Team4388/Robot-Essentials
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Merge branch 'formalise' of https://github.com/Team4388/Robot-Essentials into formalise

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This commit is contained in:
C4llSiqn
2025-01-04 15:52:32 -07:00
parent 2698afeaa9 fcf7a3e98c
commit e80dc27c01
7 changed files with 62 additions and 28 deletions
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src/main/java/frc4388/robot/Robot.java
+24 -2
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@@ -15,7 +15,9 @@ import java.util.logging.Level;
import com.ctre.phoenix6.CANBus;
import com.ctre.phoenix6.CANBus.CANBusStatus;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import frc4388.utility.CanDevice;
@@ -49,6 +51,26 @@ public class Robot extends TimedRobot {
// Instantiate our RobotContainer. This will perform all our button bindings, and put our
// autonomous chooser on the dashboard.
m_robotContainer = new RobotContainer();
new Thread() {
public void run() {
try{
while(!this.isInterrupted() && this.isAlive()){
Thread.sleep(500);
for(int i=0;i<Subsystem.subsystems.size(); i++){
Subsystem.subsystems.get(i).queryStatus();
}
System.out.println("Updated statuses!");
}
}catch(Exception e){
e.printStackTrace();
}
}
}.start();
}
/**
@@ -146,9 +168,9 @@ public class Robot extends TimedRobot {
// Subsystems header
System.out.println(new String(Base64.getDecoder().decode("IOKWl+KWhOKWhOKWluKWl+KWliDilpfilpbilpfiloTiloTilpYgIOKWl+KWhOKWhOKWluKWl+KWliAg4paX4paW4paX4paE4paE4paW4paX4paE4paE4paE4paW4paX4paE4paE4paE4paW4paX4paWICDilpfilpYg4paX4paE4paE4paWCuKWkOKWjCAgIOKWkOKWjCDilpDilozilpDilowg4paQ4paM4paQ4paMICAgIOKWneKWmuKWnuKWmOKWkOKWjCAgICAg4paIICDilpDilowgICDilpDilpvilprilp7ilpzilozilpDilowgICAKIOKWneKWgOKWmuKWluKWkOKWjCDilpDilozilpDilpviloDilprilpYg4pad4paA4paa4paWICDilpDilowgIOKWneKWgOKWmuKWliAg4paIICDilpDilpviloDiloDilpjilpDilowgIOKWkOKWjCDilp3iloDilprilpYK4paX4paE4paE4pae4paY4pad4paa4paE4pae4paY4paQ4paZ4paE4pae4paY4paX4paE4paE4pae4paYICDilpDilowg4paX4paE4paE4pae4paYICDiloggIOKWkOKWmeKWhOKWhOKWluKWkOKWjCAg4paQ4paM4paX4paE4paE4pae4paY")));
for(int i=0;i<m_robotContainer.subsystems.size();i++){
for(int i=0;i< Subsystem.subsystems.size();i++){
Subsystem subsystem = m_robotContainer.subsystems.get(i);
Subsystem subsystem = Subsystem.subsystems.get(i);
System.out.println("** Subsystem diagnostic report for " + subsystem.getName() + ":");
Status status = subsystem.diagnosticStatus();
src/main/java/frc4388/robot/RobotContainer.java
+6 -6
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@@ -70,7 +70,7 @@ public class RobotContainer {
private final VirtualController m_virtualDriver = new VirtualController(0);
private final VirtualController m_virtualOperator = new VirtualController(1);
public List<Subsystem> subsystems = new ArrayList<>();
// public List<Subsystem> subsystems = new ArrayList<>();
// ! Teleop Commands
@@ -103,11 +103,11 @@ public class RobotContainer {
.withName("SwerveDrive DefaultCommand"));
m_robotSwerveDrive.setToSlow();
this.subsystems.add(m_robotSwerveDrive);
this.subsystems.add(m_robotMap.leftFront);
this.subsystems.add(m_robotMap.rightFront);
this.subsystems.add(m_robotMap.rightBack);
this.subsystems.add(m_robotMap.leftBack);
// this.subsystems.add(m_robotSwerveDrive);
// this.subsystems.add(m_robotMap.leftFront);
// this.subsystems.add(m_robotMap.rightFront);
// this.subsystems.add(m_robotMap.rightBack);
// this.subsystems.add(m_robotMap.leftBack);
// ! Swerve Drive One Module Test
// m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
src/main/java/frc4388/robot/subsystems/DiffDrive.java
+3 -3
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@@ -44,6 +44,8 @@ public class DiffDrive extends Subsystem {
*/
public DiffDrive(TalonFX leftFrontMotor, TalonFX rightFrontMotor, TalonFX leftBackMotor,
TalonFX rightBackMotor, DifferentialDrive driveTrain, RobotGyro gyro) {
super();
m_leftFrontMotor = leftFrontMotor;
m_rightFrontMotor = rightFrontMotor;
@@ -98,10 +100,8 @@ public class DiffDrive extends Subsystem {
}
@Override
public Status queryStatus() {
Status status = new Status();
public void queryStatus() {
// TODO: Add Stuff
return status;
}
@Override
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+11 -7
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@@ -55,6 +55,7 @@ public class SwerveDrive extends Subsystem {
/** Creates a new SwerveDrive. */
public SwerveDrive(SwerveModule leftFront, SwerveModule rightFront, SwerveModule leftBack, SwerveModule rightBack, RobotGyro gyro) {
super();
this.leftFront = leftFront;
this.rightFront = rightFront;
this.leftBack = leftBack;
@@ -334,14 +335,17 @@ public class SwerveDrive extends Subsystem {
}
@Override
public Status queryStatus() {
Status status = new Status();
status.addReport(ReportLevel.INFO, "Gyro Angle: " + this.gyro.getAngle());
status.addReport(ReportLevel.INFO, "Shift State: " + this.speedAdjust);
public void queryStatus() {
SmartDashboard.putNumber("[" + getSubsystemName() + "] Gyro angle", this.gyro.getAngle());
SmartDashboard.putNumber("[" + getSubsystemName() + "] Shift State", this.speedAdjust);
// this.leftFront.queryStatus();
// this.leftBack.queryStatus();
// this.rightFront.queryStatus();
// this.rightBack.queryStatus();
//TODO: Add more status things
return status;
}
@Override
src/main/java/frc4388/robot/subsystems/SwerveModule.java
+5 -8
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@@ -33,6 +33,7 @@ import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.SwerveModulePosition;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
// import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.SwerveDriveConstants;
@@ -56,6 +57,7 @@ public class SwerveModule extends Subsystem {
/** Creates a new SwerveModule. */
public SwerveModule(String name, TalonFX driveMotor, TalonFX angleMotor, CANcoder encoder, double offset) {
super();
this.name = name;
this.driveMotor = driveMotor;
this.angleMotor = angleMotor;
@@ -242,15 +244,10 @@ public class SwerveModule extends Subsystem {
}
@Override
public Status queryStatus() {
Status status = new Status();
status.addReport(ReportLevel.INFO, "Drive motor speed: " + this.driveMotor.get());
status.addReport(ReportLevel.INFO, "Angle motor speed: " + this.angleMotor.get());
public void queryStatus() {
SmartDashboard.putNumber("[" + getSubsystemName() + "] Drive motor speed", this.driveMotor.get());
SmartDashboard.putNumber("[" + getSubsystemName() + "] Angle motor angle", this.angleMotor.getRotorPosition().getValueAsDouble());
//TODO: Add more status things
return status;
}
public boolean motorsAlive() {
src/main/java/frc4388/utility/CanDevice.java
+2
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@@ -52,4 +52,6 @@ public class CanDevice {
return s;
}
}
src/main/java/frc4388/utility/Subsystem.java
+11 -2
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@@ -1,16 +1,25 @@
package frc4388.utility;
import java.util.ArrayList;
import java.util.List;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public abstract class Subsystem extends SubsystemBase {
public static List<Subsystem> subsystems = new ArrayList<>();
public Subsystem(){
subsystems.add(this);
}
public void Log(String str) {
System.out.println(getSubsystemName() + " - " + str);
}
// Get name of subsystem, for use in log.
public abstract String getSubsystemName();
// Get what the subystem is currently doing, such as "Shooter spun up"
public abstract Status queryStatus();
// Get what the subystem is currently doing, such as "Shooter spun up". This should post to SmartDashboard
public abstract void queryStatus();
// Proactivly search for any errors in each subsystem
public abstract Status diagnosticStatus();
}