,6 +335,155 @@
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|
||||
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||||
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|
||||
"content": {
|
||||
"_type": "Text View",
|
||||
"_source0": "network_table:///SmartDashboard/Distance to Target",
|
||||
"_title": "Distance to Target"
|
||||
}
|
||||
},
|
||||
"9,3": {
|
||||
"size": [
|
||||
1,
|
||||
1
|
||||
],
|
||||
"content": {
|
||||
"_type": "Boolean Box",
|
||||
"_source0": "network_table:///SmartDashboard/!Ball in Intake!",
|
||||
"_title": "!Ball in Intake!",
|
||||
"Colors/Color when true": "#7CFC00FF",
|
||||
"Colors/Color when false": "#8B0000FF"
|
||||
}
|
||||
},
|
||||
"0,4": {
|
||||
"size": [
|
||||
1,
|
||||
1
|
||||
],
|
||||
"content": {
|
||||
"_type": "Boolean Box",
|
||||
"_source0": "network_table:///SmartDashboard/!Ball Storage!",
|
||||
"_title": "!Ball Storage!",
|
||||
"Colors/Color when true": "#7CFC00FF",
|
||||
"Colors/Color when false": "#8B0000FF"
|
||||
}
|
||||
},
|
||||
"1,4": {
|
||||
"size": [
|
||||
1,
|
||||
1
|
||||
],
|
||||
"content": {
|
||||
"_type": "Boolean Box",
|
||||
"_source0": "network_table:///SmartDashboard/!Ball Shooter!",
|
||||
"_title": "!Ball Shooter!",
|
||||
"Colors/Color when true": "#7CFC00FF",
|
||||
"Colors/Color when false": "#8B0000FF"
|
||||
}
|
||||
},
|
||||
"2,4": {
|
||||
"size": [
|
||||
1,
|
||||
1
|
||||
],
|
||||
"content": {
|
||||
"_type": "Text View",
|
||||
"_source0": "network_table:///SmartDashboard/Center Displacement",
|
||||
"_title": "Center Displacement"
|
||||
}
|
||||
},
|
||||
"3,4": {
|
||||
"size": [
|
||||
1,
|
||||
1
|
||||
],
|
||||
"content": {
|
||||
"_type": "Text View",
|
||||
"_source0": "network_table:///SmartDashboard/Is Auto Start?",
|
||||
"_title": "Is Auto Start?"
|
||||
}
|
||||
},
|
||||
"4,4": {
|
||||
"size": [
|
||||
1,
|
||||
1
|
||||
],
|
||||
"content": {
|
||||
"_type": "Text View",
|
||||
"_source0": "network_table:///SmartDashboard/trajectoryPath Initial",
|
||||
"_title": "trajectoryPath Initial"
|
||||
}
|
||||
},
|
||||
"5,4": {
|
||||
"size": [
|
||||
1,
|
||||
1
|
||||
],
|
||||
"content": {
|
||||
"_type": "Text View",
|
||||
"_source0": "network_table:///SmartDashboard/Left Motor Pos Inches",
|
||||
"_title": "Left Motor Pos Inches"
|
||||
}
|
||||
},
|
||||
"6,4": {
|
||||
"size": [
|
||||
1,
|
||||
1
|
||||
],
|
||||
"content": {
|
||||
"_type": "Text View",
|
||||
"_source0": "network_table:///SmartDashboard/Right Motor Pos Inches",
|
||||
"_title": "Right Motor Pos Inches"
|
||||
}
|
||||
},
|
||||
"7,4": {
|
||||
"size": [
|
||||
1,
|
||||
1
|
||||
],
|
||||
"content": {
|
||||
"_type": "Text View",
|
||||
"_source0": "network_table:///SmartDashboard/Left Motor Pos Meters",
|
||||
"_title": "Left Motor Pos Meters"
|
||||
}
|
||||
},
|
||||
"8,4": {
|
||||
"size": [
|
||||
1,
|
||||
1
|
||||
],
|
||||
"content": {
|
||||
"_type": "Text View",
|
||||
"_source0": "network_table:///SmartDashboard/Right Motor Pos Meters",
|
||||
"_title": "Right Motor Pos Meters"
|
||||
}
|
||||
},
|
||||
"9,4": {
|
||||
"size": [
|
||||
1,
|
||||
1
|
||||
],
|
||||
"content": {
|
||||
"_type": "Text View",
|
||||
"_source0": "network_table:///SmartDashboard/Odometry Values Meters",
|
||||
"_title": "Odometry Values Meters"
|
||||
}
|
||||
},
|
||||
"0,5": {
|
||||
"size": [
|
||||
1,
|
||||
1
|
||||
],
|
||||
"content": {
|
||||
"_type": "Text View",
|
||||
"_source0": "network_table:///SmartDashboard/Trajectory Total Time",
|
||||
"_title": "Trajectory Total Time"
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -645,8 +794,8 @@
|
||||
"Controls/Rotation": "NONE",
|
||||
"compression": -1.0,
|
||||
"fps": -1,
|
||||
"imageWidth": -1,
|
||||
"imageHeight": -1
|
||||
"imageWidth": 0,
|
||||
"imageHeight": 0
|
||||
}
|
||||
},
|
||||
"8,4": {
|
||||
@@ -857,9 +1006,9 @@
|
||||
}
|
||||
],
|
||||
"windowGeometry": {
|
||||
"x": 40.0,
|
||||
"y": 142.39999389648438,
|
||||
"x": -6.400000095367432,
|
||||
"y": 1.600000023841858,
|
||||
"width": 1547.199951171875,
|
||||
"height": 1481.5999755859375
|
||||
"height": 828.7999877929688
|
||||
}
|
||||
}
|
||||
@@ -22,6 +22,8 @@ import frc4388.utility.LEDPatterns;
|
||||
* constants are needed, to reduce verbosity.
|
||||
*/
|
||||
public final class Constants {
|
||||
public static final int SELECTED_AUTO = 0;
|
||||
|
||||
public static final class DriveConstants {
|
||||
/* Drive Train IDs */
|
||||
public static final int DRIVE_LEFT_FRONT_CAN_ID = 2;
|
||||
@@ -47,7 +49,7 @@ public final class Constants {
|
||||
public static final double COS_MULTIPLIER_HIGH = 0.8;
|
||||
|
||||
/* Drive Train Characteristics */
|
||||
public static final double MOTOR_ROT_PER_WHEEL_ROT_HIGH = 5.13;
|
||||
public static final double MOTOR_ROT_PER_WHEEL_ROT_HIGH = 7.29;
|
||||
public static final double MOTOR_ROT_PER_WHEEL_ROT_LOW = 15;
|
||||
public static final double WHEEL_DIAMETER_INCHES = 6;
|
||||
public static final double TICKS_PER_GYRO_REV = 8192;
|
||||
@@ -68,9 +70,11 @@ public final class Constants {
|
||||
public static final int DRIVE_CRUISE_VELOCITY_HIGH = 20000;
|
||||
public static final int DRIVE_ACCELERATION_HIGH = 7000;
|
||||
|
||||
public static final Gains DRIVE_VELOCITY_GAINS_BACK = new Gains(0.0, 0.0, 0.0, 0.05, 0, 1.0);
|
||||
|
||||
/* Trajectory Constants */
|
||||
public static final double MAX_SPEED_METERS_PER_SECOND = 3;
|
||||
public static final double MAX_ACCELERATION_METERS_PER_SECOND_SQUARED = 3;
|
||||
public static final double MAX_SPEED_METERS_PER_SECOND = 1.0;
|
||||
public static final double MAX_ACCELERATION_METERS_PER_SECOND_SQUARED = 1.0;
|
||||
public static final double TRACK_WIDTH_METERS = 0.648;
|
||||
public static final DifferentialDriveKinematics kDriveKinematics = new DifferentialDriveKinematics(TRACK_WIDTH_METERS);
|
||||
|
||||
@@ -167,7 +171,7 @@ public final class Constants {
|
||||
public static final int STORAGE_CAN_ID = 11;
|
||||
public static final double STORAGE_PARTIAL_BALL = 2;
|
||||
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;
|
||||
|
||||
/* Storage Characteristics */
|
||||
@@ -220,5 +224,6 @@ public final class Constants {
|
||||
public static final class OIConstants {
|
||||
public static final int XBOX_DRIVER_ID = 0;
|
||||
public static final int XBOX_OPERATOR_ID = 1;
|
||||
public static final int BUTTON_FOX_ID = 2;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -10,6 +10,7 @@ package frc4388.robot;
|
||||
import com.ctre.phoenix.motorcontrol.NeutralMode;
|
||||
|
||||
import edu.wpi.first.wpilibj.TimedRobot;
|
||||
import edu.wpi.first.wpilibj.geometry.Pose2d;
|
||||
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import edu.wpi.first.wpilibj2.command.CommandScheduler;
|
||||
@@ -35,7 +36,7 @@ public class Robot extends TimedRobot {
|
||||
// Instantiate our RobotContainer. This will perform all our button bindings, and put our
|
||||
// autonomous chooser on the dashboard.
|
||||
m_robotContainer = new RobotContainer();
|
||||
SmartDashboard.putString("Auto?", "NAH");
|
||||
SmartDashboard.putString("Is Auto Start?", "NAH");
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -63,6 +64,9 @@ public class Robot extends TimedRobot {
|
||||
@Override
|
||||
public void disabledInit() {
|
||||
m_robotContainer.setDriveNeutralMode(NeutralMode.Coast);
|
||||
/* Builds Autos */
|
||||
m_robotContainer.buildAutos();
|
||||
SmartDashboard.putString("Is Auto Start?", "NAH");
|
||||
}
|
||||
|
||||
@Override
|
||||
@@ -74,11 +78,15 @@ public class Robot extends TimedRobot {
|
||||
*/
|
||||
@Override
|
||||
public void autonomousInit() {
|
||||
|
||||
m_autonomousCommand = m_robotContainer.getAutonomousCommand();
|
||||
|
||||
m_robotContainer.setDriveNeutralMode(NeutralMode.Brake);
|
||||
m_robotContainer.setDriveGearState(false);
|
||||
m_robotContainer.resetOdometry();
|
||||
m_robotContainer.setDriveGearState(true);
|
||||
m_robotContainer.resetOdometry(new Pose2d());
|
||||
|
||||
//m_robotContainer.resetGyroYawRobotContainer(0);
|
||||
|
||||
//m_robotContainer.configDriveTrainSensors(FeedbackDevice.IntegratedSensor);
|
||||
|
||||
/*
|
||||
@@ -91,7 +99,7 @@ public class Robot extends TimedRobot {
|
||||
// schedule the autonomous command (example)
|
||||
if (m_autonomousCommand != null) {
|
||||
m_autonomousCommand.schedule();
|
||||
System.err.println("Auto Start");
|
||||
SmartDashboard.putString("Is Auto Start?", "YEA");
|
||||
}
|
||||
}
|
||||
|
||||
@@ -105,7 +113,7 @@ public class Robot extends TimedRobot {
|
||||
@Override
|
||||
public void teleopInit() {
|
||||
m_robotContainer.setDriveNeutralMode(NeutralMode.Brake);
|
||||
m_robotContainer.setDriveGearState(false);
|
||||
m_robotContainer.setDriveGearState(true);
|
||||
|
||||
m_robotContainer.shiftClimberRachet(false);
|
||||
//m_robotContainer.configDriveTrainSensors(FeedbackDevice.IntegratedSensor);
|
||||
|
||||
@@ -7,26 +7,39 @@
|
||||
|
||||
package frc4388.robot;
|
||||
|
||||
import java.nio.file.Path;
|
||||
import java.util.List;
|
||||
|
||||
import com.ctre.phoenix.motorcontrol.NeutralMode;
|
||||
|
||||
import edu.wpi.first.wpilibj.DriverStation;
|
||||
import edu.wpi.first.wpilibj.Filesystem;
|
||||
import edu.wpi.first.wpilibj.GenericHID;
|
||||
import edu.wpi.first.wpilibj.Joystick;
|
||||
import edu.wpi.first.wpilibj.controller.RamseteController;
|
||||
import edu.wpi.first.wpilibj.geometry.Pose2d;
|
||||
import edu.wpi.first.wpilibj.geometry.Rotation2d;
|
||||
import edu.wpi.first.wpilibj.geometry.Transform2d;
|
||||
import edu.wpi.first.wpilibj.geometry.Translation2d;
|
||||
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
||||
import edu.wpi.first.wpilibj.trajectory.Trajectory;
|
||||
import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
|
||||
import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
|
||||
import edu.wpi.first.wpilibj.trajectory.TrajectoryUtil;
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import edu.wpi.first.wpilibj2.command.InstantCommand;
|
||||
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.button.JoystickButton;
|
||||
import frc4388.robot.Constants.DriveConstants;
|
||||
import frc4388.robot.Constants.OIConstants;
|
||||
import frc4388.robot.commands.auto.DriveOffLineBackward;
|
||||
import frc4388.robot.commands.auto.DriveOffLineForward;
|
||||
import frc4388.robot.commands.auto.EightBallAutoMiddle;
|
||||
import frc4388.robot.commands.auto.FiveBallAutoMiddle;
|
||||
import frc4388.robot.commands.auto.SixBallAutoMiddle;
|
||||
import frc4388.robot.commands.auto.TenBallAutoMiddle;
|
||||
import frc4388.robot.commands.InterruptSubystem;
|
||||
import frc4388.robot.commands.auto.AutoPath1FromCenter;
|
||||
import frc4388.robot.commands.auto.Wait;
|
||||
@@ -35,15 +48,23 @@ import frc4388.robot.commands.climber.RunClimberWithTriggers;
|
||||
import frc4388.robot.commands.climber.RunLevelerWithJoystick;
|
||||
import frc4388.robot.commands.drive.DriveStraightToPositionMM;
|
||||
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.intake.RunIntakeWithTriggers;
|
||||
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.ShooterGoalPosition;
|
||||
import frc4388.robot.commands.shooter.ShooterManual;
|
||||
import frc4388.robot.commands.shooter.ShooterTrenchPosition;
|
||||
import frc4388.robot.commands.shooter.ShooterVelocityControlPID;
|
||||
import frc4388.robot.commands.shooter.TrackTarget;
|
||||
import frc4388.robot.commands.shooter.TrimShooter;
|
||||
import frc4388.robot.commands.storage.ManageStorage;
|
||||
import frc4388.robot.commands.storage.StoragePrep;
|
||||
import frc4388.robot.commands.storage.ManageStorage.StorageMode;
|
||||
import frc4388.robot.subsystems.Camera;
|
||||
import frc4388.robot.subsystems.Climber;
|
||||
import frc4388.robot.subsystems.Drive;
|
||||
@@ -56,9 +77,11 @@ import frc4388.robot.subsystems.Shooter;
|
||||
import frc4388.robot.subsystems.ShooterAim;
|
||||
import frc4388.robot.subsystems.ShooterHood;
|
||||
import frc4388.robot.subsystems.Storage;
|
||||
import frc4388.robot.subsystems.Storage.StorageMode;
|
||||
import frc4388.utility.controller.ButtonFox;
|
||||
import frc4388.utility.controller.IHandController;
|
||||
import frc4388.utility.controller.JoystickManualButton;
|
||||
import frc4388.utility.controller.XboxController;
|
||||
import frc4388.utility.controller.XboxTriggerButton;
|
||||
|
||||
/**
|
||||
* This class is where the bulk of the robot should be declared. Since
|
||||
@@ -86,9 +109,27 @@ public class RobotContainer {
|
||||
private final LimeLight m_robotLime = new LimeLight();
|
||||
|
||||
/* Controllers */
|
||||
private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
|
||||
private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
|
||||
private 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 */
|
||||
double m_totalTimeAuto;
|
||||
|
||||
SixBallAutoMiddle m_sixBallAutoMiddle;
|
||||
|
||||
EightBallAutoMiddle m_eightBallAutoMiddle;
|
||||
|
||||
DriveOffLineForward m_driveOffLineForward;
|
||||
|
||||
DriveOffLineBackward m_driveOffLineBackward;
|
||||
|
||||
FiveBallAutoMiddle m_fiveBallAutoMiddle;
|
||||
|
||||
TenBallAutoMiddle m_tenBallAutoMiddle;
|
||||
|
||||
public static boolean m_isShooterManual = false;
|
||||
|
||||
/**
|
||||
* The container for the robot. Contains subsystems, OI devices, and commands.
|
||||
@@ -96,7 +137,7 @@ public class RobotContainer {
|
||||
public RobotContainer() {
|
||||
/* Passing Drive and Pneumatics Subsystems */
|
||||
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_robotShooterHood.passRequiredSubsystem(m_robotShooter);
|
||||
@@ -106,6 +147,9 @@ public class RobotContainer {
|
||||
|
||||
configureButtonBindings();
|
||||
|
||||
/* Builds Autos */
|
||||
//buildAutos();
|
||||
|
||||
/* Default Commands */
|
||||
// drives the robot with a two-axis input from the driver controller
|
||||
|
||||
@@ -116,6 +160,8 @@ public class RobotContainer {
|
||||
m_robotIntake.setDefaultCommand(new RunIntakeWithTriggers(m_robotIntake, getOperatorController()));
|
||||
// runs the turret with joystick
|
||||
m_robotShooterAim.setDefaultCommand(new RunCommand(() -> m_robotShooterAim.runShooterWithInput(-m_operatorXbox.getLeftXAxis()), m_robotShooterAim));
|
||||
// runs the hood with joystick
|
||||
m_robotShooterHood.setDefaultCommand(new RunHoodWithJoystick(m_robotShooterHood, getOperatorController()));
|
||||
// moves the drum not
|
||||
m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(1500), m_robotShooter));
|
||||
// drives climber with input from triggers on the opperator controller
|
||||
@@ -126,7 +172,7 @@ public class RobotContainer {
|
||||
m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
|
||||
// runs the storage not
|
||||
//m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0), m_robotStorage));
|
||||
m_robotStorage.setDefaultCommand(new ManageStorage(m_robotStorage, StorageMode.IDLE));
|
||||
m_robotStorage.setDefaultCommand(new ManageStorage(m_robotStorage));
|
||||
//m_robotLime.setDefaultCommand(new RunCommand(() -> m_robotLime.limeOff(), m_robotLime));
|
||||
}
|
||||
|
||||
@@ -139,8 +185,8 @@ public class RobotContainer {
|
||||
private void configureButtonBindings() {
|
||||
/* Test Buttons */
|
||||
// A driver test button
|
||||
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
|
||||
.whenPressed(new DriveStraightToPositionMM(m_robotDrive, m_robotPneumatics, 24.0));
|
||||
/*new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
|
||||
.whileHeld(new InstantCommand(() -> m_robotDrive.tankDriveVelocity(1, -1), m_robotDrive));*/
|
||||
|
||||
// B driver test button
|
||||
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
|
||||
@@ -168,6 +214,9 @@ public class RobotContainer {
|
||||
new JoystickButton(getDriverJoystick(), XboxController.BACK_BUTTON)
|
||||
.whileHeld(new DisengageRachet(m_robotClimber));
|
||||
|
||||
|
||||
|
||||
|
||||
/* Operator Buttons */
|
||||
// shoots until released
|
||||
new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
|
||||
@@ -218,22 +267,91 @@ public class RobotContainer {
|
||||
new JoystickButton(getOperatorJoystick(), XboxController.START_BUTTON)
|
||||
.whileHeld(new CalibrateShooter(m_robotShooter, m_robotShooterAim, m_robotShooterHood));
|
||||
|
||||
//Prepares storage for intaking
|
||||
//new XboxTriggerButton(m_operatorXbox, XboxTriggerButton.LEFT_TRIGGER)
|
||||
//.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(0.8)))
|
||||
//.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0)));
|
||||
//.whileHeld(new StorageIntake(m_robotIntake, m_robotStorage));
|
||||
|
||||
//Runs storage to outtake
|
||||
//new XboxTriggerButton(m_operatorXbox, XboxTriggerButton.RIGHT_TRIGGER)
|
||||
//.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-0.8)))
|
||||
//.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0)));
|
||||
|
||||
//Run drum
|
||||
new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
|
||||
new JoystickManualButton(getOperatorJoystick(), XboxController.B_BUTTON, false)
|
||||
.whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false)
|
||||
//.whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET))
|
||||
.whenReleased(new InstantCommand(() -> m_robotLime.limeOff()));
|
||||
|
||||
//Run drum manual
|
||||
new JoystickManualButton(getOperatorJoystick(), XboxController.B_BUTTON, true)
|
||||
.whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(10000)))
|
||||
.whenReleased(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(0)));
|
||||
|
||||
|
||||
|
||||
|
||||
/* 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() {
|
||||
//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));
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -242,15 +360,27 @@ public class RobotContainer {
|
||||
* @return the command to run in autonomous
|
||||
*/
|
||||
public Command getAutonomousCommand() {
|
||||
// Create config for trajectory
|
||||
TrajectoryConfig config = getTrajectoryConfig();
|
||||
Trajectory trajectory = getTrajectory(config);
|
||||
RamseteCommand ramseteCommand = getRamseteCommand(trajectory);
|
||||
// Run path following command, then stop at the end.
|
||||
//return ramseteCommand.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
|
||||
return new AutoPath1FromCenter(m_robotDrive, m_robotPneumatics);
|
||||
//return new AutoPath2FromRight(m_robotDrive, m_robotPneumatics);
|
||||
// Create custom trajectories
|
||||
//TrajectoryConfig config = getTrajectoryConfig();
|
||||
//Trajectory trajectory = getTrajectory(config);
|
||||
//RamseteCommand ramseteCommand = getRamseteCommand(trajectory);
|
||||
|
||||
// Run path following command, then stop at the end.
|
||||
try {
|
||||
SmartDashboard.putNumber("Trajectory Total Time", m_totalTimeAuto);
|
||||
|
||||
//return m_sixBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
|
||||
//return m_eightBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
|
||||
//return m_driveOffLineForward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
|
||||
//return m_driveOffLinfeBackward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
|
||||
//return m_fiveBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
|
||||
return m_tenBallAutoMiddle.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
|
||||
|
||||
} catch (Exception e) {
|
||||
System.err.println("ERROR");
|
||||
}
|
||||
|
||||
return new InstantCommand();
|
||||
}
|
||||
TrajectoryConfig getTrajectoryConfig() {
|
||||
return new TrajectoryConfig(
|
||||
@@ -263,22 +393,19 @@ public class RobotContainer {
|
||||
Trajectory getTrajectory(TrajectoryConfig config) {
|
||||
Trajectory exampleTrajectory = TrajectoryGenerator.generateTrajectory(
|
||||
// Start at the origin facing the +X direction
|
||||
new Pose2d(0, 0, new Rotation2d(0)),
|
||||
new Pose2d(2.9, -2.4, new Rotation2d(0)),
|
||||
// Pass through these two interior waypoints, making an 's' curve path
|
||||
List.of(
|
||||
new Translation2d(10, 0)
|
||||
new Translation2d(4.1, -1.7)
|
||||
),
|
||||
// End 3 meters straight ahead of where we started, facing forward
|
||||
new Pose2d(20, 20, new Rotation2d(0)),
|
||||
new Pose2d(5.1, -0.7, new Rotation2d(0)),
|
||||
// Pass config
|
||||
config);
|
||||
// 10 = 20, 20 = 35, 30 = 53.5
|
||||
// (0,10) = (8,22)
|
||||
|
||||
return exampleTrajectory;
|
||||
}
|
||||
|
||||
RamseteCommand getRamseteCommand(Trajectory trajectory) {
|
||||
public RamseteCommand getRamseteCommand(Trajectory trajectory) {
|
||||
RamseteCommand ramseteCommand = new RamseteCommand(
|
||||
trajectory,
|
||||
m_robotDrive::getPose,
|
||||
@@ -290,6 +417,48 @@ public class RobotContainer {
|
||||
return ramseteCommand;
|
||||
}
|
||||
|
||||
public RamseteCommand[] buildPaths(String[] paths) {
|
||||
RamseteCommand[] ramseteCommands = new RamseteCommand[paths.length];
|
||||
double[] times = new double[paths.length];
|
||||
Trajectory initialTrajectory;
|
||||
m_totalTimeAuto = 0;
|
||||
|
||||
try {
|
||||
if (true) {
|
||||
String path = paths[0];
|
||||
String trajectoryJSON = "paths/" + path + ".wpilib.json";
|
||||
Path trajectoryPath = Filesystem.getDeployDirectory().toPath().resolve(trajectoryJSON);
|
||||
|
||||
SmartDashboard.putString("trajectoryPath Initial", trajectoryPath.toString());
|
||||
|
||||
Trajectory trajectory = TrajectoryUtil.fromPathweaverJson(trajectoryPath);
|
||||
initialTrajectory = trajectory;
|
||||
|
||||
RamseteCommand ramseteCommand = getRamseteCommand(trajectory.relativeTo(initialTrajectory.getInitialPose()));
|
||||
ramseteCommands[0] = ramseteCommand;
|
||||
times[0] = initialTrajectory.getTotalTimeSeconds();
|
||||
}
|
||||
|
||||
for(int i = 1; i < paths.length; i++) {
|
||||
String path = paths[i];
|
||||
String trajectoryJSON = "paths/" + path + ".wpilib.json";
|
||||
Path trajectoryPath = Filesystem.getDeployDirectory().toPath().resolve(trajectoryJSON);
|
||||
Trajectory trajectory = TrajectoryUtil.fromPathweaverJson(trajectoryPath);
|
||||
RamseteCommand ramseteCommand = getRamseteCommand(trajectory.relativeTo(initialTrajectory.getInitialPose()));
|
||||
ramseteCommands[i] = ramseteCommand;
|
||||
times[i] = trajectory.getTotalTimeSeconds();
|
||||
}
|
||||
} catch (Exception e) {
|
||||
DriverStation.reportError("Unable to open trajectory", e.getStackTrace());
|
||||
}
|
||||
|
||||
for (int i = 0; i < times.length; i++) {
|
||||
m_totalTimeAuto += times[i];
|
||||
}
|
||||
|
||||
return ramseteCommands;
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets Motors to a NeutralMode.
|
||||
* @param mode NeutralMode to set motors to
|
||||
@@ -316,9 +485,12 @@ public class RobotContainer {
|
||||
/**
|
||||
*
|
||||
*/
|
||||
public void resetOdometry() {
|
||||
m_robotDrive.resetGyroAngles();
|
||||
m_robotDrive.setOdometry(new Pose2d());
|
||||
public void resetOdometry(Pose2d pose) {
|
||||
m_robotDrive.setOdometry(pose);
|
||||
}
|
||||
|
||||
public void resetGyroYawRobotContainer(double angle) {
|
||||
m_robotDrive.resetGyroYaw(angle);
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -338,6 +510,12 @@ public class RobotContainer {
|
||||
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.
|
||||
* Generic HIDs/Joysticks can be used to set up JoystickButtons.
|
||||
@@ -357,4 +535,15 @@ public class RobotContainer {
|
||||
{
|
||||
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();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@@ -8,7 +8,7 @@
|
||||
package frc4388.robot.commands.auto;
|
||||
|
||||
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
|
||||
import frc4388.robot.commands.drive.GotoCoordinates;
|
||||
import frc4388.robot.commands.drive.GotoCoordinatesRobotRelative;
|
||||
import frc4388.robot.subsystems.Drive;
|
||||
import frc4388.robot.subsystems.Pneumatics;
|
||||
|
||||
@@ -30,15 +30,15 @@ public class AutoPath1FromCenter extends SequentialCommandGroup {
|
||||
|
||||
addCommands( new Wait(m_drive, 0, 1),
|
||||
//shoot pre-loaded 3 balls
|
||||
new GotoCoordinates(m_drive, m_pneumatics, 75, 44, -90),
|
||||
new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 75, 44, -90),
|
||||
//Start Intake Ball 1
|
||||
new GotoCoordinates(m_drive, m_pneumatics, 0, 12),
|
||||
new GotoCoordinates(m_drive, m_pneumatics, 0, 28),
|
||||
new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 0, 12),
|
||||
new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 0, 28),
|
||||
//Start Intake Ball 2
|
||||
new GotoCoordinates(m_drive, m_pneumatics, 0, 8),
|
||||
new GotoCoordinates(m_drive, m_pneumatics, 0, 28),
|
||||
new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 0, 8),
|
||||
new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 0, 28),
|
||||
//Start Intake Ball 3
|
||||
new GotoCoordinates(m_drive, m_pneumatics, 0, 8),
|
||||
new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 0, 8),
|
||||
new Wait(m_drive, 0, 2)
|
||||
//Shoot 3 Balls
|
||||
);
|
||||
|
||||
@@ -8,7 +8,7 @@
|
||||
package frc4388.robot.commands.auto;
|
||||
|
||||
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
|
||||
import frc4388.robot.commands.drive.GotoCoordinates;
|
||||
import frc4388.robot.commands.drive.GotoCoordinatesRobotRelative;
|
||||
import frc4388.robot.subsystems.Drive;
|
||||
import frc4388.robot.subsystems.Pneumatics;
|
||||
|
||||
@@ -29,18 +29,25 @@ public class AutoPath2FromRight extends SequentialCommandGroup {
|
||||
m_pneumatics = subsystem2;
|
||||
|
||||
addCommands( new Wait(m_drive, 0, 1),
|
||||
new GotoCoordinates(m_drive, m_pneumatics, 0, 77),
|
||||
new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 0, 77),
|
||||
//Start Intake Ball 1
|
||||
new GotoCoordinates(m_drive, m_pneumatics, 0, 8),
|
||||
new GotoCoordinates(m_drive, m_pneumatics, 0, 28),
|
||||
new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 0, 8),
|
||||
new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 0, 28),
|
||||
//Start Intake Ball 2
|
||||
new GotoCoordinates(m_drive, m_pneumatics, 0, 8),
|
||||
new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 0, 8),
|
||||
//Shoot 5 Balls
|
||||
new GotoCoordinates(m_drive, m_pneumatics, 0, 28),
|
||||
//Start Intake Ball 1 (second round)
|
||||
new GotoCoordinates(m_drive, m_pneumatics, 0, 8),
|
||||
//Start Moving to 4th Ball
|
||||
new GotoCoordinates(m_drive, m_pneumatics, 60, -50),
|
||||
new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 0, 28),
|
||||
//Start Intake Ball 6 (Ball 1 second round)
|
||||
new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 0, 8),
|
||||
//Move to 7th Ball
|
||||
new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 86.7, -64.11, -180),
|
||||
//Move to 8th Ball
|
||||
new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, -6.34, 15.31, 90),
|
||||
//Move to 9th Ball
|
||||
new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 7.11, 24.41, 0),
|
||||
//Move to 10th Ball
|
||||
new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, -6.34, 13.30),
|
||||
//Shoot 5 more Balls (Total 10 Ball Autonomous Path)
|
||||
new Wait(m_drive, 0, 2)
|
||||
);
|
||||
}
|
||||
|
||||
@@ -0,0 +1,31 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* 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.auto;
|
||||
|
||||
import edu.wpi.first.wpilibj2.command.RamseteCommand;
|
||||
import edu.wpi.first.wpilibj2.command.RunCommand;
|
||||
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
|
||||
import frc4388.robot.commands.drive.TurnDegrees;
|
||||
import frc4388.robot.subsystems.Drive;
|
||||
|
||||
// NOTE: Consider using this command inline, rather than writing a subclass. For more
|
||||
// information, see:
|
||||
// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
|
||||
public class DriveOffLineBackward extends SequentialCommandGroup {
|
||||
/**
|
||||
* Creates a new DriveOffLineBackward.
|
||||
*/
|
||||
public DriveOffLineBackward(Drive drive, RamseteCommand[] paths) {
|
||||
// Add your commands in the super() call, e.g.
|
||||
// super(new FooCommand(), new BarCommand());
|
||||
|
||||
addCommands(
|
||||
new TankDriveVelocity(drive, -1, -1, 2)
|
||||
);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,29 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* 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.auto;
|
||||
|
||||
import edu.wpi.first.wpilibj2.command.RamseteCommand;
|
||||
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
|
||||
import frc4388.robot.subsystems.Drive;
|
||||
|
||||
// NOTE: Consider using this command inline, rather than writing a subclass. For more
|
||||
// information, see:
|
||||
// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
|
||||
public class DriveOffLineForward extends SequentialCommandGroup {
|
||||
/**
|
||||
* Creates a new DriveOffLineForward.
|
||||
*/
|
||||
public DriveOffLineForward(Drive drive, RamseteCommand[] paths) {
|
||||
// Add your commands in the super() call, e.g.
|
||||
// super(new FooCommand(), new BarCommand());
|
||||
|
||||
addCommands(
|
||||
paths[0]
|
||||
);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,29 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* 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.auto;
|
||||
|
||||
import edu.wpi.first.wpilibj2.command.RamseteCommand;
|
||||
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
|
||||
import frc4388.robot.subsystems.Drive;
|
||||
|
||||
// NOTE: Consider using this command inline, rather than writing a subclass. For more
|
||||
// information, see:
|
||||
// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
|
||||
public class EightBallAutoMiddle extends SequentialCommandGroup {
|
||||
/**
|
||||
* Creates a new EightBallAutoMiddle.
|
||||
*/
|
||||
public EightBallAutoMiddle(Drive drive, RamseteCommand[] paths) {
|
||||
// Add your commands in the super() call, e.g.
|
||||
// super(new FooCommand(), new BarCommand());
|
||||
|
||||
addCommands(
|
||||
paths[0]
|
||||
);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,28 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* 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.auto;
|
||||
|
||||
import edu.wpi.first.wpilibj2.command.RamseteCommand;
|
||||
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
|
||||
import frc4388.robot.subsystems.Drive;
|
||||
|
||||
// NOTE: Consider using this command inline, rather than writing a subclass. For more
|
||||
// information, see:
|
||||
// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
|
||||
public class FiveBallAutoMiddle extends SequentialCommandGroup {
|
||||
/**
|
||||
* Creates a new FiveBallAutoMiddle.
|
||||
*/
|
||||
public FiveBallAutoMiddle(Drive drive, RamseteCommand[] paths) {
|
||||
// Use addRequirements() here to declare subsystem dependencies.
|
||||
addCommands(
|
||||
paths[0],
|
||||
new TankDriveVelocity(drive, -3.2, -0.2, 0.8)
|
||||
);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,35 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* 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.auto;
|
||||
|
||||
import java.nio.file.Path;
|
||||
|
||||
import edu.wpi.first.wpilibj.Filesystem;
|
||||
import edu.wpi.first.wpilibj.trajectory.Trajectory;
|
||||
import edu.wpi.first.wpilibj.trajectory.TrajectoryUtil;
|
||||
import edu.wpi.first.wpilibj2.command.RamseteCommand;
|
||||
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
|
||||
import frc4388.robot.RobotContainer;
|
||||
import frc4388.robot.subsystems.Drive;
|
||||
|
||||
// NOTE: Consider using this command inline, rather than writing a subclass. For more
|
||||
// information, see:
|
||||
// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
|
||||
public class SixBallAutoMiddle extends SequentialCommandGroup {
|
||||
/**
|
||||
* Creates a new SixBallAutoMiddle.
|
||||
*/
|
||||
public SixBallAutoMiddle(Drive drive, RamseteCommand[] paths) {
|
||||
// Add your commands in the super() call, e.g.
|
||||
// super(new FooCommand(), new BarCommand());
|
||||
|
||||
addCommands(
|
||||
paths[0]
|
||||
);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,67 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* 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.auto;
|
||||
|
||||
import edu.wpi.first.wpilibj2.command.CommandBase;
|
||||
import frc4388.robot.subsystems.Drive;
|
||||
|
||||
public class TankDriveVelocity extends CommandBase {
|
||||
Drive m_drive;
|
||||
double m_leftTargetVel;
|
||||
double m_rightTargetVel;
|
||||
|
||||
double m_targetTime;
|
||||
double m_firstTimeSec;
|
||||
double m_currentTimeSec;
|
||||
double m_diffSec;
|
||||
|
||||
/**
|
||||
* Creates a new TankDriveVelocity.
|
||||
*/
|
||||
public TankDriveVelocity(Drive subsystem, double leftTargetVel, double rightTargetVel, double targetTime) {
|
||||
// Use addRequirements() here to declare subsystem dependencies.
|
||||
m_drive = subsystem;
|
||||
m_leftTargetVel = leftTargetVel;
|
||||
m_rightTargetVel = rightTargetVel;
|
||||
m_targetTime = targetTime;
|
||||
addRequirements(subsystem);
|
||||
}
|
||||
|
||||
// Called when the command is initially scheduled.
|
||||
@Override
|
||||
public void initialize() {
|
||||
m_firstTimeSec = (System.currentTimeMillis() / 1000);
|
||||
m_diffSec = 0;
|
||||
}
|
||||
|
||||
// Called every time the scheduler runs while the command is scheduled.
|
||||
@Override
|
||||
public void execute() {
|
||||
m_currentTimeSec = (System.currentTimeMillis() / 1000);
|
||||
m_diffSec = m_currentTimeSec - m_firstTimeSec;
|
||||
|
||||
if (m_diffSec < m_targetTime) {
|
||||
m_drive.tankDriveVelocity(m_leftTargetVel, m_rightTargetVel);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
// 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_diffSec >= m_targetTime) {
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,59 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* 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.auto;
|
||||
|
||||
import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup;
|
||||
import edu.wpi.first.wpilibj2.command.RamseteCommand;
|
||||
import edu.wpi.first.wpilibj2.command.RunCommand;
|
||||
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.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
|
||||
// information, see:
|
||||
// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
|
||||
public class TenBallAutoMiddle extends SequentialCommandGroup {
|
||||
/**
|
||||
* Creates a new TenBallAutoMiddle.
|
||||
*/
|
||||
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.
|
||||
// super(new FooCommand(), new BarCommand());
|
||||
addCommands(
|
||||
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]
|
||||
);
|
||||
}
|
||||
}
|
||||
@@ -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.
|
||||
|
||||
@@ -0,0 +1,28 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* 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.SequentialCommandGroup;
|
||||
import frc4388.robot.subsystems.Drive;
|
||||
import frc4388.robot.subsystems.Pneumatics;
|
||||
|
||||
// NOTE: Consider using this command inline, rather than writing a subclass. For more
|
||||
// information, see:
|
||||
// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
|
||||
public class GotoCoordinatesFieldRelative extends SequentialCommandGroup {
|
||||
/**
|
||||
* Creates a new GotoCoordinatesFieldRelative.
|
||||
*/
|
||||
public GotoCoordinatesFieldRelative(Drive susbsytem, Pneumatics subsystem2, double xTarget, double yTarget) {
|
||||
// Add your commands in the super() call, e.g.
|
||||
// super(new FooCommand(), new BarCommand());
|
||||
addCommands(
|
||||
|
||||
);
|
||||
}
|
||||
}
|
||||
+3
-3
@@ -15,7 +15,7 @@ import frc4388.robot.subsystems.Pneumatics;
|
||||
// NOTE: Consider using this command inline, rather than writing a subclass. For more
|
||||
// information, see:
|
||||
// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
|
||||
public class GotoCoordinates extends SequentialCommandGroup {
|
||||
public class GotoCoordinatesRobotRelative extends SequentialCommandGroup {
|
||||
Drive m_drive;
|
||||
Pneumatics m_pneumatics;
|
||||
|
||||
@@ -28,7 +28,7 @@ public class GotoCoordinates extends SequentialCommandGroup {
|
||||
/**
|
||||
* Creates a new GotoPosition.
|
||||
*/
|
||||
public GotoCoordinates(Drive subsystem, Pneumatics subsystem2, double xTarget, double yTarget, double endAngle) {
|
||||
public GotoCoordinatesRobotRelative(Drive subsystem, Pneumatics subsystem2, double xTarget, double yTarget, double endAngle) {
|
||||
// Add your commands in the super() call, e.g.
|
||||
// super(new FooCommand(), new BarCommand());
|
||||
m_drive = subsystem;
|
||||
@@ -49,7 +49,7 @@ public class GotoCoordinates extends SequentialCommandGroup {
|
||||
new TurnDegrees(m_drive, m_endAngle - m_currentAngle));
|
||||
}
|
||||
|
||||
public GotoCoordinates(Drive subsystem, Pneumatics subsystem2, double xTarget, double yTarget) {
|
||||
public GotoCoordinatesRobotRelative(Drive subsystem, Pneumatics subsystem2, double xTarget, double yTarget) {
|
||||
m_drive = subsystem;
|
||||
m_pneumatics = subsystem2;
|
||||
|
||||
@@ -9,6 +9,7 @@ package frc4388.robot.commands.drive;
|
||||
|
||||
import edu.wpi.first.wpilibj2.command.CommandBase;
|
||||
import frc4388.robot.subsystems.Drive;
|
||||
import frc4388.robot.subsystems.Shooter;
|
||||
|
||||
public class PlaySongDrive extends CommandBase {
|
||||
private Drive m_drive;
|
||||
@@ -16,10 +17,10 @@ public class PlaySongDrive extends CommandBase {
|
||||
/**
|
||||
* Creates a new PlaySongDrive.
|
||||
*/
|
||||
public PlaySongDrive(Drive subsystem) {
|
||||
public PlaySongDrive(Drive subsystem, Shooter shooter) {
|
||||
// Use addRequirements() here to declare subsystem dependencies.
|
||||
m_drive = subsystem;
|
||||
addRequirements(m_drive);
|
||||
addRequirements(m_drive, shooter);
|
||||
}
|
||||
|
||||
// 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;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,46 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* 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.intake;
|
||||
|
||||
import edu.wpi.first.wpilibj2.command.CommandBase;
|
||||
import frc4388.robot.Constants.IntakeConstants;
|
||||
import frc4388.robot.subsystems.Intake;
|
||||
|
||||
public class RunIntake extends CommandBase {
|
||||
Intake m_intake;
|
||||
/**
|
||||
* Creates a new RunIntake.
|
||||
*/
|
||||
public RunIntake(Intake subsystem) {
|
||||
// Use addRequirements() here to declare subsystem dependencies.
|
||||
m_intake = subsystem;
|
||||
addRequirements(m_intake);
|
||||
}
|
||||
|
||||
// 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_intake.runIntake(IntakeConstants.INTAKE_SPEED);
|
||||
}
|
||||
|
||||
// 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;
|
||||
}
|
||||
}
|
||||
@@ -7,6 +7,7 @@
|
||||
|
||||
package frc4388.robot.commands.shooter;
|
||||
|
||||
import com.revrobotics.CANDigitalInput.LimitSwitchPolarity;
|
||||
import com.revrobotics.CANSparkMax.SoftLimitDirection;
|
||||
|
||||
import edu.wpi.first.wpilibj2.command.CommandBase;
|
||||
@@ -59,6 +60,10 @@ public class CalibrateShooter extends CommandBase {
|
||||
// Returns true when the command should end.
|
||||
@Override
|
||||
public boolean isFinished() {
|
||||
if (m_shooterAim.m_shooterRotateMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen).get() &&
|
||||
m_shooterHood.m_angleAdjustMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen).get()) {
|
||||
return true;
|
||||
}
|
||||
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;
|
||||
}
|
||||
}
|
||||
@@ -11,6 +11,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
||||
import edu.wpi.first.wpilibj2.command.CommandBase;
|
||||
import frc4388.robot.Constants.StorageConstants;
|
||||
import frc4388.robot.subsystems.Storage;
|
||||
import frc4388.robot.subsystems.Storage.StorageMode;
|
||||
|
||||
public class ManageStorage extends CommandBase {
|
||||
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 */
|
||||
boolean m_isStorageEmpty = true;
|
||||
|
||||
public enum StorageMode{IDLE, INTAKE, RESET};
|
||||
StorageMode m_storageMode = StorageMode.IDLE;
|
||||
|
||||
/**
|
||||
* Creates a new ManageStorage.
|
||||
*/
|
||||
public ManageStorage(Storage m_robotStorage, StorageMode storageMode) {
|
||||
public ManageStorage(Storage m_robotStorage) {
|
||||
// Use addRequirements() here to declare subsystem dependencies.
|
||||
m_storage = m_robotStorage;
|
||||
m_storageMode = storageMode;
|
||||
addRequirements(m_storage);
|
||||
}
|
||||
|
||||
@@ -50,7 +47,7 @@ public class ManageStorage extends CommandBase {
|
||||
|
||||
m_isStorageEmpty = !m_isBallInStorage;
|
||||
|
||||
if (m_storageMode == StorageMode.RESET) {
|
||||
if (m_storage.m_storageMode == StorageMode.RESET) {
|
||||
m_resetStartTime = System.currentTimeMillis();
|
||||
}
|
||||
}
|
||||
@@ -68,12 +65,14 @@ public class ManageStorage extends CommandBase {
|
||||
SmartDashboard.putBoolean("!Ball Storage!", m_isBallInStorage);
|
||||
SmartDashboard.putBoolean("!Ball Shooter!", m_isBallInShooter);
|
||||
|
||||
if (m_storageMode == StorageMode.IDLE) {
|
||||
if (m_storage.m_storageMode == StorageMode.IDLE) {
|
||||
runIdle();
|
||||
} else if (m_storageMode == StorageMode.INTAKE) {
|
||||
} else if (m_storage.m_storageMode == StorageMode.INTAKE) {
|
||||
runIntake();
|
||||
} else if (m_storageMode == StorageMode.RESET) {
|
||||
} else if (m_storage.m_storageMode == StorageMode.RESET) {
|
||||
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
|
||||
m_isStorageEmpty = false;
|
||||
m_storageMode = StorageMode.IDLE;
|
||||
m_storage.changeStorageMode(StorageMode.IDLE);
|
||||
}
|
||||
} else {
|
||||
m_storageMode = StorageMode.IDLE;
|
||||
m_storage.changeStorageMode(StorageMode.IDLE);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -106,7 +105,7 @@ public class ManageStorage extends CommandBase {
|
||||
m_storage.runStorage(0);
|
||||
|
||||
if (m_isBallInIntake) {
|
||||
m_storageMode = StorageMode.INTAKE;
|
||||
m_storage.changeStorageMode(StorageMode.INTAKE);
|
||||
}
|
||||
m_isStorageEmpty = !m_isBallInStorage;
|
||||
}
|
||||
@@ -120,17 +119,24 @@ public class ManageStorage extends CommandBase {
|
||||
m_storage.runStorage(-StorageConstants.STORAGE_SPEED);
|
||||
|
||||
if (m_isBallInIntake) {
|
||||
m_storageMode = StorageMode.INTAKE;
|
||||
m_storage.changeStorageMode(StorageMode.INTAKE);
|
||||
} else if (m_resetStartTime + StorageConstants.STORAGE_TIMEOUT < System.currentTimeMillis()) {
|
||||
m_storageMode = StorageMode.IDLE;
|
||||
m_storage.changeStorageMode(StorageMode.IDLE);
|
||||
}
|
||||
m_isStorageEmpty = !m_isBallInStorage;
|
||||
}
|
||||
|
||||
/**
|
||||
* Switches Storage to Manual only
|
||||
*/
|
||||
private void runManual() {
|
||||
m_storage.runStorage(0);
|
||||
}
|
||||
|
||||
// Called once the command ends or is interrupted.
|
||||
@Override
|
||||
public void end(boolean interrupted) {
|
||||
m_storageMode = StorageMode.RESET;
|
||||
m_storage.changeStorageMode(StorageMode.RESET);
|
||||
}
|
||||
|
||||
// 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 frc4388.robot.Constants.StorageConstants;
|
||||
import frc4388.robot.subsystems.Storage;
|
||||
import frc4388.robot.subsystems.Storage.StorageMode;
|
||||
|
||||
public class ManageStoragePID extends CommandBase {
|
||||
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 */
|
||||
boolean m_isStorageEmpty = true;
|
||||
|
||||
public enum StorageMode{IDLE, INTAKE, RESET};
|
||||
StorageMode m_storageMode = StorageMode.IDLE;
|
||||
|
||||
/**
|
||||
* Creates a new ManageStorage.
|
||||
*/
|
||||
public ManageStoragePID(Storage m_robotStorage, StorageMode storageMode) {
|
||||
public ManageStoragePID(Storage m_robotStorage) {
|
||||
// Use addRequirements() here to declare subsystem dependencies.
|
||||
m_storage = m_robotStorage;
|
||||
m_storageMode = storageMode;
|
||||
addRequirements(m_storage);
|
||||
}
|
||||
|
||||
@@ -55,7 +53,7 @@ public class ManageStoragePID extends CommandBase {
|
||||
|
||||
m_intakeStartPos = m_storage.getEncoderPosInches();
|
||||
|
||||
if (m_storageMode == StorageMode.RESET) {
|
||||
if (m_storage.m_storageMode == StorageMode.RESET) {
|
||||
m_resetStartTime = System.currentTimeMillis();
|
||||
}
|
||||
}
|
||||
@@ -73,11 +71,11 @@ public class ManageStoragePID extends CommandBase {
|
||||
SmartDashboard.putBoolean("!Ball Storage!", m_isBallInStorage);
|
||||
SmartDashboard.putBoolean("!Ball Shooter!", m_isBallInShooter);
|
||||
|
||||
if (m_storageMode == StorageMode.IDLE) {
|
||||
if (m_storage.m_storageMode == StorageMode.IDLE) {
|
||||
runIdle();
|
||||
} else if (m_storageMode == StorageMode.INTAKE) {
|
||||
} else if (m_storage.m_storageMode == StorageMode.INTAKE) {
|
||||
runIntake();
|
||||
} else if (m_storageMode == StorageMode.RESET) {
|
||||
} else if (m_storage.m_storageMode == StorageMode.RESET) {
|
||||
runReset();
|
||||
}
|
||||
}
|
||||
@@ -93,10 +91,10 @@ public class ManageStoragePID extends CommandBase {
|
||||
|
||||
double error = (m_intakeStartPos + StorageConstants.STORAGE_FULL_BALL) - m_storage.getEncoderPosInches();
|
||||
if (m_storage.getEncoderVel() == 0 && Math.abs(error) < 0.5) {
|
||||
m_storageMode = StorageMode.IDLE;
|
||||
m_storage.changeStorageMode(StorageMode.IDLE);
|
||||
}
|
||||
} else {
|
||||
m_storageMode = StorageMode.IDLE;
|
||||
m_storage.changeStorageMode(StorageMode.IDLE);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -108,7 +106,7 @@ public class ManageStoragePID extends CommandBase {
|
||||
m_storage.runStorage(0);
|
||||
|
||||
if (m_isBallInIntake) {
|
||||
m_storageMode = StorageMode.INTAKE;
|
||||
m_storage.changeStorageMode(StorageMode.INTAKE);
|
||||
m_intakeStartPos = m_storage.getEncoderPosInches();
|
||||
}
|
||||
m_isStorageEmpty = !m_isBallInStorage;
|
||||
@@ -123,10 +121,10 @@ public class ManageStoragePID extends CommandBase {
|
||||
m_storage.runStorage(-StorageConstants.STORAGE_SPEED);
|
||||
|
||||
if (m_isBallInIntake) {
|
||||
m_storageMode = StorageMode.INTAKE;
|
||||
m_storage.changeStorageMode(StorageMode.INTAKE);
|
||||
m_intakeStartPos = m_storage.getEncoderPosInches();
|
||||
} else if (m_resetStartTime + StorageConstants.STORAGE_TIMEOUT < System.currentTimeMillis()) {
|
||||
m_storageMode = StorageMode.IDLE;
|
||||
m_storage.changeStorageMode(StorageMode.IDLE);
|
||||
}
|
||||
m_isStorageEmpty = !m_isBallInStorage;
|
||||
}
|
||||
@@ -134,7 +132,7 @@ public class ManageStoragePID extends CommandBase {
|
||||
// Called once the command ends or is interrupted.
|
||||
@Override
|
||||
public void end(boolean interrupted) {
|
||||
m_storageMode = StorageMode.RESET;
|
||||
m_storage.changeStorageMode(StorageMode.RESET);
|
||||
}
|
||||
|
||||
// Returns true when the command should end.
|
||||
|
||||
@@ -0,0 +1,46 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* 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.storage;
|
||||
|
||||
import edu.wpi.first.wpilibj2.command.CommandBase;
|
||||
import frc4388.robot.Constants.StorageConstants;
|
||||
import frc4388.robot.subsystems.Storage;
|
||||
|
||||
public class RunStorage extends CommandBase {
|
||||
Storage m_storage;
|
||||
/**
|
||||
* Creates a new RunStorage.
|
||||
*/
|
||||
public RunStorage(Storage subsystem) {
|
||||
// Use addRequirements() here to declare subsystem dependencies.
|
||||
m_storage = subsystem;
|
||||
addRequirements(m_storage);
|
||||
}
|
||||
|
||||
// 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_storage.runStorage(StorageConstants.STORAGE_SPEED);
|
||||
}
|
||||
|
||||
// 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;
|
||||
}
|
||||
}
|
||||
@@ -54,6 +54,7 @@ public class Drive extends SubsystemBase {
|
||||
|
||||
/* Pneumatics Subsystem */
|
||||
public Pneumatics m_pneumaticsSubsystem;
|
||||
Shooter m_shooter;
|
||||
|
||||
/* Low Gear Gains */
|
||||
public static Gains m_gainsDistanceLow = DriveConstants.DRIVE_DISTANCE_GAINS_LOW;
|
||||
@@ -67,6 +68,9 @@ public class Drive extends SubsystemBase {
|
||||
public static Gains m_gainsTurningHigh = DriveConstants.DRIVE_TURNING_GAINS_HIGH;
|
||||
public static Gains m_gainsMotionMagicHigh = DriveConstants.DRIVE_MOTION_MAGIC_GAINS_HIGH;
|
||||
|
||||
/* Back Motor Gains */
|
||||
public static Gains m_gainsVelocityBack = DriveConstants.DRIVE_VELOCITY_GAINS_BACK;
|
||||
|
||||
/* Timey Whimey */
|
||||
public long m_currentTimeMs = System.currentTimeMillis();
|
||||
public long m_lastTimeMs = m_currentTimeMs;
|
||||
@@ -93,7 +97,8 @@ public class Drive extends SubsystemBase {
|
||||
SendableChooser<String> m_songChooser = new SendableChooser<String>();
|
||||
|
||||
/* Misc */
|
||||
String m_currentSong = "";
|
||||
public String m_currentSong = "";
|
||||
public String[] songsStrings;
|
||||
|
||||
/**
|
||||
* Add your docs here.
|
||||
@@ -105,7 +110,7 @@ public class Drive extends SubsystemBase {
|
||||
m_leftBackMotor.configFactoryDefault();
|
||||
m_rightBackMotor.configFactoryDefault();
|
||||
m_pigeon.configFactoryDefault();
|
||||
resetGyroYaw();
|
||||
resetGyroYaw(0);
|
||||
|
||||
m_pigeonGyro = getGyroInterface();
|
||||
|
||||
@@ -145,20 +150,18 @@ public class Drive extends SubsystemBase {
|
||||
|
||||
/* PID for Back Motor Control in Tank Drive Vel */
|
||||
m_rightBackMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
|
||||
m_rightBackMotor.config_kF(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_rightBackMotor.config_kP(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_rightBackMotor.config_kI(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_rightBackMotor.config_kD(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_rightBackMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kPeakOutput,
|
||||
DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_rightBackMotor.config_kF(DriveConstants.SLOT_VELOCITY, m_gainsVelocityBack.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_rightBackMotor.config_kP(DriveConstants.SLOT_VELOCITY, m_gainsVelocityBack.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_rightBackMotor.config_kI(DriveConstants.SLOT_VELOCITY, m_gainsVelocityBack.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_rightBackMotor.config_kD(DriveConstants.SLOT_VELOCITY, m_gainsVelocityBack.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_rightBackMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_VELOCITY, m_gainsVelocityBack.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
|
||||
m_leftBackMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
|
||||
m_leftBackMotor.config_kF(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_leftBackMotor.config_kP(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_leftBackMotor.config_kI(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_leftBackMotor.config_kD(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_leftBackMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kPeakOutput,
|
||||
DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_leftBackMotor.config_kF(DriveConstants.SLOT_VELOCITY, m_gainsVelocityBack.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_leftBackMotor.config_kP(DriveConstants.SLOT_VELOCITY, m_gainsVelocityBack.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_leftBackMotor.config_kI(DriveConstants.SLOT_VELOCITY, m_gainsVelocityBack.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_leftBackMotor.config_kD(DriveConstants.SLOT_VELOCITY, m_gainsVelocityBack.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_leftBackMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_VELOCITY, m_gainsVelocityBack.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
|
||||
/* Reset Sensors for WPI_TalonFXs */
|
||||
resetEncoders();
|
||||
@@ -282,11 +285,12 @@ public class Drive extends SubsystemBase {
|
||||
/* Create chooser to choose song to play */
|
||||
File songsDir = new File(Filesystem.getDeployDirectory().getAbsolutePath() + "/songs");
|
||||
System.err.println(songsDir.getPath());
|
||||
String[] songsStrings = songsDir.list();
|
||||
songsStrings = songsDir.list();
|
||||
for (String songString : songsStrings) {
|
||||
m_songChooser.addOption(songString, songsDir.getAbsolutePath() + "/" + songString);
|
||||
}
|
||||
Shuffleboard.getTab("Songs").add(m_songChooser);
|
||||
selectSong(songsStrings[0]);
|
||||
|
||||
/* Start counting time */
|
||||
m_lastTimeMs = System.currentTimeMillis();
|
||||
@@ -305,8 +309,10 @@ public class Drive extends SubsystemBase {
|
||||
*
|
||||
* @param subsystem Subsystem needed.
|
||||
*/
|
||||
public void passRequiredSubsystem(Pneumatics subsystem) {
|
||||
public void passRequiredSubsystem(Pneumatics subsystem, Shooter shooter) {
|
||||
m_pneumaticsSubsystem = subsystem;
|
||||
m_shooter = shooter;
|
||||
m_orchestra.addInstrument(m_shooter.m_shooterFalcon);
|
||||
}
|
||||
|
||||
public void updateTime() {
|
||||
@@ -333,8 +339,9 @@ public class Drive extends SubsystemBase {
|
||||
m_totalRightDistanceInches += ticksToInches(m_currentRightPosTicks - m_lastRightPosTicks);
|
||||
m_totalLeftDistanceInches += ticksToInches(m_currentLeftPosTicks - m_lastLeftPosTicks);
|
||||
|
||||
m_odometry.update(Rotation2d.fromDegrees(getHeading()), getDistanceInches(m_leftFrontMotor),
|
||||
-getDistanceInches(m_rightFrontMotor));
|
||||
m_odometry.update(Rotation2d.fromDegrees( getHeading()),
|
||||
inchesToMeters(getDistanceInches(m_leftFrontMotor)),
|
||||
-inchesToMeters(getDistanceInches(m_rightFrontMotor)));
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -342,7 +349,7 @@ public class Drive extends SubsystemBase {
|
||||
* using the Differential Drive class to manage the two inputs
|
||||
*/
|
||||
public void driveWithInput(double move, double steer) {
|
||||
m_driveTrain.arcadeDrive(move, steer);
|
||||
m_driveTrain.arcadeDrive(-move, steer);
|
||||
m_leftBackMotor.follow(m_leftFrontMotor);
|
||||
m_rightBackMotor.follow(m_rightFrontMotor);
|
||||
}
|
||||
@@ -465,8 +472,6 @@ public class Drive extends SubsystemBase {
|
||||
m_rightBackMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
|
||||
m_leftBackMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
|
||||
|
||||
System.err.println(moveVelLeft);
|
||||
|
||||
m_rightBackMotor.set(TalonFXControlMode.Velocity, moveVelRight);
|
||||
m_leftBackMotor.set(TalonFXControlMode.Velocity, moveVelLeft);
|
||||
m_leftFrontMotor.follow(m_leftBackMotor);
|
||||
@@ -512,24 +517,25 @@ public class Drive extends SubsystemBase {
|
||||
*/
|
||||
public void setOdometry(Pose2d pose) {
|
||||
resetEncoders();
|
||||
resetGyroYaw(pose.getRotation().getDegrees());
|
||||
m_odometry.resetPosition(pose, Rotation2d.fromDegrees(getHeading()));
|
||||
}
|
||||
|
||||
/**
|
||||
* Resets the yaw of the pigeon
|
||||
*/
|
||||
public void resetGyroYaw() {
|
||||
m_pigeon.setYaw(0);
|
||||
m_pigeon.setAccumZAngle(0);
|
||||
resetGyroAngles();
|
||||
public void resetGyroYaw(double angle) {
|
||||
m_pigeon.setYaw(angle);
|
||||
m_pigeon.setAccumZAngle(angle);
|
||||
resetGyroAngles(angle);
|
||||
}
|
||||
|
||||
/**
|
||||
* Add docs here
|
||||
*/
|
||||
public void resetGyroAngles() {
|
||||
m_lastAngleYaw = 0;
|
||||
m_currentAngleYaw = 0;
|
||||
public void resetGyroAngles(double angle) {
|
||||
m_lastAngleYaw = angle;
|
||||
m_currentAngleYaw = angle;
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -574,7 +580,7 @@ public class Drive extends SubsystemBase {
|
||||
@Override
|
||||
public void reset() {
|
||||
// TODO Auto-generated method stub
|
||||
resetGyroYaw();
|
||||
resetGyroYaw(0);
|
||||
}
|
||||
|
||||
@Override
|
||||
@@ -871,8 +877,11 @@ public class Drive extends SubsystemBase {
|
||||
|
||||
//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 Pos Inches", getDistanceInches(m_rightFrontMotor));
|
||||
//SmartDashboard.putNumber("Right Motor Pos Inches", getDistanceInches(m_leftFrontMotor));
|
||||
SmartDashboard.putNumber("Left Motor Pos Inches", getDistanceInches(m_rightFrontMotor));
|
||||
SmartDashboard.putNumber("Right Motor Pos Inches", getDistanceInches(m_leftFrontMotor));
|
||||
|
||||
SmartDashboard.putNumber("Left Motor Pos Meters", inchesToMeters(getDistanceInches(m_rightFrontMotor)));
|
||||
SmartDashboard.putNumber("Right Motor Pos Meters", inchesToMeters(getDistanceInches(m_leftFrontMotor)));
|
||||
|
||||
/*SmartDashboard.putNumber("Right Front Velocity", m_rightFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
|
||||
SmartDashboard.putNumber("Left Front Velocity", m_leftFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
|
||||
@@ -900,7 +909,7 @@ public class Drive extends SubsystemBase {
|
||||
//SmartDashboard.putNumber("PID 0 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_PRIMARY));
|
||||
//SmartDashboard.putNumber("PID 1 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN));
|
||||
|
||||
//SmartDashboard.putString("Odometry Values Meters", getPose().toString());
|
||||
SmartDashboard.putString("Odometry Values Meters", getPose().toString());
|
||||
//SmartDashboard.putNumber("Odometry Heading", getHeading());
|
||||
|
||||
//SmartDashboard.putNumber("Time Seconds", m_currentTimeSec);
|
||||
@@ -909,6 +918,7 @@ public class Drive extends SubsystemBase {
|
||||
if (m_currentSong != m_songChooser.getSelected()){
|
||||
m_currentSong = m_songChooser.getSelected();
|
||||
selectSong(m_currentSong);
|
||||
|
||||
//System.err.println(m_currentSong);
|
||||
}
|
||||
} catch (Exception e) {
|
||||
@@ -916,4 +926,6 @@ public class Drive extends SubsystemBase {
|
||||
// e.printStackTrace(System.err);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
@@ -88,6 +88,11 @@ public class ShooterHood extends SubsystemBase {
|
||||
m_angleAdjustPIDController.setReference(targetAngle, ControlType.kPosition);
|
||||
}
|
||||
|
||||
public void runHood(double input)
|
||||
{
|
||||
m_angleAdjustMotor.set(input);
|
||||
}
|
||||
|
||||
public void resetGyroAngleAdj(){
|
||||
m_angleEncoder.setPosition(0);
|
||||
}
|
||||
|
||||
@@ -36,6 +36,9 @@ public class Storage extends SubsystemBase {
|
||||
|
||||
public boolean m_isStorageReadyToFire = false;
|
||||
|
||||
public enum StorageMode{IDLE, INTAKE, RESET, MANUAL};
|
||||
public StorageMode m_storageMode = StorageMode.IDLE;
|
||||
|
||||
/**
|
||||
* Creates a new Storage.
|
||||
*/
|
||||
@@ -134,4 +137,8 @@ public class Storage extends SubsystemBase {
|
||||
public boolean getBeamIntake(){
|
||||
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);
|
||||
}
|
||||
|
||||
public void setJoystick(Joystick joy) {
|
||||
m_stick = joy;
|
||||
}
|
||||
|
||||
/**
|
||||
* @return Joystick for Xbox Controller
|
||||
*/
|
||||
|
||||
Reference in New Issue
Block a user