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Implement new Command Based Framework

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This commit is contained in:
Keenan D. Buckley
2020-01-05 18:59:50 -07:00
parent 6fb373969d
commit c52bbdd2ee
13 changed files with 185 additions and 314 deletions
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src/main/java/frc4388/robot/OI.java
-91
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@@ -1,91 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 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;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.buttons.JoystickButton;
import frc4388.robot.commands.Drive.DriveWithJoystick;
import frc4388.robot.commands.Drive.GamerMove;
import frc4388.utility.controller.IHandController;
import frc4388.utility.controller.XboxController;
/**
* This class is the glue that binds the controls on the physical operator
* interface to the commands and command groups that allow control of the robot.
*
* @deprecated
*/
public class OI {
//// CREATING BUTTONS
// One type of button is a joystick button which is any button on a
//// joystick.
// You create one by telling it which joystick it's on and which button
// number it is.
// Joystick stick = new Joystick(port);
// Button button = new JoystickButton(stick, buttonNumber);
// There are a few additional built in buttons you can use. Additionally,
// by subclassing Button you can create custom triggers and bind those to
// commands the same as any other Button.
//// TRIGGERING COMMANDS WITH BUTTONS
// Once you have a button, it's trivial to bind it to a button in one of
// three ways:
// Start the command when the button is pressed and let it run the command
// until it is finished as determined by it's isFinished method.
// button.whenPressed(new ExampleCommand());
// Run the command while the button is being held down and interrupt it once
// the button is released.
// button.whileHeld(new ExampleCommand());
// Start the command when the button is released and let it run the command
// until it is finished as determined by it's isFinished method.
// button.whenReleased(new ExampleCommand());
private static OI instance;
public static XboxController m_driverXbox;
private static XboxController m_operatorXbox;
public OI() {
m_driverXbox = new XboxController(RobotMap.XBOX_DRIVER_ID);
m_operatorXbox = new XboxController(RobotMap.XBOX_OPERATOR_ID);
JoystickButton GamerMove = new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON);
GamerMove.whenPressed(new GamerMove());
GamerMove.whenReleased(new DriveWithJoystick());
}
public static OI getInstance() {
if(instance == null) {
instance = new OI();
}
return instance;
}
public IHandController getDriverController() {
return m_driverXbox;
}
public IHandController getOperatorController()
{
return m_operatorXbox;
}
public Joystick getOperatorJoystick()
{
return m_operatorXbox.getJoyStick();
}
public Joystick getDriverJoystick()
{
return m_driverXbox.getJoyStick();
}
}
src/main/java/frc4388/robot/Robot.java
+13 -17
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2017-2019 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. */
@@ -8,8 +8,8 @@
package frc4388.robot;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.command.Scheduler;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
/**
* The VM is configured to automatically run this class, and to call the
@@ -20,7 +20,8 @@ import edu.wpi.first.wpilibj.command.Scheduler;
*/
public class Robot extends TimedRobot {
Command m_autonomousCommand;
public static RobotContainer m_robotContainer;
private RobotContainer m_robotContainer;
/**
* This function is run when the robot is first started up and should be
@@ -43,6 +44,11 @@ public class Robot extends TimedRobot {
*/
@Override
public void robotPeriodic() {
// Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled
// commands, running already-scheduled commands, removing finished or interrupted commands,
// and running subsystem periodic() methods. This must be called from the robot's periodic
// block in order for anything in the Command-based framework to work.
CommandScheduler.getInstance().run();
}
/**
@@ -56,19 +62,10 @@ public class Robot extends TimedRobot {
@Override
public void disabledPeriodic() {
Scheduler.getInstance().run();
}
/**
* This autonomous (along with the chooser code above) shows how to select
* between different autonomous modes using the dashboard. The sendable
* chooser code works with the Java SmartDashboard. If you prefer the
* LabVIEW Dashboard, remove all of the chooser code and uncomment the
* getString code to get the auto name from the text box below the Gyro
*
* <p>You can add additional auto modes by adding additional commands to the
* chooser code above (like the commented example) or additional comparisons
* to the switch structure below with additional strings & commands.
* This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
*/
@Override
public void autonomousInit() {
@@ -83,7 +80,7 @@ public class Robot extends TimedRobot {
// schedule the autonomous command (example)
if (m_autonomousCommand != null) {
m_autonomousCommand.start();
m_autonomousCommand.schedule();
}
}
@@ -92,7 +89,6 @@ public class Robot extends TimedRobot {
*/
@Override
public void autonomousPeriodic() {
Scheduler.getInstance().run();
}
@Override
@@ -111,7 +107,7 @@ public class Robot extends TimedRobot {
*/
@Override
public void teleopPeriodic() {
Scheduler.getInstance().run();
}
/**
src/main/java/frc4388/robot/RobotContainer.java
+27 -6
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@@ -8,9 +8,13 @@
package frc4388.robot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.commands.Drive.DriveWithJoystick;
import frc4388.robot.commands.Drive.GamerMove;
import frc4388.robot.commands.LED.UpdateLED;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.LED;
import frc4388.utility.controller.IHandController;
@@ -25,18 +29,34 @@ import frc4388.utility.controller.XboxController;
*/
public class RobotContainer {
/* Subsystems */
public static final Drive m_robotDrive = new Drive();
public static final LED m_robotLED = new LED();
private final Drive m_robotDrive = new Drive();
private final LED m_robotLED = new LED();
/* Controllers */
XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
*/
public RobotContainer() {
configureButtonBindings();
/* Default Commands */
m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, getDriverController()));
m_robotLED.setDefaultCommand(new UpdateLED(m_robotLED));
}
/**
* Use this method to define your button->command mappings. Buttons can be created by
* instantiating a {@link GenericHID} or one of its subclasses ({@link
* edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
* {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
*/
private void configureButtonBindings() {
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.whenPressed(new GamerMove(m_robotDrive))
.whenReleased(new DriveWithJoystick(m_robotDrive, getDriverController()));
}
/**
@@ -49,6 +69,7 @@ public class RobotContainer {
return new InstantCommand();
}
public IHandController getDriverController() {
return m_driverXbox;
}
src/main/java/frc4388/robot/RobotMap.java
-41
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@@ -1,41 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 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;
/**
* The RobotMap is a mapping from the ports sensors and actuators are wired into
* to a variable name. This provides flexibility changing wiring, makes checking
* the wiring easier and significantly reduces the number of magic numbers
* floating around.
*
* @deprecated
*/
public class RobotMap {
// For example to map the left and right motors, you could define the
// following variables to use with your drivetrain subsystem.
// public static int leftMotor = 1;
// public static int rightMotor = 2;
// If you are using multiple modules, make sure to define both the port
// number and the module. For example you with a rangefinder:
// public static int rangefinderPort = 1;
// public static int rangefinderModule = 1;
/* Xbox Controllers */
public static final int XBOX_DRIVER_ID = 0;
public static final int XBOX_OPERATOR_ID = 1;
/* Blinkin LED Strip */
public static final int LED_SPARK_ID = 0;
/* Drive Train */
public static final int DRIVE_LEFT_FRONT_CAN_ID = 2;
public static final int DRIVE_RIGHT_FRONT_CAN_ID = 4;
public static final int DRIVE_LEFT_BACK_CAN_ID = 3;
public static final int DRIVE_RIGHT_BACK_CAN_ID = 5;
}
src/main/java/frc4388/robot/commands/Drive/DriveWithJoystick.java
+28 -28
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* 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. */
@@ -7,46 +7,46 @@
package frc4388.robot.commands.Drive;
import edu.wpi.first.wpilibj.command.Command;
import frc4388.robot.Robot;
import frc4388.robot.RobotContainer;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.subsystems.Drive;
import frc4388.utility.controller.IHandController;
public class DriveWithJoystick extends Command {
public class DriveWithJoystick extends CommandBase {
private final Drive m_drive;
private final IHandController m_driverXbox;
public double m_inputMove, m_inputSteer;
public DriveWithJoystick() {
// Use requires() here to declare subsystem dependencies
// eg. requires(chassis);
/**
* Creates a new DriveWithJoystick, driving the robot with the given controller
*/
public DriveWithJoystick(Drive subsystem, IHandController controller) {
m_drive = subsystem;
m_driverXbox = controller;
addRequirements(m_drive);
}
// Called just before this Command runs the first time
// Called when the command is initially scheduled.
@Override
protected void initialize() {
public void initialize() {
}
// Called repeatedly when this Command is scheduled to run
// Called every time the scheduler runs while the command is scheduled.
@Override
protected void execute() {
m_inputMove = Robot.m_robotContainer.getDriverController().getLeftYAxis();
m_inputSteer = -(Robot.m_robotContainer.getDriverController().getRightXAxis());
RobotContainer.m_robotDrive.driveWithInput(m_inputMove, m_inputSteer);
public void execute() {
m_inputMove = m_driverXbox.getLeftYAxis();
m_inputSteer = m_driverXbox.getRightXAxis();
m_drive.driveWithInput(m_inputMove, m_inputSteer);
}
// Make this return true when this Command no longer needs to run execute()
// Called once the command ends or is interrupted.
@Override
protected boolean isFinished() {
public void end(boolean interrupted) {
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
// Called once after isFinished returns true
@Override
protected void end() {
}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
@Override
protected void interrupted() {
}
}
src/main/java/frc4388/robot/commands/Drive/GamerMove.java
+26 -25
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* 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. */
@@ -7,40 +7,41 @@
package frc4388.robot.commands.Drive;
import edu.wpi.first.wpilibj.command.Command;
import frc4388.robot.RobotContainer;
import edu.wpi.first.wpilibj2.command.CommandBase;
public class GamerMove extends Command {
public GamerMove() {
// Use requires() here to declare subsystem dependencies
// eg. requires(chassis);
import frc4388.robot.subsystems.Drive;
public class GamerMove extends CommandBase {
private final Drive m_drive;
/**
* Creates a new GamerMove.
*/
public GamerMove(Drive subsystem) {
m_drive = subsystem;
addRequirements(m_drive);
}
// Called just before this Command runs the first time
// Called when the command is initially scheduled.
@Override
protected void initialize() {
public void initialize() {
}
// Called repeatedly when this Command is scheduled to run
// Called every time the scheduler runs while the command is scheduled.
@Override
protected void execute() {
RobotContainer.m_robotDrive.driveWithInput(0, 1);
public void execute() {
m_drive.driveWithInput(0, 1);
}
// Make this return true when this Command no longer needs to run execute()
// Called once the command ends or is interrupted.
@Override
protected boolean isFinished() {
public void end(boolean interrupted) {
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
// Called once after isFinished returns true
@Override
protected void end() {
}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
@Override
protected void interrupted() {
}
}
src/main/java/frc4388/robot/commands/LED/SetLEDPattern.java
+15 -31
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* 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. */
@@ -7,44 +7,28 @@
package frc4388.robot.commands.LED;
import frc4388.robot.RobotContainer;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import frc4388.robot.constants.LEDPatterns;
import frc4388.robot.subsystems.LED;
import edu.wpi.first.wpilibj.command.Command;
public class SetLEDPattern extends Command {
// 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 SetLEDPattern extends InstantCommand {
private final LED m_led;
public static LEDPatterns m_pattern;
public SetLEDPattern(LEDPatterns pattern) {
public SetLEDPattern(LED subsystem, LEDPatterns pattern) {
m_led = subsystem;
m_pattern = pattern;
addRequirements(m_led);
}
// Called just before this Command runs the first time
// Called when the command is initially scheduled.
@Override
protected void initialize() {
}
// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
RobotContainer.m_robotLED.setPattern(m_pattern);
}
// Make this return true when this Command no longer needs to run execute()
@Override
protected boolean isFinished() {
return true;
}
// Called once after isFinished returns true
@Override
protected void end() {
}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
@Override
protected void interrupted() {
public void initialize() {
m_led.setPattern(m_pattern);
}
}
src/main/java/frc4388/robot/commands/LED/UpdateLED.java
+26 -24
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* 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. */
@@ -7,39 +7,41 @@
package frc4388.robot.commands.LED;
import edu.wpi.first.wpilibj.command.Command;
import frc4388.robot.RobotContainer;
import edu.wpi.first.wpilibj2.command.CommandBase;
public class UpdateLED extends Command {
public UpdateLED() {
// Use requires() here to declare subsystem dependencies
import frc4388.robot.subsystems.LED;
public class UpdateLED extends CommandBase {
private final LED m_LED;
/**
* Creates a new UpdateLED that continually runs updateLED in the LED subsystem.
*/
public UpdateLED(LED subsystem) {
m_LED = subsystem;
addRequirements(m_LED);
}
// Called just before this Command runs the first time
// Called when the command is initially scheduled.
@Override
protected void initialize() {
public void initialize() {
}
// Called repeatedly when this Command is scheduled to run
// Called every time the scheduler runs while the command is scheduled.
@Override
protected void execute() {
RobotContainer.m_robotLED.updateLED();
public void execute() {
m_LED.updateLED();
}
// Make this return true when this Command no longer needs to run execute()
// Called once the command ends or is interrupted.
@Override
protected boolean isFinished() {
public void end(boolean interrupted) {
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
// Called once after isFinished returns true
@Override
protected void end() {
}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
@Override
protected void interrupted() {
}
}
src/main/java/frc4388/robot/subsystems/Drive.java
+5 -5
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@@ -10,16 +10,16 @@ package frc4388.robot.subsystems;
import com.ctre.phoenix.motorcontrol.InvertType;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.DriveConstants;
import frc4388.robot.commands.Drive.DriveWithJoystick;
/**
* Add your docs here.
*/
public class Drive extends Subsystem {
public class Drive extends SubsystemBase {
// Put methods for controlling this subsystem
// here. Call these from Commands.
@@ -58,10 +58,10 @@ public class Drive extends Subsystem {
m_driveTrain.arcadeDrive(move, steer);
}
@Override
/* @Override
public void initDefaultCommand(){
// Set the default command for a subsystem here.
// setDefaultCommand(new MySpecialCommand());
setDefaultCommand(new DriveWithJoystick());
}
} */
}
src/main/java/frc4388/robot/subsystems/LED.java
+6 -6
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@@ -8,17 +8,17 @@
package frc4388.robot.subsystems;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.LEDConstants;
import frc4388.robot.commands.LED.UpdateLED;
import frc4388.robot.constants.LEDPatterns;
/**
* Allows for the control of a 5v LED Strip using a Rev Robotics Blinkin LED Driver
* Allows for the control of a 5v LED Strip using a Rev Robotics Blinkin LED
* Driver
*/
public class LED extends Subsystem {
public class LED extends SubsystemBase {
public static float currentLED;
public static Spark LEDController;
@@ -43,10 +43,10 @@ import frc4388.robot.constants.LEDPatterns;
SmartDashboard.putNumber("LED", currentLED);
}
@Override
/* @Override
public void initDefaultCommand() {
// Set the default command for a subsystem here.
// setDefaultCommand(new MySpecialCommand());
setDefaultCommand(new UpdateLED());
}
} */
}
src/main/java/frc4388/utility/controller/XboxTriggerButton.java
+1 -2
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@@ -1,9 +1,8 @@
package frc4388.utility.controller;
import edu.wpi.first.wpilibj2.command.button.Button;
import frc4388.utility.controller.XboxController;
import edu.wpi.first.wpilibj.buttons.Button;
/**
* Mapping for the Xbox controller triggers to allow triggers to be defined as
* buttons in {@link frc4388.robot.OI}. Checks to see if the given trigger
vendordeps/WPILibNewCommands.json
+37
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@@ -0,0 +1,37 @@
{
"fileName": "WPILibNewCommands.json",
"name": "WPILib-New-Commands",
"version": "2020.0.0",
"uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
"mavenUrls": [],
"jsonUrl": "",
"javaDependencies": [
{
"groupId": "edu.wpi.first.wpilibNewCommands",
"artifactId": "wpilibNewCommands-java",
"version": "wpilib"
}
],
"jniDependencies": [],
"cppDependencies": [
{
"groupId": "edu.wpi.first.wpilibNewCommands",
"artifactId": "wpilibNewCommands-cpp",
"version": "wpilib",
"libName": "wpilibNewCommands",
"headerClassifier": "headers",
"sourcesClassifier": "sources",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"linuxathena",
"linuxraspbian",
"linuxaarch64bionic",
"windowsx86-64",
"windowsx86",
"linuxx86-64",
"osxx86-64"
]
}
]
}
vendordeps/WPILibOldCommands.json
-37
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@@ -1,37 +0,0 @@
{
"fileName": "WPILibOldCommands.json",
"name": "WPILib-Old-Commands",
"version": "2020.0.0",
"uuid": "b066afc2-5c18-43c4-b758-43381fcb275e",
"mavenUrls": [],
"jsonUrl": "",
"javaDependencies": [
{
"groupId": "edu.wpi.first.wpilibOldCommands",
"artifactId": "wpilibOldCommands-java",
"version": "wpilib"
}
],
"jniDependencies": [],
"cppDependencies": [
{
"groupId": "edu.wpi.first.wpilibOldCommands",
"artifactId": "wpilibOldCommands-cpp",
"version": "wpilib",
"libName": "wpilibOldCommands",
"headerClassifier": "headers",
"sourcesClassifier": "sources",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"linuxathena",
"linuxraspbian",
"linuxaarch64bionic",
"windowsx86-64",
"windowsx86",
"linuxx86-64",
"osxx86-64"
]
}
]
}