Team4388/Robot-Essentials
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Michael Mikovsky
2025-10-30 16:48:36 -07:00
parent 56841636f9
commit a4aea4b858
13 changed files with 139 additions and 39 deletions
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.vscode/settings.json
Vendored
+2 -1
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@@ -58,5 +58,6 @@
"edu.wpi.first.math.**.struct.*",
],
"java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx2G -Xms100m -Xlog:disable",
"wpilib.autoStartRioLog": false
"wpilib.autoStartRioLog": false,
"java.debug.settings.onBuildFailureProceed": true
}
src/main/deploy/pathplanner/navgrid.json
+1
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File diff suppressed because one or more lines are too long
src/main/deploy/pathplanner/paths/Example Path.path
+54
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@@ -0,0 +1,54 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 2.0,
"y": 7.0
},
"prevControl": null,
"nextControl": {
"x": 3.0,
"y": 7.0
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 4.0,
"y": 6.0
},
"prevControl": {
"x": 3.0,
"y": 6.0
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": 0.0
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 0.0
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/settings.json
+32
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@@ -0,0 +1,32 @@
{
"robotWidth": 0.9,
"robotLength": 0.9,
"holonomicMode": true,
"pathFolders": [],
"autoFolders": [],
"defaultMaxVel": 3.0,
"defaultMaxAccel": 3.0,
"defaultMaxAngVel": 540.0,
"defaultMaxAngAccel": 720.0,
"defaultNominalVoltage": 12.0,
"robotMass": 74.088,
"robotMOI": 6.883,
"robotTrackwidth": 0.546,
"driveWheelRadius": 0.048,
"driveGearing": 5.143,
"maxDriveSpeed": 5.45,
"driveMotorType": "krakenX60",
"driveCurrentLimit": 60.0,
"wheelCOF": 1.2,
"flModuleX": 0.273,
"flModuleY": 0.273,
"frModuleX": 0.273,
"frModuleY": -0.273,
"blModuleX": -0.273,
"blModuleY": 0.273,
"brModuleX": -0.273,
"brModuleY": -0.273,
"bumperOffsetX": 0.0,
"bumperOffsetY": 0.0,
"robotFeatures": []
}
src/main/java/frc4388/robot/RobotContainer.java
+3 -6
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@@ -40,9 +40,6 @@ import frc4388.robot.commands.MoveUntilSuply;
import frc4388.robot.commands.alignment.DriveToReef;
import frc4388.robot.commands.alignment.DriveUntilLiDAR;
import frc4388.robot.commands.alignment.LidarAlign;
import frc4388.robot.commands.wait.waitElevatorRefrence;
import frc4388.robot.commands.wait.waitEndefectorRefrence;
import frc4388.robot.commands.wait.waitFeedCoral;
import frc4388.robot.commands.wait.waitSupplier;
import frc4388.robot.constants.Constants;
import frc4388.robot.constants.Constants.AutoConstants;
@@ -55,8 +52,8 @@ import com.pathplanner.lib.commands.PathPlannerAuto;
// Subsystems
import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.elevator.Elevator;
import frc4388.robot.subsystems.elevator.Elevator.CoordinationState;
//Rimport frc4388.robot.subsystems.elevator.Elevator;
//Rimport frc4388.robot.subsystems.elevator.Elevator.CoordinationState;
import frc4388.robot.subsystems.lidar.LiDAR;
import frc4388.robot.subsystems.swerve.SwerveDrive;
import frc4388.robot.subsystems.vision.Vision;
@@ -80,7 +77,7 @@ public class RobotContainer {
/* Subsystems */
public final LED m_robotLED = new LED();
public final Vision m_vision = new Vision(m_robotMap.leftCamera, m_robotMap.rightCamera);
public final Elevator m_robotElevator = new Elevator(m_robotMap.elevatorIO, m_robotLED);
//Rpublic final Elevator m_robotElevator = new Elevator(m_robotMap.elevatorIO, m_robotLED);
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
// public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain);
src/main/java/frc4388/robot/RobotMap.java
+3 -21
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@@ -17,12 +17,9 @@ import com.ctre.phoenix6.hardware.CANcoder;
import com.ctre.phoenix6.swerve.SwerveDrivetrain;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.wpilibj.DigitalInput;
import frc4388.robot.constants.Constants.ElevatorConstants;
import frc4388.robot.constants.Constants.LiDARConstants;
import frc4388.robot.constants.Constants.SimConstants;
import frc4388.robot.constants.Constants.VisionConstants;
import frc4388.robot.subsystems.elevator.ElevatorIO;
import frc4388.robot.subsystems.elevator.ElevatorReal;
import frc4388.robot.subsystems.lidar.LiDAR;
import frc4388.robot.subsystems.lidar.LidarIO;
import frc4388.robot.subsystems.lidar.LidarReal;
@@ -59,8 +56,6 @@ public class RobotMap {
/* Swreve Drive Subsystem */
public final SwerveIO swerveDrivetrain;
/* Elevator Subsystem */
public final ElevatorIO elevatorIO;
public RobotMap(SimConstants.Mode mode) {
switch (mode) {
@@ -88,25 +83,13 @@ public class RobotMap {
swerveDrivetrain = new SwerveReal(swerveDrivetrainReal);
// Configure elevator
TalonFX elevator = new TalonFX(ElevatorConstants.ELEVATOR_ID.id);
TalonFX endeffector = new TalonFX(ElevatorConstants.ENDEFFECTOR_ID.id);
DigitalInput basinLimitSwitch = new DigitalInput(ElevatorConstants.BASIN_LIMIT_SWITCH);
DigitalInput endeffectorLimitSwitch = new DigitalInput(ElevatorConstants.ENDEFFECTOR_LIMIT_SWITCH);
DigitalInput IRIntakeBeam = new DigitalInput(ElevatorConstants.INTAKE_LIMIT_SWITCH);
elevatorIO = new ElevatorReal(elevator, endeffector, basinLimitSwitch, endeffectorLimitSwitch, IRIntakeBeam);
// Fault
FaultPidgeon2.addDevice(swerveDrivetrainReal.getPigeon2(), "Gyro");
FaultTalonFX.addDevice(elevator, "Elevator");
FaultTalonFX.addDevice(endeffector, "Endeffector");
//FaultTalonFX.addDevice(elevator, "Elevator");
//FaultTalonFX.addDevice(endeffector, "Endeffector");
FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(0).getDriveMotor(), "Module 0 Drive");
FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(0).getSteerMotor(), "Module 0 Steer");
@@ -130,7 +113,6 @@ public class RobotMap {
reefLidar = new LidarIO() {};
reverseLidar = new LidarIO() {};
swerveDrivetrain = new SwerveIO() {};
elevatorIO = new ElevatorIO() {};
break;
}
}
src/main/java/frc4388/robot/commands/Autos/neoPlaybackChooser.java
+1 -1
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@@ -1,4 +1,4 @@
package frc4388.robot.commands.autos;
package frc4388.robot.commands.Autos;
// package frc4388.robot.commands.Autos;
// import java.io.File;
src/main/java/frc4388/robot/commands/Swerve/RotateToAngle.java
+1 -1
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@@ -2,7 +2,7 @@
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc4388.robot.commands.swerve;
package frc4388.robot.commands.Swerve;
import edu.wpi.first.math.geometry.Translation2d;
import frc4388.robot.commands.PID;
src/main/java/frc4388/robot/commands/Swerve/neoJoystickPlayback.java
+1 -1
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@@ -1,4 +1,4 @@
package frc4388.robot.commands.swerve;
package frc4388.robot.commands.Swerve;
import java.io.FileInputStream;
import java.util.ArrayList;
src/main/java/frc4388/robot/commands/Swerve/neoJoystickRecorder.java
+1 -1
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@@ -1,4 +1,4 @@
package frc4388.robot.commands.swerve;
package frc4388.robot.commands.Swerve;
import java.io.FileOutputStream;
import java.util.ArrayList;
src/main/java/frc4388/robot/constants/BuildConstants.java
+7 -7
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@@ -5,14 +5,14 @@ package frc4388.robot.constants;
*/
public final class BuildConstants {
public static final String MAVEN_GROUP = "";
public static final String MAVEN_NAME = "2025RidgeScape";
public static final String MAVEN_NAME = "Robot-Essentials";
public static final String VERSION = "unspecified";
public static final int GIT_REVISION = 173;
public static final String GIT_SHA = "2b7bb1224195b9e001e60b895ee04d63abdfc513";
public static final String GIT_DATE = "2025-07-17 09:15:19 MDT";
public static final String GIT_BRANCH = "advantagekit";
public static final String BUILD_DATE = "2025-07-17 11:55:31 MDT";
public static final long BUILD_UNIX_TIME = 1752774931371L;
public static final int GIT_REVISION = 123;
public static final String GIT_SHA = "56841636f984f1a691134b4f1ae8862353846b54";
public static final String GIT_DATE = "2025-10-30 16:40:04 MDT";
public static final String GIT_BRANCH = "Confiruagble-Contants";
public static final String BUILD_DATE = "2025-10-30 17:42:04 MDT";
public static final long BUILD_UNIX_TIME = 1761867724046L;
public static final int DIRTY = 1;
private BuildConstants(){}
src/main/java/frc4388/robot/constants/Constants.java
+2
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@@ -69,6 +69,8 @@ public final class Constants {
public static final double MIN_ROT_PID_OUTPUT = 0.0;
public static final double VELOCITY_THRESHHOLD = 0.01;
public static final double X_SCORING_POSITION_OFFSET = 2;
public static final double STOP_VELOCITY = 2;
}
src/main/java/frc4388/utility/configurable/TunableNumber.java
+31
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@@ -0,0 +1,31 @@
package frc4388.utility.configurable;
import frc4388.robot.constants.Constants;
import edu.wpi.first.networktables.GenericEntry;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
import edu.wpi.first.wpilibj.shuffleboard.ComplexWidget;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
public class TunableNumber {
private final String name;
private final ShuffleboardTab tab;
private final double defaultValue;
private GenericEntry entry;
public TunableNumber(String tabName, String name, double defaultValue) {
this.name = name;
this.tab = Shuffleboard.getTab(tabName);
this.defaultValue = defaultValue;
this.entry = tab.add(name, defaultValue)
.withWidget(BuiltInWidgets.kTextView)
.getEntry();
}
public double get() {
return entry.getDouble(defaultValue);
}
public void set(double value) {
entry.setDouble(value);
}
}