mirror of
https://github.com/Team4388/Shirt-Cannon.git
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Add best guess base robot code
Remove unused items
This commit is contained in:
nathanrsxtn
@@ -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
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* created by instantiating a {@link GenericHID} or one of its subclasses
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* ({@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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*/
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public Command getAutonomousCommand() {
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// no auto
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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.
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*/
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public IHandController getDriverController() {
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return m_driverXbox;
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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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*/
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public Command getAutonomousCommand() {
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return new PrintCommand("No Autonomous");
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}
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/**
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* Add your docs here.
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*/
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public IHandController getOperatorController() {
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return m_operatorXbox;
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}
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/**
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* Add your docs here.
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*/
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public Joystick getOperatorJoystick() {
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return m_operatorXbox.getJoyStick();
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}
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/**
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* Add your docs here.
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*/
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public Joystick getDriverJoystick() {
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return m_driverXbox.getJoyStick();
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}
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public XboxController getController() {
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return m_controller;
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}
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}
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