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Add follower drive motors

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Change bindings to one button per tube
Add LiveWindow setup
This commit is contained in:
nathanrsxtn
2022-04-28 01:04:35 -06:00
parent 71bf718023
commit 65cf0dd3a3
10 changed files with 100 additions and 260 deletions
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src/main/java/frc4388/robot/Constants.java
+10 -8
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@@ -11,19 +11,21 @@ package frc4388.robot;
*/
public final class Constants {
public static final class DriveConstants {
public static final int DRIVE_LEFT_CAN_ID = 2;
public static final int DRIVE_RIGHT_CAN_ID = 3;
public static final int DRIVE_LEFT_LEADER_CAN_ID = 2;
public static final int DRIVE_RIGHT_LEADER_CAN_ID = 3;
public static final int DRIVE_LEFT_FOLLOWER_CAN_ID = 4;
public static final int DRIVE_RIGHT_FOLLOWER_CAN_ID = 5;
}
public static final class ShooterConstants {
public static final int SHOOTER_LOWER_LEFTER_SOLENOID_ID = 1;
public static final int SHOOTER_LOWER_LEFT_SOLENOID_ID = 2;
public static final int SHOOTER_LOWER_LEFTER_SOLENOID_ID = 1;
public static final int SHOOTER_LOWER_LEFT_SOLENOID_ID = 2;
public static final int SHOOTER_LOWER_RIGHT_SOLENOID_ID = 3;
public static final int SHOOTER_LOWER_RIGHTER_SOLENOID_ID = 4;
public static final int SHOOTER_UPPER_LEFTER_SOLENOID_ID = 5;
public static final int SHOOTER_UPPER_LEFT_SOLENOID_ID = 6;
public static final int SHOOTER_LOWER_RIGHTER_SOLENOID_ID = 4;
public static final int SHOOTER_UPPER_LEFTER_SOLENOID_ID = 5;
public static final int SHOOTER_UPPER_LEFT_SOLENOID_ID = 6;
public static final int SHOOTER_UPPER_RIGHT_SOLENOID_ID = 7;
public static final int SHOOTER_UPPER_RIGHTER_SOLENOID_ID = 8;
public static final int SHOOTER_UPPER_RIGHTER_SOLENOID_ID = 8;
}
public static final class HornConstants {
src/main/java/frc4388/robot/RobotContainer.java
+44 -66
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@@ -1,11 +1,10 @@
package frc4388.robot;
import edu.wpi.first.networktables.EntryListenerFlags;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.GenericHID.RumbleType;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandGroupBase;
import edu.wpi.first.wpilibj2.command.InstantCommand;
@@ -30,27 +29,22 @@ public class RobotContainer {
private final RobotMap m_robotMap = new RobotMap();
/* Subsystems */
private final Drive m_robotDrive = new Drive(m_robotMap.driveLeftMotor, m_robotMap.driveRightMotor, m_robotMap.driveBase);
private final Shooter[][] m_robotShooterRows = {
{
new Shooter(m_robotMap.shooterLowerLefterSolenoid),
new Shooter(m_robotMap.shooterLowerLeftSolenoid),
new Shooter(m_robotMap.shooterLowerRightSolenoid),
new Shooter(m_robotMap.shooterLowerRighterSolenoid),
},
{
new Shooter(m_robotMap.shooterUpperLefterSolenoid),
new Shooter(m_robotMap.shooterUpperLeftSolenoid),
new Shooter(m_robotMap.shooterUpperRightSolenoid),
new Shooter(m_robotMap.shooterUpperRighterSolenoid)
}
};
private final Drive m_robotDrive = new Drive(m_robotMap.driveLeftLeaderMotor, m_robotMap.driveRightLeaderMotor, m_robotMap.driveBase);
private final Shooter m_robotShooterLowerLefterSolenoid = new Shooter(m_robotMap.shooterLowerLefterSolenoid);
private final Shooter m_robotShooterLowerLeftSolenoid = new Shooter(m_robotMap.shooterLowerLeftSolenoid);
private final Shooter m_robotShooterLowerRightSolenoid = new Shooter(m_robotMap.shooterLowerRightSolenoid);
private final Shooter m_robotShooterLowerRighterSolenoid = new Shooter(m_robotMap.shooterLowerRighterSolenoid);
private final Shooter m_robotShooterUpperLefterSolenoid = new Shooter(m_robotMap.shooterUpperLefterSolenoid);
private final Shooter m_robotShooterUpperLeftSolenoid = new Shooter(m_robotMap.shooterUpperLeftSolenoid);
private final Shooter m_robotShooterUpperRightSolenoid = new Shooter(m_robotMap.shooterUpperRightSolenoid);
private final Shooter m_robotShooterUpperRighterSolenoid = new Shooter(m_robotMap.shooterUpperRighterSolenoid);
private final Horn m_robotHorn = new Horn(m_robotMap.hornSolenoid);
/* Controllers */
private final XboxController m_controller = new XboxController(OIConstants.CONTROLLER_ID);
private final NetworkTableInteger m_shooterRowIndex = new NetworkTableInteger("Shooter/Row", 0, 0, 1);
private final NetworkTableInteger m_shooterColumnIndex = new NetworkTableInteger("Shooter/Column", 0, 0, 3);
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
@@ -70,57 +64,41 @@ public class RobotContainer {
* {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
*/
private void configureButtonBindings() {
// B Button: Fire Selected Shooter
new JoystickButton(getController(), XboxController.Button.kB.value).whenPressed(this::fireShooterWithFeedback);
// A Button: Sound Horn
new JoystickButton(getController(), XboxController.Button.kA.value).whenPressed(() -> m_robotHorn.set(true)).whenReleased(() -> m_robotHorn.set(false));
// Right Bumper: Shift Column Selection Right
new JoystickButton(getController(), XboxController.Button.kRightBumper.value).whenPressed(() -> m_shooterColumnIndex.set(m_shooterColumnIndex.get() + 1));
// Left Bumper: Shift Column Selection Left
new JoystickButton(getController(), XboxController.Button.kLeftBumper.value).whenPressed(() -> m_shooterColumnIndex.set(m_shooterColumnIndex.get() - 1));
// D-Pad Down: Select Lower Shooter Row
new POVButton(getController(), 180).whenPressed(() -> m_shooterRowIndex.set(0));
// D-Pad Up: Select Upper Shooter Row
new POVButton(getController(), 0).whenPressed(() -> m_shooterRowIndex.set(1));
// D-Pad Left: Select Righter Shooter Column
new POVButton(getController(), 90).whenPressed(() -> m_shooterColumnIndex.set(3));
// D-Pad Right: Select Lefter Shooter Column
new POVButton(getController(), 270).whenPressed(() -> m_shooterColumnIndex.set(0));
// Y Button: Fire Upper Lefter Shooter
new JoystickButton(getController(), XboxController.Button.kY.value).whenPressed(putToDashboard("Y", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterUpperLefterSolenoid)).withName("Fire Upper Lefter")));
// B Button: Fire Upper Right Shooter
new JoystickButton(getController(), XboxController.Button.kB.value).whenPressed(putToDashboard("B", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterUpperRightSolenoid)).withName("Fire Upper Right")));
// A Button: Fire Upper Righter Shooter
new JoystickButton(getController(), XboxController.Button.kA.value).whenPressed(putToDashboard("A", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterUpperRighterSolenoid)).withName("Fire Upper Righter")));
// X Button: Fire Upper Left Shooter
new JoystickButton(getController(), XboxController.Button.kX.value).whenPressed(putToDashboard("X", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterUpperLeftSolenoid)).withName("Fire Upper Left")));
// D-Pad Up: Fire Lower Lefter Shooter
new POVButton(getController(), 0).whenPressed(putToDashboard("Up", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterLowerLefterSolenoid)).withName("Fire Lower Lefter")));
// D-Pad Right: Fire Lower Right Shooter
new POVButton(getController(), 90).whenPressed(putToDashboard("Right", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterLowerRightSolenoid)).withName("Fire Lower Right")));
// D-Pad Left: Fire Lower Righter Shooter
new POVButton(getController(), 180).whenPressed(putToDashboard("Down", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterLowerRighterSolenoid)).withName("Fire Lower Righter")));
// D-Pad Up: Fire Lower Left Shooter
new POVButton(getController(), 270).whenPressed(putToDashboard("Left", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterLowerLeftSolenoid)).withName("Fire Lower Left")));
// Right Bumper: Sound Horn
new JoystickButton(getController(), XboxController.Button.kRightBumper.value).whenPressed(() -> m_robotHorn.set(true)).whenReleased(() -> m_robotHorn.set(false));
// Left Bumper: Sound Horn
new JoystickButton(getController(), XboxController.Button.kLeftBumper.value).whenPressed(() -> m_robotHorn.set(true)).whenReleased(() -> m_robotHorn.set(false));
}
private void fireShooterWithFeedback() {
boolean fired = m_robotShooterRows[m_shooterRowIndex.get()][m_shooterColumnIndex.get()].set(true);
RumbleType rumbleType = m_shooterColumnIndex.get() < 2 ? RumbleType.kLeftRumble : RumbleType.kRightRumble;
private static <T extends Sendable> T putToDashboard(String key, T data) {
SmartDashboard.putData(key, data);
return data;
}
private void fireShooterWithFeedback(Shooter shooter) {
boolean fired = shooter.set(true);
RumbleType rumbleType = shooter.getName().contains("Left") ? RumbleType.kLeftRumble : RumbleType.kRightRumble;
double value = fired ? 0.3 : 0.6;
double duration = fired ? 0.3 : 0.4;
CommandGroupBase.sequence(new InstantCommand(() -> getController().setRumble(rumbleType, value)), new WaitCommand(duration), new InstantCommand(() -> getController().setRumble(rumbleType, 0.0))).schedule();
System.out.println(m_shooterRowIndex.get() + ":" + m_shooterColumnIndex.get());
}
private static class NetworkTableInteger {
private final NetworkTableEntry m_entry;
private final int m_defaultValue;
public NetworkTableInteger(String name, int defaultValue, int minValue, int maxValue) {
m_defaultValue = defaultValue;
m_entry = NetworkTableInstance.getDefault().getTable("SmartDashboard").getEntry(name);
m_entry.setDouble(m_defaultValue);
m_entry.addListener(event -> {
if (event.value.isDouble()) {
double entryValue = event.value.getDouble();
double safeValue = Math.max(minValue, Math.min((int) entryValue, maxValue));
if (entryValue != safeValue) event.getEntry().setDouble(safeValue);
} else event.getEntry().setDouble(m_defaultValue);
}, EntryListenerFlags.kImmediate | EntryListenerFlags.kNew | EntryListenerFlags.kUpdate);
}
public int get() {
return (int) m_entry.getDouble(m_defaultValue);
}
public void set(int value) {
m_entry.setDouble(value);
}
}
/**
src/main/java/frc4388/robot/RobotMap.java
+40 -13
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@@ -14,39 +14,49 @@ import static frc4388.robot.Constants.ShooterConstants.*;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import edu.wpi.first.util.sendable.SendableRegistry;
import edu.wpi.first.wpilibj.PneumaticsModuleType;
import edu.wpi.first.wpilibj.Solenoid;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
/**
* Defines and holds all I/O objects on the Roborio. This is useful for unit testing and
* Defines and holds all I/O objects on the roboRIO. This is useful for unit testing and
* modularization.
*/
public class RobotMap {
public RobotMap() {
configureDriveMotorControllers();
configureLiveWindow();
}
/* Drive Subsystem */
public final WPI_TalonSRX driveLeftMotor = new WPI_TalonSRX(DRIVE_LEFT_CAN_ID);
public final WPI_TalonSRX driveRightMotor = new WPI_TalonSRX(DRIVE_RIGHT_CAN_ID);
public final DifferentialDrive driveBase = new DifferentialDrive(driveLeftMotor, driveRightMotor);
public final WPI_TalonSRX driveLeftLeaderMotor = new WPI_TalonSRX(DRIVE_LEFT_LEADER_CAN_ID);
public final WPI_TalonSRX driveRightLeaderMotor = new WPI_TalonSRX(DRIVE_RIGHT_LEADER_CAN_ID);
public final WPI_TalonSRX driveLeftFollowerMotor = new WPI_TalonSRX(DRIVE_LEFT_FOLLOWER_CAN_ID);
public final WPI_TalonSRX driveRightFollowerMotor = new WPI_TalonSRX(DRIVE_RIGHT_FOLLOWER_CAN_ID);
void configureDriveMotorControllers() {
/* factory default values */
driveLeftMotor.configFactoryDefault();
driveRightMotor.configFactoryDefault();
public final DifferentialDrive driveBase = new DifferentialDrive(driveLeftLeaderMotor, driveRightLeaderMotor);
/* set neutral mode */
driveLeftMotor.setNeutralMode(NeutralMode.Brake);
driveRightMotor.setNeutralMode(NeutralMode.Brake);
private void configureDriveMotorControllers() {
driveLeftLeaderMotor.configFactoryDefault();
driveRightLeaderMotor.configFactoryDefault();
driveLeftFollowerMotor.configFactoryDefault();
driveRightFollowerMotor.configFactoryDefault();
driveLeftLeaderMotor.setNeutralMode(NeutralMode.Brake);
driveRightLeaderMotor.setNeutralMode(NeutralMode.Brake);
driveLeftFollowerMotor.setNeutralMode(NeutralMode.Brake);
driveRightFollowerMotor.setNeutralMode(NeutralMode.Brake);
driveLeftFollowerMotor.follow(driveLeftLeaderMotor);
driveRightFollowerMotor.follow(driveRightLeaderMotor);
}
/* Horn subsystem */
/* Horn Subsystem */
public final Solenoid hornSolenoid = new Solenoid(PneumaticsModuleType.REVPH, HORN_SOLENOID_ID);
/* Shooter subsystem */
/* Shooter Subsystem */
public final Solenoid shooterLowerLefterSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_LOWER_LEFTER_SOLENOID_ID);
public final Solenoid shooterLowerLeftSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_LOWER_LEFT_SOLENOID_ID);
public final Solenoid shooterLowerRightSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_LOWER_RIGHT_SOLENOID_ID);
@@ -56,4 +66,21 @@ public class RobotMap {
public final Solenoid shooterUpperRightSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_UPPER_RIGHT_SOLENOID_ID);
public final Solenoid shooterUpperRighterSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_UPPER_RIGHTER_SOLENOID_ID);
private void configureLiveWindow() {
SendableRegistry.setName(driveLeftFollowerMotor, "Drive", "Left Follower Motor");
SendableRegistry.setName(driveRightFollowerMotor, "Drive", "Right Follower Motor");
SendableRegistry.setName(driveBase, "Drive", "Drive Base");
SendableRegistry.setName(hornSolenoid, "Horn", "Solenoid");
SendableRegistry.setName(shooterLowerLefterSolenoid, "Shooter", "Lower Lefter Solenoid");
SendableRegistry.setName(shooterLowerLeftSolenoid, "Shooter", "Lower Left Solenoid");
SendableRegistry.setName(shooterLowerRightSolenoid, "Shooter", "Lower Right Solenoid");
SendableRegistry.setName(shooterLowerRighterSolenoid, "Shooter", "Lower Righter Solenoid");
SendableRegistry.setName(shooterUpperLefterSolenoid, "Shooter", "Upper Lefter Solenoid");
SendableRegistry.setName(shooterUpperLeftSolenoid, "Shooter", "Upper Left Solenoid");
SendableRegistry.setName(shooterUpperRightSolenoid, "Shooter", "Upper Right Solenoid");
SendableRegistry.setName(shooterUpperRighterSolenoid, "Shooter", "Upper Righter Solenoid");
}
}
src/main/java/frc4388/robot/subsystems/Drive.java
+3 -5
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@@ -6,16 +6,14 @@ import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Drive extends SubsystemBase {
private WPI_TalonSRX m_leftMotor;
private WPI_TalonSRX m_rightMotor;
private DifferentialDrive m_driveBase;
private final WPI_TalonSRX m_leftMotor;
private final WPI_TalonSRX m_rightMotor;
private final DifferentialDrive m_driveBase;
public Drive(WPI_TalonSRX leftMotor, WPI_TalonSRX rightMotor, DifferentialDrive driveBase) {
m_leftMotor = leftMotor;
m_rightMotor = rightMotor;
m_driveBase = driveBase;
addChild("Left Motor", m_leftMotor);
addChild("Right Motor", m_rightMotor);
}
public void arcadeDrive(double xSpeed, double zRotation) {
src/main/java/frc4388/robot/subsystems/Horn.java
+1 -1
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@@ -4,7 +4,7 @@ import edu.wpi.first.wpilibj.Solenoid;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Horn extends SubsystemBase {
private Solenoid m_solenoid;
private final Solenoid m_solenoid;
public Horn(Solenoid solenoid) {
m_solenoid = solenoid;
src/main/java/frc4388/robot/subsystems/Shooter.java
+1 -1
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@@ -4,7 +4,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj.Solenoid;
public class Shooter extends SubsystemBase {
Solenoid m_solenoid;
private final Solenoid m_solenoid;
public Shooter(Solenoid solenoid) {
m_solenoid = solenoid;