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Implement shooter readiness

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Speed up shooter side detection for haptics
Change some variable names
This commit is contained in:
nathanrsxtn
2022-07-04 22:02:13 -06:00
parent 65cf0dd3a3
commit 74af4b2f2a
4 changed files with 98 additions and 76 deletions
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src/main/java/frc4388/robot/Constants.java
+12 -12
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@@ -11,21 +11,21 @@ package frc4388.robot;
*/ */
public final class Constants { public final class Constants {
public static final class DriveConstants { public static final class DriveConstants {
public static final int DRIVE_LEFT_LEADER_CAN_ID = 2; public static final int DRIVE_LEFT_LEADER_ID = 2;
public static final int DRIVE_RIGHT_LEADER_CAN_ID = 3; public static final int DRIVE_RIGHT_LEADER_ID = 3;
public static final int DRIVE_LEFT_FOLLOWER_CAN_ID = 4; public static final int DRIVE_LEFT_FOLLOWER_ID = 4;
public static final int DRIVE_RIGHT_FOLLOWER_CAN_ID = 5; public static final int DRIVE_RIGHT_FOLLOWER_ID = 5;
} }
public static final class ShooterConstants { public static final class ShooterConstants {
public static final int SHOOTER_LOWER_LEFTER_SOLENOID_ID = 1; public static final int SHOOTER_SOLENOID_BOTTOM_LEFT_OUTER_ID = 1;
public static final int SHOOTER_LOWER_LEFT_SOLENOID_ID = 2; public static final int SHOOTER_SOLENOID_BOTTOM_LEFT_INNER_ID = 2;
public static final int SHOOTER_LOWER_RIGHT_SOLENOID_ID = 3; public static final int SHOOTER_SOLENOID_BOTTOM_RIGHT_INNER_ID = 3;
public static final int SHOOTER_LOWER_RIGHTER_SOLENOID_ID = 4; public static final int SHOOTER_SOLENOID_BOTTOM_RIGHT_OUTER_ID = 4;
public static final int SHOOTER_UPPER_LEFTER_SOLENOID_ID = 5; public static final int SHOOTER_SOLENOID_TOP_LEFT_OUTER_ID = 5;
public static final int SHOOTER_UPPER_LEFT_SOLENOID_ID = 6; public static final int SHOOTER_SOLENOID_TOP_LEFT_INNER_ID = 6;
public static final int SHOOTER_UPPER_RIGHT_SOLENOID_ID = 7; public static final int SHOOTER_SOLENOID_TOP_RIGHT_INNER_ID = 7;
public static final int SHOOTER_UPPER_RIGHTER_SOLENOID_ID = 8; public static final int SHOOTER_SOLENOID_TOP_RIGHT_OUTER_ID = 8;
} }
public static final class HornConstants { public static final class HornConstants {
src/main/java/frc4388/robot/RobotContainer.java
+27 -27
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@@ -29,17 +29,17 @@ public class RobotContainer {
private final RobotMap m_robotMap = new RobotMap(); private final RobotMap m_robotMap = new RobotMap();
/* Subsystems */ /* Subsystems */
private final Drive m_robotDrive = new Drive(m_robotMap.driveLeftLeaderMotor, m_robotMap.driveRightLeaderMotor, m_robotMap.driveBase); private final Drive m_robotDrive = new Drive(m_robotMap.driveMotorLeftLeader, m_robotMap.driveMotorRightLeader, m_robotMap.driveBase);
private final Shooter m_robotShooterLowerLefterSolenoid = new Shooter(m_robotMap.shooterLowerLefterSolenoid); private final Shooter m_robotShooterBottomLeftOuter = new Shooter(m_robotMap.shooterSolenoidBottomLeftOuter);
private final Shooter m_robotShooterLowerLeftSolenoid = new Shooter(m_robotMap.shooterLowerLeftSolenoid); private final Shooter m_robotShooterBottomLeftInner = new Shooter(m_robotMap.shooterSolenoidBottomLeftInner);
private final Shooter m_robotShooterLowerRightSolenoid = new Shooter(m_robotMap.shooterLowerRightSolenoid); private final Shooter m_robotShooterBottomRightInner = new Shooter(m_robotMap.shooterSolenoidBottomRightInner);
private final Shooter m_robotShooterLowerRighterSolenoid = new Shooter(m_robotMap.shooterLowerRighterSolenoid); private final Shooter m_robotShooterBottomRightOuter = new Shooter(m_robotMap.shooterSolenoidBottomRightOuter);
private final Shooter m_robotShooterUpperLefterSolenoid = new Shooter(m_robotMap.shooterUpperLefterSolenoid); private final Shooter m_robotShooterTopLeftOuter = new Shooter(m_robotMap.shooterSolenoidTopLeftOuter);
private final Shooter m_robotShooterUpperLeftSolenoid = new Shooter(m_robotMap.shooterUpperLeftSolenoid); private final Shooter m_robotShooterTopLeftInner = new Shooter(m_robotMap.shooterSolenoidTopLeftInner);
private final Shooter m_robotShooterUpperRightSolenoid = new Shooter(m_robotMap.shooterUpperRightSolenoid); private final Shooter m_robotShooterTopRightInner = new Shooter(m_robotMap.shooterSolenoidTopRightInner);
private final Shooter m_robotShooterUpperRighterSolenoid = new Shooter(m_robotMap.shooterUpperRighterSolenoid); private final Shooter m_robotShooterTopRightOuter = new Shooter(m_robotMap.shooterSolenoidTopRightOuter);
private final Horn m_robotHorn = new Horn(m_robotMap.hornSolenoid); private final Horn m_robotHorn = new Horn(m_robotMap.hornSolenoid);
@@ -64,23 +64,23 @@ public class RobotContainer {
* {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}. * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
*/ */
private void configureButtonBindings() { private void configureButtonBindings() {
// Y Button: Fire Upper Lefter Shooter // Y Button: Fire Top Lefter Shooter
new JoystickButton(getController(), XboxController.Button.kY.value).whenPressed(putToDashboard("Y", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterUpperLefterSolenoid)).withName("Fire Upper Lefter"))); new JoystickButton(getController(), XboxController.Button.kY.value).whenPressed(putToDashboard("Y", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterTopLeftOuter)).withName("Fire Top Lefter")));
// B Button: Fire Upper Right Shooter // B Button: Fire Top Right Shooter
new JoystickButton(getController(), XboxController.Button.kB.value).whenPressed(putToDashboard("B", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterUpperRightSolenoid)).withName("Fire Upper Right"))); new JoystickButton(getController(), XboxController.Button.kB.value).whenPressed(putToDashboard("B", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterTopRightInner)).withName("Fire Top Right")));
// A Button: Fire Upper Righter Shooter // A Button: Fire Top Righter Shooter
new JoystickButton(getController(), XboxController.Button.kA.value).whenPressed(putToDashboard("A", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterUpperRighterSolenoid)).withName("Fire Upper Righter"))); new JoystickButton(getController(), XboxController.Button.kA.value).whenPressed(putToDashboard("A", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterTopRightOuter)).withName("Fire Top Righter")));
// X Button: Fire Upper Left Shooter // X Button: Fire Top Left Shooter
new JoystickButton(getController(), XboxController.Button.kX.value).whenPressed(putToDashboard("X", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterUpperLeftSolenoid)).withName("Fire Upper Left"))); new JoystickButton(getController(), XboxController.Button.kX.value).whenPressed(putToDashboard("X", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterTopLeftInner)).withName("Fire Top Left")));
// D-Pad Up: Fire Lower Lefter Shooter // D-Pad Up: Fire Bottom Lefter Shooter
new POVButton(getController(), 0).whenPressed(putToDashboard("Up", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterLowerLefterSolenoid)).withName("Fire Lower Lefter"))); new POVButton(getController(), 0).whenPressed(putToDashboard("Up", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterBottomLeftOuter)).withName("Fire Bottom Lefter")));
// D-Pad Right: Fire Lower Right Shooter // D-Pad Right: Fire Bottom Right Shooter
new POVButton(getController(), 90).whenPressed(putToDashboard("Right", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterLowerRightSolenoid)).withName("Fire Lower Right"))); new POVButton(getController(), 90).whenPressed(putToDashboard("Right", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterBottomRightInner)).withName("Fire Bottom Right")));
// D-Pad Left: Fire Lower Righter Shooter // D-Pad Left: Fire Bottom Righter Shooter
new POVButton(getController(), 180).whenPressed(putToDashboard("Down", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterLowerRighterSolenoid)).withName("Fire Lower Righter"))); new POVButton(getController(), 180).whenPressed(putToDashboard("Down", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterBottomRightOuter)).withName("Fire Bottom Righter")));
// D-Pad Up: Fire Lower Left Shooter // D-Pad Up: Fire Bottom Left Shooter
new POVButton(getController(), 270).whenPressed(putToDashboard("Left", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterLowerLeftSolenoid)).withName("Fire Lower Left"))); new POVButton(getController(), 270).whenPressed(putToDashboard("Left", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterBottomLeftInner)).withName("Fire Bottom Left")));
// Right Bumper: Sound Horn // Right Bumper: Sound Horn
new JoystickButton(getController(), XboxController.Button.kRightBumper.value).whenPressed(() -> m_robotHorn.set(true)).whenReleased(() -> m_robotHorn.set(false)); new JoystickButton(getController(), XboxController.Button.kRightBumper.value).whenPressed(() -> m_robotHorn.set(true)).whenReleased(() -> m_robotHorn.set(false));
@@ -94,8 +94,8 @@ public class RobotContainer {
} }
private void fireShooterWithFeedback(Shooter shooter) { private void fireShooterWithFeedback(Shooter shooter) {
boolean fired = shooter.set(true); boolean fired = shooter.fire();
RumbleType rumbleType = shooter.getName().contains("Left") ? RumbleType.kLeftRumble : RumbleType.kRightRumble; RumbleType rumbleType = shooter.getName().indexOf('L', 13) >= 0 ? RumbleType.kLeftRumble : RumbleType.kRightRumble;
double value = fired ? 0.3 : 0.6; double value = fired ? 0.3 : 0.6;
double duration = fired ? 0.3 : 0.4; 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(); CommandGroupBase.sequence(new InstantCommand(() -> getController().setRumble(rumbleType, value)), new WaitCommand(duration), new InstantCommand(() -> getController().setRumble(rumbleType, 0.0))).schedule();
src/main/java/frc4388/robot/RobotMap.java
+34 -34
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@@ -31,56 +31,56 @@ public class RobotMap {
} }
/* Drive Subsystem */ /* Drive Subsystem */
public final WPI_TalonSRX driveLeftLeaderMotor = new WPI_TalonSRX(DRIVE_LEFT_LEADER_CAN_ID); public final WPI_TalonSRX driveMotorLeftLeader = new WPI_TalonSRX(DRIVE_LEFT_LEADER_ID);
public final WPI_TalonSRX driveRightLeaderMotor = new WPI_TalonSRX(DRIVE_RIGHT_LEADER_CAN_ID); public final WPI_TalonSRX driveMotorRightLeader = new WPI_TalonSRX(DRIVE_RIGHT_LEADER_ID);
public final WPI_TalonSRX driveLeftFollowerMotor = new WPI_TalonSRX(DRIVE_LEFT_FOLLOWER_CAN_ID); public final WPI_TalonSRX driveMotorLeftFollower = new WPI_TalonSRX(DRIVE_LEFT_FOLLOWER_ID);
public final WPI_TalonSRX driveRightFollowerMotor = new WPI_TalonSRX(DRIVE_RIGHT_FOLLOWER_CAN_ID); public final WPI_TalonSRX driveMotorRightFollower = new WPI_TalonSRX(DRIVE_RIGHT_FOLLOWER_ID);
public final DifferentialDrive driveBase = new DifferentialDrive(driveLeftLeaderMotor, driveRightLeaderMotor); public final DifferentialDrive driveBase = new DifferentialDrive(driveMotorLeftLeader, driveMotorRightLeader);
private void configureDriveMotorControllers() { private void configureDriveMotorControllers() {
driveLeftLeaderMotor.configFactoryDefault(); driveMotorLeftLeader.configFactoryDefault();
driveRightLeaderMotor.configFactoryDefault(); driveMotorRightLeader.configFactoryDefault();
driveLeftFollowerMotor.configFactoryDefault(); driveMotorLeftFollower.configFactoryDefault();
driveRightFollowerMotor.configFactoryDefault(); driveMotorRightFollower.configFactoryDefault();
driveLeftLeaderMotor.setNeutralMode(NeutralMode.Brake); driveMotorLeftLeader.setNeutralMode(NeutralMode.Brake);
driveRightLeaderMotor.setNeutralMode(NeutralMode.Brake); driveMotorRightLeader.setNeutralMode(NeutralMode.Brake);
driveLeftFollowerMotor.setNeutralMode(NeutralMode.Brake); driveMotorLeftFollower.setNeutralMode(NeutralMode.Brake);
driveRightFollowerMotor.setNeutralMode(NeutralMode.Brake); driveMotorRightFollower.setNeutralMode(NeutralMode.Brake);
driveLeftFollowerMotor.follow(driveLeftLeaderMotor); driveMotorLeftFollower.follow(driveMotorLeftLeader);
driveRightFollowerMotor.follow(driveRightLeaderMotor); driveMotorRightFollower.follow(driveMotorRightLeader);
} }
/* Horn Subsystem */ /* Horn Subsystem */
public final Solenoid hornSolenoid = new Solenoid(PneumaticsModuleType.REVPH, HORN_SOLENOID_ID); 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 shooterSolenoidBottomLeftOuter = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_SOLENOID_BOTTOM_LEFT_OUTER_ID);
public final Solenoid shooterLowerLeftSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_LOWER_LEFT_SOLENOID_ID); public final Solenoid shooterSolenoidBottomLeftInner = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_SOLENOID_BOTTOM_LEFT_INNER_ID);
public final Solenoid shooterLowerRightSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_LOWER_RIGHT_SOLENOID_ID); public final Solenoid shooterSolenoidBottomRightInner = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_SOLENOID_BOTTOM_RIGHT_INNER_ID);
public final Solenoid shooterLowerRighterSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_LOWER_RIGHTER_SOLENOID_ID); public final Solenoid shooterSolenoidBottomRightOuter = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_SOLENOID_BOTTOM_RIGHT_OUTER_ID);
public final Solenoid shooterUpperLefterSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_UPPER_LEFTER_SOLENOID_ID); public final Solenoid shooterSolenoidTopLeftOuter = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_SOLENOID_TOP_LEFT_OUTER_ID);
public final Solenoid shooterUpperLeftSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_UPPER_LEFT_SOLENOID_ID); public final Solenoid shooterSolenoidTopLeftInner = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_SOLENOID_TOP_LEFT_INNER_ID);
public final Solenoid shooterUpperRightSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_UPPER_RIGHT_SOLENOID_ID); public final Solenoid shooterSolenoidTopRightInner = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_SOLENOID_TOP_RIGHT_INNER_ID);
public final Solenoid shooterUpperRighterSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_UPPER_RIGHTER_SOLENOID_ID); public final Solenoid shooterSolenoidTopRightOuter = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_SOLENOID_TOP_RIGHT_OUTER_ID);
private void configureLiveWindow() { private void configureLiveWindow() {
SendableRegistry.setName(driveLeftFollowerMotor, "Drive", "Left Follower Motor"); SendableRegistry.setName(driveMotorLeftFollower, "Drive", "Motor Left Follower");
SendableRegistry.setName(driveRightFollowerMotor, "Drive", "Right Follower Motor"); SendableRegistry.setName(driveMotorRightFollower, "Drive", "Motor Right Follower");
SendableRegistry.setName(driveBase, "Drive", "Drive Base"); SendableRegistry.setName(driveBase, "Drive", "Base");
SendableRegistry.setName(hornSolenoid, "Horn", "Solenoid"); SendableRegistry.setName(hornSolenoid, "Horn", "Solenoid");
SendableRegistry.setName(shooterLowerLefterSolenoid, "Shooter", "Lower Lefter Solenoid"); SendableRegistry.setName(shooterSolenoidBottomLeftOuter, "Shooter", "Solenoid Bottom Left Outer");
SendableRegistry.setName(shooterLowerLeftSolenoid, "Shooter", "Lower Left Solenoid"); SendableRegistry.setName(shooterSolenoidBottomLeftInner, "Shooter", "Solenoid Bottom Left Inner");
SendableRegistry.setName(shooterLowerRightSolenoid, "Shooter", "Lower Right Solenoid"); SendableRegistry.setName(shooterSolenoidBottomRightInner, "Shooter", "Solenoid Bottom Right Inner");
SendableRegistry.setName(shooterLowerRighterSolenoid, "Shooter", "Lower Righter Solenoid"); SendableRegistry.setName(shooterSolenoidBottomRightOuter, "Shooter", "Solenoid Bottom Right Outer");
SendableRegistry.setName(shooterUpperLefterSolenoid, "Shooter", "Upper Lefter Solenoid"); SendableRegistry.setName(shooterSolenoidTopLeftOuter, "Shooter", "Solenoid Top Left Outer");
SendableRegistry.setName(shooterUpperLeftSolenoid, "Shooter", "Upper Left Solenoid"); SendableRegistry.setName(shooterSolenoidTopLeftInner, "Shooter", "Solenoid Top Left Inner");
SendableRegistry.setName(shooterUpperRightSolenoid, "Shooter", "Upper Right Solenoid"); SendableRegistry.setName(shooterSolenoidTopRightInner, "Shooter", "Solenoid Top Right Inner");
SendableRegistry.setName(shooterUpperRighterSolenoid, "Shooter", "Upper Righter Solenoid"); SendableRegistry.setName(shooterSolenoidTopRightOuter, "Shooter", "Solenoid Top Right Outer");
} }
} }
src/main/java/frc4388/robot/subsystems/Shooter.java
+25 -3
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@@ -10,9 +10,31 @@ public class Shooter extends SubsystemBase {
m_solenoid = solenoid; m_solenoid = solenoid;
} }
public boolean set(boolean on) { /**
if (m_solenoid.get() == on) return false; * Check if the shooter is ready to fire.
m_solenoid.set(on); *
* @return True if the shooter is ready or false if the shooter is not ready
*/
public boolean isReady() {
return !m_solenoid.get();
}
/**
* Ready the shooter to fire.
*/
public void ready() {
m_solenoid.set(false);
}
/**
* Fire the shooter if it is ready.
*
* @return True if the shooter was ready or false if the shooter was not ready
*/
public boolean fire() {
if (!isReady())
return false;
m_solenoid.set(true);
return true; return true;
} }
} }