mirror of
https://github.com/Team4388/Shirt-Cannon.git
synced 2026-06-09 08:38:05 -06:00
Add best guess base robot code
Remove unused items
This commit is contained in:
nathanrsxtn
@@ -1,42 +1,36 @@
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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 frc4388.utility.LEDPatterns;
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/**
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* The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
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* constants. This class should not be used for any other purpose. All constants should be
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* declared globally (i.e. public static). Do not put anything functional in this class.
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* constants. This class should not be used for any other purpose. All constants should be declared
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* globally (i.e. public static). Do not put anything functional in this class.
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*
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* <p>It is advised to statically import this class (or one of its inner classes) wherever the
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* <p>
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* It is advised to statically import this class (or one of its inner classes) wherever the
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* constants are needed, to reduce verbosity.
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*/
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public final class Constants {
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public static final class DriveConstants {
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public static final int DRIVE_LEFT_FRONT_CAN_ID = 2;
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public static final int DRIVE_RIGHT_FRONT_CAN_ID = 4;
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public static final int DRIVE_LEFT_BACK_CAN_ID = 3;
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public static final int DRIVE_RIGHT_BACK_CAN_ID = 5;
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public static final int DRIVE_PIGEON_ID = 6;
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public static final class DriveConstants {
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public static final int DRIVE_LEFT_CAN_ID = 2;
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public static final int DRIVE_RIGHT_CAN_ID = 3;
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}
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public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
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}
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public static final class ShooterConstants {
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public static final int SHOOTER_LOWER_LEFTER_SOLENOID_ID = 1;
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public static final int SHOOTER_LOWER_LEFT_SOLENOID_ID = 2;
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public static final int SHOOTER_LOWER_RIGHT_SOLENOID_ID = 3;
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public static final int SHOOTER_LOWER_RIGHTER_SOLENOID_ID = 4;
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public static final int SHOOTER_UPPER_LEFTER_SOLENOID_ID = 5;
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public static final int SHOOTER_UPPER_LEFT_SOLENOID_ID = 6;
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public static final int SHOOTER_UPPER_RIGHT_SOLENOID_ID = 7;
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public static final int SHOOTER_UPPER_RIGHTER_SOLENOID_ID = 8;
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}
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public static final class LEDConstants {
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public static final int LED_SPARK_ID = 0;
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public static final class HornConstants {
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public static final int HORN_SOLENOID_ID = 0;
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}
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public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.FOREST_WAVES;
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}
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public static final class OIConstants {
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public static final int XBOX_DRIVER_ID = 0;
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public static final int XBOX_OPERATOR_ID = 1;
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}
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public static final class OIConstants {
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public static final int CONTROLLER_ID = 0;
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}
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}
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@@ -1,124 +1,66 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2017-2019 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 edu.wpi.first.wpilibj.TimedRobot;
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.CommandScheduler;
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import frc4388.utility.RobotTime;
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/**
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* The VM is configured to automatically run this class, and to call the
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* functions corresponding to each mode, as described in the TimedRobot
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* documentation. If you change the name of this class or the package after
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* creating this project, you must also update the build.gradle file in the
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* The VM is configured to automatically run this class, and to call the functions corresponding to
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* each mode, as described in the TimedRobot documentation. If you change the name of this class or
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* the package after creating this project, you must also update the build.gradle file in the
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* project.
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*/
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public class Robot extends TimedRobot {
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Command m_autonomousCommand;
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private RobotTime m_robotTime = RobotTime.getInstance();
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private RobotContainer m_robotContainer;
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/**
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* This function is run when the robot is first started up and should be
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* used for any initialization code.
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*/
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/** Robot-wide initialization code should go here. */
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@Override
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public void robotInit() {
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// Instantiate our RobotContainer. This will perform all our button bindings, and put our
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// autonomous chooser on the dashboard.
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m_robotContainer = new RobotContainer();
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}
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/**
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* This function is called every robot packet, no matter the mode. Use
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* this for items like diagnostics that you want ran during disabled,
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* autonomous, teleoperated and test.
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*
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* <p>This runs after the mode specific periodic functions, but before
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* LiveWindow and SmartDashboard integrated updating.
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*/
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/** Periodic code for all robot modes should go here. */
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@Override
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public void robotPeriodic() {
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m_robotTime.updateTimes();
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// Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled
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// commands, running already-scheduled commands, removing finished or interrupted commands,
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// and running subsystem periodic() methods. This must be called from the robot's periodic
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// block in order for anything in the Command-based framework to work.
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// Runs a single iteration of the scheduler.
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CommandScheduler.getInstance().run();
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}
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/**
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* This function is called once each time the robot enters Disabled mode.
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* You can use it to reset any subsystem information you want to clear when
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* the robot is disabled.
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*/
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/** Initialization code for disabled mode should go here. */
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@Override
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public void disabledInit() {
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m_robotTime.endMatchTime();
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}
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/** Periodic code for disabled mode should go here. */
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@Override
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public void disabledPeriodic() {
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}
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/**
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* This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
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*/
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/** Initialization code for autonomous mode should go here. */
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@Override
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public void autonomousInit() {
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m_autonomousCommand = m_robotContainer.getAutonomousCommand();
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/*
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* String autoSelected = SmartDashboard.getString("Auto Selector",
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* "Default"); switch(autoSelected) { case "My Auto": autonomousCommand
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* = new MyAutoCommand(); break; case "Default Auto": default:
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* autonomousCommand = new ExampleCommand(); break; }
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*/
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// schedule the autonomous command (example)
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if (m_autonomousCommand != null) {
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m_autonomousCommand.schedule();
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}
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m_robotTime.startMatchTime();
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}
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/**
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* This function is called periodically during autonomous.
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*/
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/** Periodic code for autonomous mode should go here. */
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@Override
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public void autonomousPeriodic() {
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}
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/** Initialization code for teleop mode should go here. */
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@Override
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public void teleopInit() {
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// This makes sure that the autonomous stops running when
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// teleop starts running. If you want the autonomous to
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// continue until interrupted by another command, remove
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// this line or comment it out.
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if (m_autonomousCommand != null) {
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m_autonomousCommand.cancel();
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}
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m_robotTime.startMatchTime();
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}
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/**
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* This function is called periodically during operator control.
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*/
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/** Periodic code for teleop mode should go here. */
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@Override
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public void teleopPeriodic() {
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}
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/**
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* This function is called periodically during test mode.
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*/
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/** Initialization code for test mode should go here. */
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@Override
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public void testInit() {
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}
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/** Periodic code for test mode should go here. */
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@Override
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public void testPeriodic() {
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}
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@@ -1,114 +1,138 @@
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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 edu.wpi.first.wpilibj.Joystick;
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import edu.wpi.first.networktables.EntryListenerFlags;
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import edu.wpi.first.networktables.NetworkTableEntry;
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import edu.wpi.first.networktables.NetworkTableInstance;
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import edu.wpi.first.wpilibj.GenericHID;
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import edu.wpi.first.wpilibj.GenericHID.RumbleType;
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import edu.wpi.first.wpilibj.XboxController;
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.CommandGroupBase;
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import edu.wpi.first.wpilibj2.command.InstantCommand;
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import edu.wpi.first.wpilibj2.command.PrintCommand;
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import edu.wpi.first.wpilibj2.command.RunCommand;
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import edu.wpi.first.wpilibj2.command.WaitCommand;
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import edu.wpi.first.wpilibj2.command.button.JoystickButton;
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import frc4388.robot.Constants.*;
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import edu.wpi.first.wpilibj2.command.button.POVButton;
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import frc4388.robot.Constants.OIConstants;
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import frc4388.robot.subsystems.Drive;
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import frc4388.robot.subsystems.LED;
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import frc4388.utility.LEDPatterns;
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import frc4388.utility.controller.IHandController;
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import frc4388.utility.controller.XboxController;
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import frc4388.robot.subsystems.Horn;
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import frc4388.robot.subsystems.Shooter;
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/**
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* This class is where the bulk of the robot should be declared. Since
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* Command-based is a "declarative" paradigm, very little robot logic should
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* actually be handled in the {@link Robot} periodic methods (other than the
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* scheduler calls). Instead, the structure of the robot (including subsystems,
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* commands, and button mappings) should be declared here.
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* This class is where the bulk of the robot should be declared. Since Command-based is a
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* "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
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* periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
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* subsystems, 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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/* 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(m_robotMap.leftFrontMotor, m_robotMap.rightFrontMotor,
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m_robotMap.leftBackMotor, m_robotMap.rightBackMotor, m_robotMap.driveTrain, m_robotMap.gyroDrive);
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/* Subsystems */
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private final Drive m_robotDrive = new Drive(m_robotMap.driveLeftMotor, m_robotMap.driveRightMotor, m_robotMap.driveBase);
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private final Shooter[][] m_robotShooterRows = {
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{
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new Shooter(m_robotMap.shooterLowerLefterSolenoid),
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new Shooter(m_robotMap.shooterLowerLeftSolenoid),
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new Shooter(m_robotMap.shooterLowerRightSolenoid),
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new Shooter(m_robotMap.shooterLowerRighterSolenoid),
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},
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{
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new Shooter(m_robotMap.shooterUpperLefterSolenoid),
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new Shooter(m_robotMap.shooterUpperLeftSolenoid),
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new Shooter(m_robotMap.shooterUpperRightSolenoid),
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new Shooter(m_robotMap.shooterUpperRighterSolenoid)
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}
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};
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private final Horn m_robotHorn = new Horn(m_robotMap.hornSolenoid);
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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_controller = new XboxController(OIConstants.CONTROLLER_ID);
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private final NetworkTableInteger m_shooterRowIndex = new NetworkTableInteger("Shooter/Row", 0, 0, 1);
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private final NetworkTableInteger m_shooterColumnIndex = new NetworkTableInteger("Shooter/Column", 0, 0, 3);
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/* Controllers */
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private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
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private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
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/**
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* The container for the robot. Contains subsystems, OI devices, and commands.
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*/
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public RobotContainer() {
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configureButtonBindings();
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/**
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* The container for the robot. Contains subsystems, OI devices, and commands.
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*/
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public RobotContainer() {
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configureButtonBindings();
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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.arcadeDrive(getController().getLeftY(), getController().getRightX()), m_robotDrive));
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}
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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(
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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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* Use this method to define your button->command mappings. Buttons can be created by instantiating
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* a {@link GenericHID} or one of its subclasses ({@link edu.wpi.first.wpilibj.Joystick} or
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* {@link XboxController}), and then passing it to a
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* {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
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*/
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private void configureButtonBindings() {
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// B Button: Fire Selected Shooter
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new JoystickButton(getController(), XboxController.Button.kB.value).whenPressed(this::fireShooterWithFeedback);
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// A Button: Sound Horn
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new JoystickButton(getController(), XboxController.Button.kA.value).whenPressed(() -> m_robotHorn.set(true)).whenReleased(() -> m_robotHorn.set(false));
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// Right Bumper: Shift Column Selection Right
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new JoystickButton(getController(), XboxController.Button.kRightBumper.value).whenPressed(() -> m_shooterColumnIndex.set(m_shooterColumnIndex.get() + 1));
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// Left Bumper: Shift Column Selection Left
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new JoystickButton(getController(), XboxController.Button.kLeftBumper.value).whenPressed(() -> m_shooterColumnIndex.set(m_shooterColumnIndex.get() - 1));
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// D-Pad Down: Select Lower Shooter Row
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new POVButton(getController(), 180).whenPressed(() -> m_shooterRowIndex.set(0));
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// D-Pad Up: Select Upper Shooter Row
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new POVButton(getController(), 0).whenPressed(() -> m_shooterRowIndex.set(1));
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// D-Pad Left: Select Righter Shooter Column
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new POVButton(getController(), 90).whenPressed(() -> m_shooterColumnIndex.set(3));
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// D-Pad Right: Select Lefter Shooter Column
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new POVButton(getController(), 270).whenPressed(() -> m_shooterColumnIndex.set(0));
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}
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private void fireShooterWithFeedback() {
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boolean fired = m_robotShooterRows[m_shooterRowIndex.get()][m_shooterColumnIndex.get()].set(true);
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RumbleType rumbleType = m_shooterColumnIndex.get() < 2 ? RumbleType.kLeftRumble : RumbleType.kRightRumble;
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double value = fired ? 0.3 : 0.6;
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double duration = fired ? 0.3 : 0.4;
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CommandGroupBase.sequence(new InstantCommand(() -> getController().setRumble(rumbleType, value)), new WaitCommand(duration), new InstantCommand(() -> getController().setRumble(rumbleType, 0.0))).schedule();
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System.out.println(m_shooterRowIndex.get() + ":" + m_shooterColumnIndex.get());
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}
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private static class NetworkTableInteger {
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private final NetworkTableEntry m_entry;
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private final int m_defaultValue;
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public NetworkTableInteger(String name, int defaultValue, int minValue, int maxValue) {
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m_defaultValue = defaultValue;
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m_entry = NetworkTableInstance.getDefault().getTable("SmartDashboard").getEntry(name);
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m_entry.setDouble(m_defaultValue);
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m_entry.addListener(event -> {
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if (event.value.isDouble()) {
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double entryValue = event.value.getDouble();
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double safeValue = Math.max(minValue, Math.min((int) entryValue, maxValue));
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if (entryValue != safeValue) event.getEntry().setDouble(safeValue);
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} else event.getEntry().setDouble(m_defaultValue);
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}, EntryListenerFlags.kImmediate | EntryListenerFlags.kNew | EntryListenerFlags.kUpdate);
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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 instantiating a {@link GenericHID} or one of its subclasses
|
||||
* ({@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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// test command to spin the robot while pressing A on the driver controller
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new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
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.whileHeld(() -> m_robotDrive.driveWithInput(0, 1));
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/* Operator Buttons */
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// activates "Lit Mode"
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new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
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.whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
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.whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
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public int get() {
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return (int) m_entry.getDouble(m_defaultValue);
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}
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/**
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* Use this to pass the autonomous command to the main {@link Robot} class.
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||||
*
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||||
* @return the command to run in autonomous
|
||||
*/
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public Command getAutonomousCommand() {
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||||
// no auto
|
||||
return new InstantCommand();
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public void set(int value) {
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m_entry.setDouble(value);
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||||
}
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||||
}
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||||
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||||
/**
|
||||
* Add your docs here.
|
||||
*/
|
||||
public IHandController getDriverController() {
|
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return m_driverXbox;
|
||||
}
|
||||
/**
|
||||
* Use this to pass the autonomous command to the main {@link Robot} class.
|
||||
*
|
||||
* @return the command to run in autonomous
|
||||
*/
|
||||
public Command getAutonomousCommand() {
|
||||
return new PrintCommand("No Autonomous");
|
||||
}
|
||||
|
||||
/**
|
||||
* Add your docs here.
|
||||
*/
|
||||
public IHandController getOperatorController() {
|
||||
return m_operatorXbox;
|
||||
}
|
||||
|
||||
/**
|
||||
* Add your docs here.
|
||||
*/
|
||||
public Joystick getOperatorJoystick() {
|
||||
return m_operatorXbox.getJoyStick();
|
||||
}
|
||||
|
||||
/**
|
||||
* Add your docs here.
|
||||
*/
|
||||
public Joystick getDriverJoystick() {
|
||||
return m_driverXbox.getJoyStick();
|
||||
}
|
||||
public XboxController getController() {
|
||||
return m_controller;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -7,65 +7,53 @@
|
||||
|
||||
package frc4388.robot;
|
||||
|
||||
import com.ctre.phoenix.motorcontrol.InvertType;
|
||||
import com.ctre.phoenix.motorcontrol.NeutralMode;
|
||||
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
|
||||
import com.ctre.phoenix.sensors.PigeonIMU;
|
||||
import static frc4388.robot.Constants.DriveConstants.*;
|
||||
import static frc4388.robot.Constants.HornConstants.*;
|
||||
import static frc4388.robot.Constants.ShooterConstants.*;
|
||||
|
||||
import edu.wpi.first.wpilibj.Spark;
|
||||
import com.ctre.phoenix.motorcontrol.NeutralMode;
|
||||
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
|
||||
|
||||
import edu.wpi.first.wpilibj.PneumaticsModuleType;
|
||||
import edu.wpi.first.wpilibj.Solenoid;
|
||||
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
|
||||
import frc4388.robot.Constants.DriveConstants;
|
||||
import frc4388.robot.Constants.LEDConstants;
|
||||
import frc4388.utility.RobotGyro;
|
||||
|
||||
/**
|
||||
* Defines and holds all I/O objects on the Roborio. This is useful for unit
|
||||
* testing and modularization.
|
||||
* Defines and holds all I/O objects on the Roborio. This is useful for unit testing and
|
||||
* modularization.
|
||||
*/
|
||||
public class RobotMap {
|
||||
|
||||
public RobotMap() {
|
||||
configureLEDMotorControllers();
|
||||
configureDriveMotorControllers();
|
||||
}
|
||||
public RobotMap() {
|
||||
configureDriveMotorControllers();
|
||||
}
|
||||
|
||||
/* LED Subsystem */
|
||||
public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
|
||||
/* 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);
|
||||
|
||||
void configureLEDMotorControllers() {
|
||||
|
||||
}
|
||||
void configureDriveMotorControllers() {
|
||||
/* factory default values */
|
||||
driveLeftMotor.configFactoryDefault();
|
||||
driveRightMotor.configFactoryDefault();
|
||||
|
||||
/* Drive Subsystem */
|
||||
public final WPI_TalonFX leftFrontMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_FRONT_CAN_ID);
|
||||
public final WPI_TalonFX rightFrontMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_FRONT_CAN_ID);
|
||||
public final WPI_TalonFX leftBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_BACK_CAN_ID);
|
||||
public final WPI_TalonFX rightBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_BACK_CAN_ID);
|
||||
public final DifferentialDrive driveTrain = new DifferentialDrive(leftFrontMotor, rightFrontMotor);
|
||||
public final RobotGyro gyroDrive = new RobotGyro(new PigeonIMU(DriveConstants.DRIVE_PIGEON_ID));
|
||||
/* set neutral mode */
|
||||
driveLeftMotor.setNeutralMode(NeutralMode.Brake);
|
||||
driveRightMotor.setNeutralMode(NeutralMode.Brake);
|
||||
}
|
||||
|
||||
void configureDriveMotorControllers() {
|
||||
/* Horn subsystem */
|
||||
public final Solenoid hornSolenoid = new Solenoid(PneumaticsModuleType.REVPH, HORN_SOLENOID_ID);
|
||||
|
||||
/* factory default values */
|
||||
leftFrontMotor.configFactoryDefault();
|
||||
rightFrontMotor.configFactoryDefault();
|
||||
leftBackMotor.configFactoryDefault();
|
||||
rightBackMotor.configFactoryDefault();
|
||||
/* 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);
|
||||
public final Solenoid shooterLowerRighterSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_LOWER_RIGHTER_SOLENOID_ID);
|
||||
public final Solenoid shooterUpperLefterSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_UPPER_LEFTER_SOLENOID_ID);
|
||||
public final Solenoid shooterUpperLeftSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_UPPER_LEFT_SOLENOID_ID);
|
||||
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);
|
||||
|
||||
/* set back motors as followers */
|
||||
leftBackMotor.follow(leftFrontMotor);
|
||||
rightBackMotor.follow(rightFrontMotor);
|
||||
|
||||
/* set neutral mode */
|
||||
leftFrontMotor.setNeutralMode(NeutralMode.Brake);
|
||||
rightFrontMotor.setNeutralMode(NeutralMode.Brake);
|
||||
leftFrontMotor.setNeutralMode(NeutralMode.Brake);
|
||||
rightFrontMotor.setNeutralMode(NeutralMode.Brake);
|
||||
|
||||
/* flip input so forward becomes back, etc */
|
||||
leftFrontMotor.setInverted(false);
|
||||
rightFrontMotor.setInverted(false);
|
||||
leftBackMotor.setInverted(InvertType.FollowMaster);
|
||||
rightBackMotor.setInverted(InvertType.FollowMaster);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,85 +1,29 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) 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.subsystems;
|
||||
|
||||
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
|
||||
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
|
||||
|
||||
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
|
||||
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
||||
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
||||
|
||||
import frc4388.robot.Constants.DriveConstants;
|
||||
import frc4388.utility.RobotGyro;
|
||||
import frc4388.utility.RobotTime;
|
||||
|
||||
/**
|
||||
* Add your docs here.
|
||||
*/
|
||||
public class Drive extends SubsystemBase {
|
||||
// Put methods for controlling this subsystem
|
||||
// here. Call these from Commands.
|
||||
private WPI_TalonSRX m_leftMotor;
|
||||
private WPI_TalonSRX m_rightMotor;
|
||||
private DifferentialDrive m_driveBase;
|
||||
|
||||
private RobotTime m_robotTime = RobotTime.getInstance();
|
||||
|
||||
private WPI_TalonFX m_leftFrontMotor;
|
||||
private WPI_TalonFX m_rightFrontMotor;
|
||||
private WPI_TalonFX m_leftBackMotor;
|
||||
private WPI_TalonFX m_rightBackMotor;
|
||||
private DifferentialDrive m_driveTrain;
|
||||
private RobotGyro m_gyro;
|
||||
|
||||
/**
|
||||
* Add your docs here.
|
||||
*/
|
||||
public Drive(WPI_TalonFX leftFrontMotor, WPI_TalonFX rightFrontMotor, WPI_TalonFX leftBackMotor,
|
||||
WPI_TalonFX rightBackMotor, DifferentialDrive driveTrain, RobotGyro gyro) {
|
||||
|
||||
m_leftFrontMotor = leftFrontMotor;
|
||||
m_rightFrontMotor = rightFrontMotor;
|
||||
m_leftBackMotor = leftBackMotor;
|
||||
m_rightBackMotor = rightBackMotor;
|
||||
m_driveTrain = driveTrain;
|
||||
m_gyro = gyro;
|
||||
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);
|
||||
}
|
||||
|
||||
@Override
|
||||
public void periodic() {
|
||||
m_gyro.updatePigeonDeltas();
|
||||
|
||||
if (m_robotTime.m_frameNumber % DriveConstants.SMARTDASHBOARD_UPDATE_FRAME == 0) {
|
||||
updateSmartDashboard();
|
||||
}
|
||||
public void arcadeDrive(double xSpeed, double zRotation) {
|
||||
m_driveBase.arcadeDrive(xSpeed, zRotation, true);
|
||||
}
|
||||
|
||||
/**
|
||||
* Add your docs here.
|
||||
*/
|
||||
public void driveWithInput(double move, double steer) {
|
||||
m_driveTrain.arcadeDrive(move, steer);
|
||||
}
|
||||
|
||||
/**
|
||||
* Add your docs here.
|
||||
*/
|
||||
public void tankDriveWithInput(double leftMove, double rightMove) {
|
||||
m_leftFrontMotor.set(leftMove);
|
||||
m_rightFrontMotor.set(rightMove);
|
||||
}
|
||||
|
||||
/**
|
||||
* Add your docs here.
|
||||
*/
|
||||
private void updateSmartDashboard() {
|
||||
|
||||
// Examples of the functionality of RobotGyro
|
||||
SmartDashboard.putBoolean("Is Gyro a Pigeon?", m_gyro.m_isGyroAPigeon);
|
||||
SmartDashboard.putNumber("Turn Rate", m_gyro.getRate());
|
||||
SmartDashboard.putNumber("Gyro Pitch", m_gyro.getPitch());
|
||||
SmartDashboard.putData(m_gyro);
|
||||
public void tankDrive(double leftSpeed, double rightSpeed) {
|
||||
m_leftMotor.set(leftSpeed);
|
||||
m_rightMotor.set(rightSpeed);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -0,0 +1,16 @@
|
||||
package frc4388.robot.subsystems;
|
||||
|
||||
import edu.wpi.first.wpilibj.Solenoid;
|
||||
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
||||
|
||||
public class Horn extends SubsystemBase {
|
||||
private Solenoid m_solenoid;
|
||||
|
||||
public Horn(Solenoid solenoid) {
|
||||
m_solenoid = solenoid;
|
||||
}
|
||||
|
||||
public void set(boolean on) {
|
||||
m_solenoid.set(on);
|
||||
}
|
||||
}
|
||||
@@ -1,63 +0,0 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) 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.subsystems;
|
||||
|
||||
import edu.wpi.first.wpilibj.Spark;
|
||||
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
||||
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
||||
|
||||
import frc4388.robot.Constants.LEDConstants;
|
||||
import frc4388.utility.LEDPatterns;
|
||||
|
||||
/**
|
||||
* Allows for the control of a 5v LED Strip using a Rev Robotics Blinkin LED
|
||||
* Driver
|
||||
*/
|
||||
public class LED extends SubsystemBase {
|
||||
|
||||
private LEDPatterns m_currentPattern;
|
||||
private Spark m_LEDController;
|
||||
|
||||
/**
|
||||
* Add your docs here.
|
||||
*/
|
||||
public LED(Spark LEDController){
|
||||
m_LEDController = LEDController;
|
||||
setPattern(LEDConstants.DEFAULT_PATTERN);
|
||||
updateLED();
|
||||
System.err.println("In the Beginning, there was Joe.\nAnd he said, 'Let there be LEDs.'\nAnd it was good.");
|
||||
}
|
||||
|
||||
@Override
|
||||
public void periodic(){
|
||||
SmartDashboard.putNumber("LED", m_currentPattern.getValue());
|
||||
}
|
||||
|
||||
/**
|
||||
* Add your docs here.
|
||||
*/
|
||||
public void updateLED(){
|
||||
m_LEDController.set(m_currentPattern.getValue());
|
||||
}
|
||||
|
||||
/**
|
||||
* Add your docs here.
|
||||
*/
|
||||
public void setPattern(LEDPatterns pattern){
|
||||
m_currentPattern = pattern;
|
||||
m_LEDController.set(m_currentPattern.getValue());
|
||||
}
|
||||
|
||||
/**
|
||||
* Add your docs here.
|
||||
* @return
|
||||
*/
|
||||
public LEDPatterns getPattern() {
|
||||
return m_currentPattern;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,18 @@
|
||||
package frc4388.robot.subsystems;
|
||||
|
||||
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
||||
import edu.wpi.first.wpilibj.Solenoid;
|
||||
|
||||
public class Shooter extends SubsystemBase {
|
||||
Solenoid m_solenoid;
|
||||
|
||||
public Shooter(Solenoid solenoid) {
|
||||
m_solenoid = solenoid;
|
||||
}
|
||||
|
||||
public boolean set(boolean on) {
|
||||
if (m_solenoid.get() == on) return false;
|
||||
m_solenoid.set(on);
|
||||
return true;
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user