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Cleanup Robot Container

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This commit is contained in:
Keenan D. Buckley
2020-02-25 22:25:37 -07:00
parent 1b31a6d508
commit f7dfe25744
1 changed files with 75 additions and 56 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+75 -56
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@@ -102,18 +102,24 @@ public class RobotContainer {
* {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
*/
private void configureButtonBindings() {
/* Driver Buttons */
//new JoystickButton(getDriverJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
// .whileHeld(new DriveWithJoystickAuxPID(m_robotDrive, getDriverController()));
// resets the yaw of the pigeon
new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
.whenPressed(new DriveStraightToPositionMM(m_robotDrive, 36));
// turn 45 degrees
/* Test Buttons */
// A driver test button
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.whenPressed(new InstantCommand());
// B driver test button
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
.whenPressed(new InstantCommand());
// Y driver test button
new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
.whenPressed(new RunCommand(() -> m_robotDrive.driveWithInputAux(0.2, 0), m_robotDrive));
.whenPressed(new InstantCommand());
// X driver test button
new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
.whenPressed(new InstantCommand());
/* Driver Buttons */
// sets solenoids into high gear
new JoystickButton(getDriverJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(false), m_robotDrive));
@@ -123,7 +129,6 @@ public class RobotContainer {
.whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(true), m_robotDrive));
/* Operator Buttons */
//TODO: Shooter Buttons
// shoots until released
//new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
@@ -159,7 +164,62 @@ public class RobotContainer {
new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_TRIGGER_AXIS)
.whileHeld(new storageOutake(m_robotStorage));
}
/**
* Use this to pass the autonomous command to the main {@link Robot} class.
*
* @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 InstantCommand();
return new DrivePositionMPAux(m_robotDrive, 500.0, 12.0, 2, 60.0, 0.0);
}
TrajectoryConfig getTrajectoryConfig() {
return new TrajectoryConfig(
DriveConstants.MAX_SPEED_METERS_PER_SECOND,
DriveConstants.MAX_ACCELERATION_METERS_PER_SECOND_SQUARED)
// Add kinematics to ensure max speed is actually obeyed
.setKinematics(DriveConstants.kDriveKinematics);
}
Trajectory getTrajectory(TrajectoryConfig config) {
Trajectory exampleTrajectory = TrajectoryGenerator.generateTrajectory(
// Start at the origin facing the +X direction
new Pose2d(0, 0, new Rotation2d(0)),
// Pass through these two interior waypoints, making an 's' curve path
List.of(
new Translation2d(10, 0)
),
// End 3 meters straight ahead of where we started, facing forward
new Pose2d(20, 20, new Rotation2d(0)),
// Pass config
config);
// 10 = 20, 20 = 35, 30 = 53.5
// (0,10) = (8,22)
return exampleTrajectory;
}
RamseteCommand getRamseteCommand(Trajectory trajectory) {
RamseteCommand ramseteCommand = new RamseteCommand(
trajectory,
m_robotDrive::getPose,
new RamseteController(),
DriveConstants.kDriveKinematics,
m_robotDrive::tankDriveVelocity,
m_robotDrive);
return ramseteCommand;
}
/**
* Sets Motors to a NeutralMode.
* @param mode NeutralMode to set motors to
@@ -176,55 +236,14 @@ public class RobotContainer {
m_robotDrive.setShiftState(state);
}
public void configDriveTrainSensors(FeedbackDevice type) {
m_robotDrive.configMotorSensor(type);
}
/**
*
*/
public void resetOdometry() {
m_robotDrive.resetGyroAngles();
m_robotDrive.setOdometry(new Pose2d());
}
/**
* Use this to pass the autonomous command to the main {@link Robot} class.
*
* @return the command to run in autonomous
*/
public Command getAutonomousCommand() {
// Create config for trajectory
/*TrajectoryConfig config = new TrajectoryConfig( DriveConstants.MAX_SPEED_METERS_PER_SECOND,
DriveConstants.MAX_ACCELERATION_METERS_PER_SECOND_SQUARED)
// Add kinematics to ensure max speed is actually obeyed
.setKinematics(DriveConstants.kDriveKinematics);
Trajectory exampleTrajectory = TrajectoryGenerator.generateTrajectory(
// Start at the origin facing the +X direction
new Pose2d(0, 0, new Rotation2d(0)),
// Pass through these two interior waypoints, making an 's' curve path
List.of(
new Translation2d(10, 0)
),
// End 3 meters straight ahead of where we started, facing forward
new Pose2d(20, 20, new Rotation2d(0)),
// Pass config
config);
// 10 = 20, 20 = 35, 30 = 53.5
// (0,10) = (8,22)
RamseteCommand ramseteCommand = new RamseteCommand(
exampleTrajectory,
m_robotDrive::getPose,
new RamseteController(),
DriveConstants.kDriveKinematics,
m_robotDrive::tankDriveVelocity,
m_robotDrive);
// Run path following command, then stop at the end.
return ramseteCommand.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));*/
// return new InstantCommand();
return new DrivePositionMPAux(m_robotDrive, 500.0, 12.0, 2, 60.0, 0.0);
}
/**
* Used for analog inputs like triggers and axises.
* @return IHandController interface for the Driver Controller.