mirror of
https://github.com/Team4388/Robot-Essentials.git
synced 2026-06-09 00:38:01 -06:00
Create RobotMap to decouple Subsystems from their hardware.
With the hardware objects decoupled from the subsystems, we can then pass mock hardware into these subsystems to run simulations/tests on.
This commit is contained in:
Keenan D. Buckley
@@ -27,9 +27,14 @@ import frc4388.utility.controller.XboxController;
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* commands, and button mappings) should be declared here.
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*/
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public class RobotContainer {
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/* RobotMap */
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private final RobotMap m_robotMap = new RobotMap();
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/* Subsystems */
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private final Drive m_robotDrive = new Drive();
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private final LED m_robotLED = new LED();
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private final Drive m_robotDrive = new Drive(m_robotMap.leftFrontMotor, m_robotMap.rightFrontMotor,
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m_robotMap.leftBackMotor, m_robotMap.rightBackMotor, m_robotMap.gyroDrive);
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private final LED m_robotLED = new LED(m_robotMap.LEDController);
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/* Controllers */
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private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
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@@ -43,18 +48,18 @@ public class RobotContainer {
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/* Default Commands */
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// drives the robot with a two-axis input from the driver controller
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m_robotDrive.setDefaultCommand(new RunCommand(() -> m_robotDrive.driveWithInput(
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getDriverController().getLeftYAxis(),
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m_robotDrive.setDefaultCommand(
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new RunCommand(() -> m_robotDrive.driveWithInput(getDriverController().getLeftYAxis(),
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getDriverController().getRightXAxis()), m_robotDrive));
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// continually sends updates to the Blinkin LED controller to keep the lights on
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m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
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}
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/**
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* Use this method to define your button->command mappings. Buttons can be created by
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* instantiating a {@link GenericHID} or one of its subclasses ({@link
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* edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
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* {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
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* Use this method to define your button->command mappings. Buttons can be
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* created by instantiating a {@link GenericHID} or one of its subclasses
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* ({@link edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then
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* passing it to a {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
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*/
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private void configureButtonBindings() {
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/* Driver Buttons */
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@@ -89,24 +94,21 @@ public class RobotContainer {
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/**
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* Add your docs here.
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*/
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public IHandController getOperatorController()
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{
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public IHandController getOperatorController() {
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return m_operatorXbox;
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}
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/**
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* Add your docs here.
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*/
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public Joystick getOperatorJoystick()
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{
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public Joystick getOperatorJoystick() {
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return m_operatorXbox.getJoyStick();
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}
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/**
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* Add your docs here.
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*/
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public Joystick getDriverJoystick()
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{
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public Joystick getDriverJoystick() {
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return m_driverXbox.getJoyStick();
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}
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}
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@@ -0,0 +1,71 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package frc4388.robot;
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import com.ctre.phoenix.motorcontrol.InvertType;
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import com.ctre.phoenix.motorcontrol.NeutralMode;
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import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
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import com.ctre.phoenix.sensors.PigeonIMU;
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import edu.wpi.first.wpilibj.Spark;
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import edu.wpi.first.wpilibj.drive.DifferentialDrive;
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import frc4388.robot.Constants.DriveConstants;
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import frc4388.robot.Constants.LEDConstants;
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import frc4388.utility.RobotGyro;
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/**
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* Defines and holds all I/O objects on the Roborio. This is useful for unit
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* testing and modularization.
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*/
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public class RobotMap {
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public RobotMap() {
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configureLEDSubsystem();
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configureDriveSubsystem();
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}
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/* LED Subsystem */
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public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
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void configureLEDSubsystem() {
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}
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/* Drive Subsystem */
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public final WPI_TalonSRX leftFrontMotor = new WPI_TalonSRX(DriveConstants.DRIVE_LEFT_FRONT_CAN_ID);
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public final WPI_TalonSRX rightFrontMotor = new WPI_TalonSRX(DriveConstants.DRIVE_RIGHT_FRONT_CAN_ID);
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public final WPI_TalonSRX leftBackMotor = new WPI_TalonSRX(DriveConstants.DRIVE_LEFT_BACK_CAN_ID);
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public final WPI_TalonSRX rightBackMotor = new WPI_TalonSRX(DriveConstants.DRIVE_RIGHT_BACK_CAN_ID);
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public final DifferentialDrive driveTrain = new DifferentialDrive(leftFrontMotor, rightFrontMotor);
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public final RobotGyro gyroDrive = new RobotGyro(new PigeonIMU(DriveConstants.DRIVE_PIGEON_ID));
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void configureDriveSubsystem() {
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/* factory default values */
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leftFrontMotor.configFactoryDefault();
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rightFrontMotor.configFactoryDefault();
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leftBackMotor.configFactoryDefault();
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rightBackMotor.configFactoryDefault();
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/* set back motors as followers */
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leftBackMotor.follow(leftFrontMotor);
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rightBackMotor.follow(rightFrontMotor);
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/* set neutral mode */
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leftFrontMotor.setNeutralMode(NeutralMode.Brake);
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rightFrontMotor.setNeutralMode(NeutralMode.Brake);
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leftFrontMotor.setNeutralMode(NeutralMode.Brake);
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rightFrontMotor.setNeutralMode(NeutralMode.Brake);
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/* flip input so forward becomes back, etc */
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leftFrontMotor.setInverted(false);
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rightFrontMotor.setInverted(false);
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leftBackMotor.setInverted(InvertType.FollowMaster);
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rightBackMotor.setInverted(InvertType.FollowMaster);
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}
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}
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@@ -7,10 +7,7 @@
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package frc4388.robot.subsystems;
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import com.ctre.phoenix.motorcontrol.InvertType;
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import com.ctre.phoenix.motorcontrol.NeutralMode;
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import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
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import com.ctre.phoenix.sensors.PigeonIMU;
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import edu.wpi.first.wpilibj.drive.DifferentialDrive;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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@@ -27,38 +24,25 @@ public class Drive extends SubsystemBase {
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// Put methods for controlling this subsystem
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// here. Call these from Commands.
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private WPI_TalonSRX m_leftFrontMotor = new WPI_TalonSRX(DriveConstants.DRIVE_LEFT_FRONT_CAN_ID);
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private WPI_TalonSRX m_rightFrontMotor = new WPI_TalonSRX(DriveConstants.DRIVE_RIGHT_FRONT_CAN_ID);
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private WPI_TalonSRX m_leftBackMotor = new WPI_TalonSRX(DriveConstants.DRIVE_LEFT_BACK_CAN_ID);
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private WPI_TalonSRX m_rightBackMotor = new WPI_TalonSRX(DriveConstants.DRIVE_RIGHT_BACK_CAN_ID);
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private DifferentialDrive m_driveTrain = new DifferentialDrive(m_leftFrontMotor, m_rightFrontMotor);
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private RobotGyro m_gyro = new RobotGyro(new PigeonIMU(DriveConstants.DRIVE_PIGEON_ID));
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private WPI_TalonSRX m_leftFrontMotor;
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private WPI_TalonSRX m_rightFrontMotor;
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private WPI_TalonSRX m_leftBackMotor;
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private WPI_TalonSRX m_rightBackMotor;
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private DifferentialDrive m_driveTrain;
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private RobotGyro m_gyro;
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/**
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* Add your docs here.
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*/
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public Drive(){
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/* factory default values */
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m_leftFrontMotor.configFactoryDefault();
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m_rightFrontMotor.configFactoryDefault();
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m_leftBackMotor.configFactoryDefault();
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m_rightBackMotor.configFactoryDefault();
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public Drive(WPI_TalonSRX leftFrontMotor, WPI_TalonSRX rightFrontMotor, WPI_TalonSRX leftBackMotor,
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WPI_TalonSRX rightBackMotor, RobotGyro gyro) {
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/* set back motors as followers */
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m_leftBackMotor.follow(m_leftFrontMotor);
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m_rightBackMotor.follow(m_rightFrontMotor);
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/* set neutral mode */
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m_leftFrontMotor.setNeutralMode(NeutralMode.Brake);
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m_rightFrontMotor.setNeutralMode(NeutralMode.Brake);
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m_leftFrontMotor.setNeutralMode(NeutralMode.Brake);
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m_rightFrontMotor.setNeutralMode(NeutralMode.Brake);
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/* flip input so forward becomes back, etc */
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m_leftFrontMotor.setInverted(false);
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m_rightFrontMotor.setInverted(false);
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m_leftBackMotor.setInverted(InvertType.FollowMaster);
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m_rightBackMotor.setInverted(InvertType.FollowMaster);
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m_leftFrontMotor = leftFrontMotor;
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m_rightFrontMotor = rightFrontMotor;
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m_leftBackMotor = leftBackMotor;
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m_rightBackMotor = rightBackMotor;
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m_driveTrain = new DifferentialDrive(m_leftFrontMotor, m_rightFrontMotor);
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m_gyro = gyro;
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}
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@Override
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@@ -77,16 +61,15 @@ public class Drive extends SubsystemBase {
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m_driveTrain.arcadeDrive(move, steer);
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}
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public RobotGyro getRobotGyro(){
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return m_gyro;
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}
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/**
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* Add your docs here.
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*/
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private void updateSmartDashboard() {
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// Examples of the functionality of RobotGyro
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SmartDashboard.putBoolean("Is Gyro a Pigeon?", getRobotGyro().m_isGyroAPigeon);
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SmartDashboard.putNumber("Turn Rate", getRobotGyro().getRate());
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SmartDashboard.putNumber("Gyro Pitch", getRobotGyro().getPitch());
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SmartDashboard.putData(getRobotGyro());
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SmartDashboard.putBoolean("Is Gyro a Pigeon?", m_gyro.m_isGyroAPigeon);
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SmartDashboard.putNumber("Turn Rate", m_gyro.getRate());
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SmartDashboard.putNumber("Gyro Pitch", m_gyro.getPitch());
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SmartDashboard.putData(m_gyro);
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}
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}
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@@ -20,36 +20,36 @@ import frc4388.utility.LEDPatterns;
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*/
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public class LED extends SubsystemBase {
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private float currentLED;
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private Spark LEDController;
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private float m_currentLED;
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private Spark m_LEDController;
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/**
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* Add your docs here.
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*/
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public LED(){
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LEDController = new Spark(LEDConstants.LED_SPARK_ID);
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public LED(Spark LEDController){
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m_LEDController = LEDController;
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setPattern(LEDConstants.DEFAULT_PATTERN);
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LEDController.set(currentLED);
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m_LEDController.set(m_currentLED);
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System.err.println("In the Beginning, there was Joe.\nAnd he said, 'Let there be LEDs.'\nAnd it was good.");
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}
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@Override
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public void periodic(){
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SmartDashboard.putNumber("LED", m_currentLED);
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}
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/**
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* Add your docs here.
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*/
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public void updateLED(){
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LEDController.set(currentLED);
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m_LEDController.set(m_currentLED);
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}
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/**
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* Add your docs here.
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*/
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public void setPattern(LEDPatterns pattern){
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currentLED = pattern.getValue();
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LEDController.set(currentLED);
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}
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@Override
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public void periodic(){
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SmartDashboard.putNumber("LED", currentLED);
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m_currentLED = pattern.getValue();
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m_LEDController.set(m_currentLED);
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}
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}
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