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Merge branch 'auto-programming' of https://github.com/Team4388/RiseOfRidgebotics2020 into auto-programming

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This commit is contained in:
Aarav Shah
2021-02-11 17:53:07 -07:00
parent 060086c6bb c5a34f3708
commit eadc601ce9
16 changed files with 103 additions and 15 deletions
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src/main/java/frc4388/robot/Robot.java
+3 -2
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@@ -7,6 +7,7 @@
package frc4388.robot;
import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import edu.wpi.first.wpilibj.TimedRobot;
@@ -71,7 +72,8 @@ public class Robot extends TimedRobot {
@Override
public void disabledPeriodic() {
}
m_robotContainer.resetOdometry(new Pose2d());
}
/**
* This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
@@ -83,7 +85,6 @@ public class Robot extends TimedRobot {
m_robotContainer.setDriveNeutralMode(NeutralMode.Brake);
m_robotContainer.setDriveGearState(true);
m_robotContainer.resetOdometry(new Pose2d());
//m_robotContainer.resetGyroYawRobotContainer(0);
src/main/java/frc4388/robot/RobotContainer.java
+42 -4
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@@ -28,15 +28,19 @@ 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.ParallelCommandGroup;
import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;
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.IntakeConstants;
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.FigureEight;
import frc4388.robot.commands.auto.FiveBallAutoMiddle;
import frc4388.robot.commands.auto.SixBallAutoMiddle;
import frc4388.robot.commands.auto.Slalom;
@@ -52,6 +56,7 @@ import frc4388.robot.commands.drive.DriveStraightAtVelocityPID;
import frc4388.robot.commands.drive.DriveStraightToPositionMM;
import frc4388.robot.commands.drive.DriveWithJoystick;
import frc4388.robot.commands.drive.TurnDegrees;
import frc4388.robot.commands.intake.RunIntake;
import frc4388.robot.commands.intake.RunIntakeWithTriggers;
import frc4388.robot.commands.shooter.CalibrateShooter;
import frc4388.robot.commands.shooter.TrackTarget;
@@ -111,6 +116,12 @@ public class RobotContainer {
SixBallAutoMiddle m_sixBallAutoMiddle;
SixBallAutoMiddle m_sixBallAuto0;
SixBallAutoMiddle m_sixBallAuto1;
FigureEight m_figureEight;
EightBallAutoMiddle m_eightBallAutoMiddle;
DriveOffLineForward m_driveOffLineForward;
@@ -164,8 +175,8 @@ public class RobotContainer {
// continually sends updates to the Blinkin LED controller to keep the lights on
m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
// runs the 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 RunCommand(() -> m_robotStorage.runStorage(0), m_robotStorage));
//m_robotStorage.setDefaultCommand(new ManageStorage(m_robotStorage, StorageMode.IDLE));
//m_robotLime.setDefaultCommand(new RunCommand(() -> m_robotLime.limeOff(), m_robotLime));
}
@@ -233,7 +244,7 @@ public class RobotContainer {
.whileHeld(new RunCommand(() -> m_robotIntake.runExtender(-0.5)))
.whenReleased(new InstantCommand(() -> m_robotIntake.runExtender(0)));
// safety for climber and leveler
// safety for climber and leveler
new JoystickButton(getOperatorJoystick(), XboxController.BACK_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotClimber.setSafetyPressed(), m_robotClimber))
.whenReleased(new InstantCommand(() -> m_robotClimber.setSafetyNotPressed(), m_robotClimber));
@@ -294,6 +305,24 @@ public class RobotContainer {
m_barrel = new Barrel(m_robotDrive, buildPaths(barrel));
String[] sixBallAutoMiddle0 = new String[]{
"SixBallMid0"
};
m_sixBallAuto0 = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddle0));
String[] sixBallAutoMiddle1 = new String[]{
"SixBallMid1"
};
m_sixBallAuto1 = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddle1));
String[] figureEight = new String[]{
"FigureEight"
};
m_figureEight = new FigureEight(m_robotDrive, buildPaths(figureEight));
String[] eightBallAutoMiddlePaths = new String[]{
"EightBallMidComplete"
};
@@ -348,7 +377,16 @@ public class RobotContainer {
//return m_tenBallAutoMiddle.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
//return m_slalom.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
return m_barrel.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
// return m_figureEight.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
return new SequentialCommandGroup(
m_sixBallAuto0,
new InstantCommand(() -> resetOdometry(new Pose2d(0, 0, new Rotation2d()))),
m_sixBallAuto1
// /**new ParallelRaceGroup(
// m_sixBallAuto0,
// new RunIntake(m_robotIntake)
// )**/); //ParallelRaceGroup(m_sixBallAuto0, new RunIntake(m_robotIntake));
);
} catch (Exception e) {
System.err.println("ERROR");
}
src/main/java/frc4388/robot/commands/auto/DriveOffLineForward.java
+5 -1
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@@ -9,7 +9,9 @@ package frc4388.robot.commands.auto;
import edu.wpi.first.wpilibj2.command.RamseteCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import frc4388.robot.commands.intake.RunIntake;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Intake;
// NOTE: Consider using this command inline, rather than writing a subclass. For more
// information, see:
@@ -21,9 +23,11 @@ public class DriveOffLineForward extends SequentialCommandGroup {
public DriveOffLineForward(Drive drive, RamseteCommand[] paths) {
// Add your commands in the super() call, e.g.
// super(new FooCommand(), new BarCommand());
Intake m_intake = new Intake();
addCommands(
paths[0]
paths[0],
new RunIntake(m_intake)
);
}
}
src/main/java/frc4388/robot/commands/auto/FigureEight.java
+28
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@@ -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 FigureEight extends SequentialCommandGroup {
/**
* Creates a new FigureEight.
*/
public FigureEight(Drive drive, RamseteCommand[] paths) {
// Add your commands in the super() call, e.g.
// super(new FooCommand(), new BarCommand());
addCommands(
paths[0]
);
}
}
src/main/java/frc4388/robot/commands/auto/SixBallAutoMiddle.java
+7 -1
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@@ -12,10 +12,14 @@ 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.InstantCommand;
import edu.wpi.first.wpilibj2.command.RamseteCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import frc4388.robot.RobotContainer;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.RobotContainer;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
// NOTE: Consider using this command inline, rather than writing a subclass. For more
// information, see:
@@ -27,9 +31,11 @@ public class SixBallAutoMiddle extends SequentialCommandGroup {
public SixBallAutoMiddle(Drive drive, RamseteCommand[] paths) {
// Add your commands in the super() call, e.g.
// super(new FooCommand(), new BarCommand());
RobotContainer m_robotContainer = new RobotContainer();
addCommands(
paths[0]
paths[0],
new InstantCommand(() -> m_robotContainer.resetOdometry(new Pose2d(0, 0, new Rotation2d())))
);
}
}
src/main/java/frc4388/robot/commands/auto/Wait.java
+1
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@@ -8,6 +8,7 @@
package frc4388.robot.commands.auto;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.Subsystem;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Wait extends CommandBase {
src/main/java/frc4388/robot/commands/intake/RunExtenderOutIn.java
+2 -2
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@@ -18,8 +18,8 @@ import frc4388.robot.subsystems.Intake;
public class RunExtenderOutIn extends CommandBase {
private Intake m_intake;
CANSparkMax m_intakeMotor = new CANSparkMax(IntakeConstants.INTAKE_SPARK_ID, MotorType.kBrushless);
CANSparkMax m_extenderMotor = new CANSparkMax(IntakeConstants.EXTENDER_SPARK_ID, MotorType.kBrushless);
//CANSparkMax m_intakeMotor = new CANSparkMax(IntakeConstants.INTAKE_SPARK_ID, MotorType.kBrushless);
//CANSparkMax m_extenderMotor = new CANSparkMax(IntakeConstants.EXTENDER_SPARK_ID, MotorType.kBrushless);
CANDigitalInput m_extenderForwardLimit;
CANDigitalInput m_extenderReverseLimit;
src/main/java/frc4388/robot/subsystems/Drive.java
+1 -2
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@@ -833,8 +833,7 @@ public class Drive extends SubsystemBase {
SmartDashboard.putData("Pigeon Gyro", m_pigeonGyro);
SmartDashboard.putData("Drive Train", m_driveTrain);
//SmartDashboard.putNumber("Left Front Output", m_leftFrontMotor.get());
//SmartDashboard.putNumber("Right Front Output", m_rightFrontMotor.get());
//SmartDashboard.putNumber("Left Back Output", m_leftBackMotor.get());