diff --git a/PathWeaver/Paths/DriveOffTarmac b/PathWeaver/Paths/DriveOffTarmac deleted file mode 100644 index 71baaba..0000000 --- a/PathWeaver/Paths/DriveOffTarmac +++ /dev/null @@ -1,3 +0,0 @@ -X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name -7.177180893971274,-5.772035605891501,-1.9874058629585587,-2.0713807585765256,true,false, -5.581657877229897,-7.465529334187175,-0.7417782446253778,-0.7417782446253778,true,false, diff --git a/PathWeaver/Paths/FourBallAutoPartOne b/PathWeaver/Paths/FourBallAutoPartOne deleted file mode 100644 index 8a011f7..0000000 --- a/PathWeaver/Paths/FourBallAutoPartOne +++ /dev/null @@ -1,3 +0,0 @@ -X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name -6.519377544963864,-5.450131839355961,-1.3575941458238043,-0.8957322199249838,true,false, -5.035821055713109,-6.359859875217272,-0.2939121346628859,-0.1819456071722616,true,false, diff --git a/PathWeaver/Paths/FourBallAutoPartTwo b/PathWeaver/Paths/FourBallAutoPartTwo deleted file mode 100644 index c30fcfd..0000000 --- a/PathWeaver/Paths/FourBallAutoPartTwo +++ /dev/null @@ -1,3 +0,0 @@ -X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name -5.036,-6.3595999999999995,-0.294,-0.182,false,false, -1.2149633050955986,-7.03165904016101,-0.9517154836702958,-1.0076987474156072,true,false, diff --git a/PathWeaver/Paths/SCurve b/PathWeaver/Paths/SCurve deleted file mode 100644 index 5f458d1..0000000 --- a/PathWeaver/Paths/SCurve +++ /dev/null @@ -1,4 +0,0 @@ -X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name -0.0,0.0,2.0574,0.0,true,false, -2.1246913409569106,-1.181407978775958,1.6548812506999884,-0.2290022529107028,false,false, -4.993833607904126,-0.10373015167871144,0.8957322199249838,-0.13995815936327874,true,false, diff --git a/PathWeaver/Paths/Shoot b/PathWeaver/Paths/Shoot deleted file mode 100644 index 8c9268d..0000000 --- a/PathWeaver/Paths/Shoot +++ /dev/null @@ -1,3 +0,0 @@ -X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name -1.215,-7.031599999999999,-0.4758944367395491,-0.18200464733327415,true,true, -5.203770846949044,-5.506115103101271,-1.525543937059739,-0.6438075330710822,true,true, diff --git a/PathWeaver/Paths/StraightLine b/PathWeaver/Paths/StraightLine deleted file mode 100644 index b1627d2..0000000 --- a/PathWeaver/Paths/StraightLine +++ /dev/null @@ -1,3 +0,0 @@ -X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name -0.09529803018936864,-0.005759440124416262,3.540941431890953,-0.013995815936327875,true,false, -6.095,-0.005599999999999383,0.6857949808800665,0.027991631872655742,true,false,StraightLine diff --git a/PathWeaver/Paths/TwoBallAuto b/PathWeaver/Paths/TwoBallAuto deleted file mode 100644 index c9058ef..0000000 --- a/PathWeaver/Paths/TwoBallAuto +++ /dev/null @@ -1,3 +0,0 @@ -X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name -7.6250470039337666,-6.0379561086817315,0.0,-0.7557740605617047,true,false, -7.6250470039337666,-7.717454021041076,0.0,-4.1148,true,false, diff --git a/PathWeaver/pathweaver.json b/PathWeaver/pathweaver.json deleted file mode 100644 index 2a920e9..0000000 --- a/PathWeaver/pathweaver.json +++ /dev/null @@ -1,9 +0,0 @@ -{ - "lengthUnit": "Meter", - "exportUnit": "Always Meters", - "maxVelocity": 2.5, - "maxAcceleration": 2.5, - "trackWidth": 0.6858, - "gameName": "Rapid React", - "outputDir": "../src/main/java/frc/robot/Trajectories" -} \ No newline at end of file diff --git a/build.gradle b/build.gradle index b233ef1..670c473 100644 --- a/build.gradle +++ b/build.gradle @@ -1,6 +1,7 @@ plugins { id "java" id "edu.wpi.first.GradleRIO" version "2023.4.3" + id 'com.diffplug.spotless' version '6.12.0' apply false } sourceCompatibility = JavaVersion.VERSION_11 @@ -97,3 +98,5 @@ wpi.java.configureTestTasks(test) tasks.withType(JavaCompile) { options.compilerArgs.add '-XDstringConcat=inline' } + +apply from: "styleguide/styleguide.gradle" diff --git a/networktables.json b/networktables.json new file mode 100644 index 0000000..4ebff17 --- /dev/null +++ b/networktables.json @@ -0,0 +1,74 @@ +[ + { + "name": "/Preferences/ChassisVelocity.mm.kp", + "type": "double", + "value": 1.0, + "properties": { + "persistent": true + } + }, + { + "name": "/Preferences/ChassisVelocity.mm.ki", + "type": "double", + "value": 0.0, + "properties": { + "persistent": true + } + }, + { + "name": "/Preferences/ChassisVelocity.mm.kd", + "type": "double", + "value": 0.0, + "properties": { + "persistent": true + } + }, + { + "name": "/Preferences/Shooter(AllowableError))", + "type": "double", + "value": 50.0, + "properties": { + "persistent": true + } + }, + { + "name": "/Preferences/Shooter.mm.kp", + "type": "double", + "value": 0.0, + "properties": { + "persistent": true + } + }, + { + "name": "/Preferences/Shooter.mm.ki", + "type": "double", + "value": 0.0, + "properties": { + "persistent": true + } + }, + { + "name": "/Preferences/Shooter.mm.kd", + "type": "double", + "value": 0.0, + "properties": { + "persistent": true + } + }, + { + "name": "/Preferences/Shooter.mm.kff", + "type": "double", + "value": 0.00045, + "properties": { + "persistent": true + } + }, + { + "name": "/Preferences/Shooter Goal", + "type": "double", + "value": 1000.0, + "properties": { + "persistent": true + } + } +] diff --git a/src/main/deploy/Trajectories/output/DriveOffTarmac.wpilib.json b/src/main/deploy/Trajectories/output/DriveOffTarmac.wpilib.json deleted file mode 100644 index 5bdc1ca..0000000 --- a/src/main/deploy/Trajectories/output/DriveOffTarmac.wpilib.json +++ /dev/null @@ -1,422 +0,0 @@ -[ -{ -"acceleration": 2.4999999999999996, -"curvature": 0.0, -"pose": { -"rotation": { -"radians": -2.335507786412501 -}, -"translation": { -"x": 7.177180893971274, -"y": 2.4575643941084984 -} -}, -"time": 0.0, -"velocity": 0.0 -}, -{ -"acceleration": 2.5, -"curvature": 0.006104343070860575, -"pose": { -"rotation": { -"radians": -2.335223427861308 -}, -"translation": { -"x": 7.115044667993659, -"y": 2.3927901814110824 -} -}, -"time": 0.2679680822058686, 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a/src/main/deploy/Trajectories/output/TwoBallAuto.wpilib.json b/src/main/deploy/Trajectories/output/TwoBallAuto.wpilib.json deleted file mode 100644 index 4c1e0ae..0000000 --- a/src/main/deploy/Trajectories/output/TwoBallAuto.wpilib.json +++ /dev/null @@ -1,302 +0,0 @@ -[ -{ -"acceleration": 2.5000000000000004, -"curvature": 0.0, -"pose": { -"rotation": { -"radians": -1.5707963267948966 -}, -"translation": { -"x": 7.6250470039337666, -"y": 2.191643891318268 -} -}, -"time": 0.0, -"velocity": 0.0 -}, -{ -"acceleration": 2.4999999999999987, -"curvature": 0.0, -"pose": { -"rotation": { -"radians": -1.5707963267948966 -}, -"translation": { -"x": 7.6250470039337666, -"y": 2.1031536864720666 -} -}, -"time": 0.2660679685286472, -"velocity": 0.6651699213216181 -}, -{ -"acceleration": 2.499999999999999, -"curvature": 0.0, -"pose": { -"rotation": { -"radians": -1.5707963267948966 -}, -"translation": { -"x": 7.6250470039337666, -"y": 2.0350121763219278 -} -}, -"time": 0.3539849883781405, 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= 9; - public static final int SHOOTER_SPARK = 10; - public static final int HOPPER_SPARK = 7; - public static final int SHOOTER_HOOD_SPARK = 11; - public static final int CLIMBER_LEFT = 12; - public static final int CLIMBER_RIGHT = 13; - - // path constraints - public static final PathConstraints DEFAULT_PATH_CONSTRAINTS = new PathConstraints(Units.inchesToMeters(48), Units.inchesToMeters(48)); - - - // DIO - public static final int LEFT_LIMIT_SWITCH = 1; - public static final int RIGHT_LIMIT_SWITCH = 0; - - // Odometry - public static final double DRIVE_CONVERSION_FACTOR = 1; - public static final double DRIVE_TRACK = 0; // TODO - - // Auto Aim - public static final double MAX_TURN_VELOCITY = 0.5; - public static final double MAX_TURN_ACCELERATION = 0.5; + // CAN IDs + public static final int DRIVE_LEFT_LEADER = 2; + public static final int DRIVE_LEFT_FOLLOWER = 3; + public static final int DRIVE_RIGHT_LEADER = 4; + public static final int DRIVE_RIGHT_FOLLOWER = 5; + public static final int TOWER_SPARK = 8; + public static final int TOWER_KICKER_SPARK = 9; + public static final int SHOOTER_SPARK = 10; + public static final int HOPPER_SPARK = 7; + public static final int SHOOTER_HOOD_SPARK = 11; + public static final int CLIMBER_LEFT = 12; + public static final int CLIMBER_RIGHT = 13; + + // path constraints + public static final PathConstraints DEFAULT_PATH_CONSTRAINTS = + new PathConstraints(Units.inchesToMeters(48), Units.inchesToMeters(48)); + + // DIO + public static final int LEFT_LIMIT_SWITCH = 1; + public static final int RIGHT_LIMIT_SWITCH = 0; + + // Odometry + public static final double DRIVE_CONVERSION_FACTOR = 1; + public static final double DRIVE_TRACK = 0; // TODO + + // Auto Aim + public static final double MAX_TURN_VELOCITY = 0.5; + public static final double MAX_TURN_ACCELERATION = 0.5; } diff --git a/src/main/java/frc/robot/Main.java b/src/main/java/frc/robot/Main.java index 8776e5d..e9c0192 100644 --- a/src/main/java/frc/robot/Main.java +++ b/src/main/java/frc/robot/Main.java @@ -12,14 +12,15 @@ * call. */ public final class Main { - private Main() {} + private Main() { + } - /** - * Main initialization function. Do not perform any initialization here. - * - *
If you change your main robot class, change the parameter type. - */ - public static void main(String... args) { - RobotBase.startRobot(Robot::new); - } + /** + * Main initialization function. Do not perform any initialization here. + * + *
If you change your main robot class, change the parameter type. + */ + public static void main(String... args) { + RobotBase.startRobot(Robot::new); + } } diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 687a0a0..73c1d5c 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -15,89 +15,89 @@ * project. */ public class Robot extends TimedRobot { - private Command m_autonomousCommand; - - private RobotContainer m_robotContainer; - - /** - * This function is run when the robot is first started up and should be used for any - * initialization code. - */ - @Override - public void robotInit() { - // Instantiate our RobotContainer. This will perform all our button bindings, and put our - // autonomous chooser on the dashboard. - m_robotContainer = new RobotContainer(); - } - - /** - * This function is called every 20 ms, no matter the mode. Use this for items like diagnostics - * that you want ran during disabled, autonomous, teleoperated and test. - * - *
This runs after the mode specific periodic functions, but before LiveWindow and - * SmartDashboard integrated updating. - */ - @Override - public void robotPeriodic() { - // Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled - // commands, running already-scheduled commands, removing finished or interrupted commands, - // and running subsystem periodic() methods. This must be called from the robot's periodic - // block in order for anything in the Command-based framework to work. - CommandScheduler.getInstance().run(); - } - - /** This function is called once each time the robot enters Disabled mode. */ - @Override - public void disabledInit() {} - - @Override - public void disabledPeriodic() {} - - /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */ - @Override - public void autonomousInit() { - m_autonomousCommand = m_robotContainer.getAutonomousCommand(); + private Command m_autonomousCommand; + + private RobotContainer m_robotContainer; + + /** + * This function is run when the robot is first started up and should be used for any + * initialization code. + */ + @Override + public void robotInit() { + // Instantiate our RobotContainer. This will perform all our button bindings, and put our + // autonomous chooser on the dashboard. + m_robotContainer = new RobotContainer(); + } - // schedule the autonomous command (example) - if (m_autonomousCommand != null) { - m_autonomousCommand.schedule(); + /** + * This function is called every 20 ms, no matter the mode. Use this for items like diagnostics + * that you want ran during disabled, autonomous, teleoperated and test. + * + *
This runs after the mode specific periodic functions, but before LiveWindow and
+ * SmartDashboard integrated updating.
+ */
+ @Override
+ public void robotPeriodic() {
+ // Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled
+ // commands, running already-scheduled commands, removing finished or interrupted commands,
+ // and running subsystem periodic() methods. This must be called from the robot's periodic
+ // block in order for anything in the Command-based framework to work.
+ CommandScheduler.getInstance().run();
}
- }
- /** This function is called periodically during autonomous. */
- @Override
- public void autonomousPeriodic() {}
+ /**
+ * This function is called once each time the robot enters Disabled mode.
+ */
+ @Override
+ public void disabledInit() {
+ }
- @Override
- public void teleopInit() {
- // This makes sure that the autonomous stops running when
- // teleop starts running. If you want the autonomous to
- // continue until interrupted by another command, remove
- // this line or comment it out.
- if (m_autonomousCommand != null) {
- m_autonomousCommand.cancel();
+ @Override
+ public void disabledPeriodic() {
}
- }
- /** This function is called periodically during operator control. */
- @Override
- public void teleopPeriodic() {}
+ /**
+ * This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
+ */
+ @Override
+ public void autonomousInit() {
+ m_autonomousCommand = m_robotContainer.getAutonomousCommand();
+
+ // schedule the autonomous command (example)
+ if (m_autonomousCommand != null) {
+ m_autonomousCommand.schedule();
+ }
+ }
- @Override
- public void testInit() {
- // Cancels all running commands at the start of test mode.
- CommandScheduler.getInstance().cancelAll();
- }
+ /**
+ * This function is called periodically during autonomous.
+ */
+ @Override
+ public void autonomousPeriodic() {
+ }
- /** This function is called periodically during test mode. */
- @Override
- public void testPeriodic() {}
+ @Override
+ public void teleopInit() {
+ // This makes sure that the autonomous stops running when
+ // teleop starts running. If you want the autonomous to
+ // continue until interrupted by another command, remove
+ // this line or comment it out.
+ if (m_autonomousCommand != null) {
+ m_autonomousCommand.cancel();
+ }
+ }
- /** This function is called once when the robot is first started up. */
- @Override
- public void simulationInit() {}
+ /**
+ * This function is called periodically during operator control.
+ */
+ @Override
+ public void teleopPeriodic() {
+ }
- /** This function is called periodically whilst in simulation. */
- @Override
- public void simulationPeriodic() {}
+ @Override
+ public void testInit() {
+ // Cancels all running commands at the start of test mode.
+ CommandScheduler.getInstance().cancelAll();
+ }
}
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index fdb32b2..5fc2236 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -4,15 +4,30 @@
package frc.robot;
+import frc.robot.commands.ClimberCommand;
+import frc.robot.commands.DriveCommand;
+import frc.robot.commands.HopperCommand;
+import frc.robot.commands.KickIfShootSetRPMCommand;
+import frc.robot.commands.RunIntakeCommand;
+import frc.robot.commands.SetShooterSpeedCommand;
+import frc.robot.commands.StopIntakeCommand;
+import frc.robot.commands.ShootFromDistanceCommand;
+import frc.robot.commands.TowerDownCommand;
+import frc.robot.commands.TowerUpCommand;
+import frc.robot.subsystems.ClimberSubsystem;
+import frc.robot.subsystems.DrivetrainSubsystem;
+import frc.robot.subsystems.HopperSubsystem;
+import frc.robot.subsystems.IntakeSubsystem;
+import frc.robot.subsystems.LimelightSubsystem;
+import frc.robot.subsystems.ShooterSubsytem;
+import frc.robot.subsystems.TowerSubsystem;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import frc.robot.autos.AutonomousFactory;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
-import frc.robot.autos.AutonomousFactory;
-import frc.robot.commands.*;
-import frc.robot.subsystems.*;
/**
* This class is where the bulk of the robot should be declared. Since Command-based is a
@@ -20,116 +35,117 @@
* periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
* subsystems, commands, and button mappings) should be declared here.
*/
+@SuppressWarnings("PMD.TooManyFields")
public class RobotContainer {
- private final XboxController m_operator = new XboxController(0);
-
- private final CommandXboxController m_operatorCommand = new CommandXboxController(0);
-
- private final XboxController m_driver = new XboxController(1);
-
- private final CommandXboxController m_driverCommand = new CommandXboxController(1);
-
- // The robot's subsystems and commands are defined here...
- private final IntakeSubsystem m_intakeSubsystem = new IntakeSubsystem();
- private final DrivetrainSubsystem m_drivetrainSubsystem = new DrivetrainSubsystem();
- private final ClimberSubsystem m_climberSubsystem = new ClimberSubsystem();
- private final ShooterSubsytem m_shooterSubsystem = new ShooterSubsytem();
- private final TowerSubsystem m_towerSubsystem = new TowerSubsystem();
- private final HopperSubsystem m_hopperSubsystem = new HopperSubsystem();
-
- private final LimelightSubsystem m_limelightSubsystem = new LimelightSubsystem();
-
- private final ShooterLookupTable m_shooterLookupTable = new ShooterLookupTable();
-
- private final AutonomousFactory m_autonomousFactory = new AutonomousFactory(m_drivetrainSubsystem, m_shooterSubsystem);
-
- private final RunIntakeCommand m_intakeInCommand =
- new RunIntakeCommand(m_intakeSubsystem, 0.5, m_hopperSubsystem, m_towerSubsystem, 0.5);
- private final RunIntakeCommand m_intakeOutCommand =
- new RunIntakeCommand(m_intakeSubsystem, -0.5, m_hopperSubsystem, m_towerSubsystem, -0.5);
- private final StopIntakeCommand m_intakeStopCommand =
- new StopIntakeCommand(m_intakeSubsystem, m_hopperSubsystem);
- private final DriveCommand m_driveCommand = new DriveCommand(m_drivetrainSubsystem, m_operator);
- // private final KickIfShootSetRPMCommand m_kickIfShootSetRPMCommand =
- // new KickIfShootSetRPMCommand(m_shooterSubsystem, m_towerSubsystem);
-
- public RobotContainer() {
- CameraServer.startAutomaticCapture();
- // Configure the button bindings
- configureButtonBindings();
- m_intakeSubsystem.setDefaultCommand(m_intakeStopCommand);
- m_hopperSubsystem.setDefaultCommand(new HopperCommand(m_hopperSubsystem, 0));
- m_shooterSubsystem.setDefaultCommand(new SetShooterSpeedCommand(m_shooterSubsystem, 0));
- m_drivetrainSubsystem.setDefaultCommand(m_driveCommand);
- m_climberSubsystem.setDefaultCommand(new ClimberCommand(m_climberSubsystem, 0));
-// ShuffleboardTab testCommands = Shuffleboard.getTab("test commands");
-
- // testCommands.add("ClimbUp", new ClimberCommand(m_climberSubsystem, 0.25));
- // testCommands.add("ClimbDown", new ClimberCommand(m_climberSubsystem, -0.25));
- // testCommands.add("IntakeIn", new RunIntakeCommand(m_intakeSubsystem, 0.75,
- // m_hopperSubsystem));
- // testCommands.add(
- // "IntakeOut", new RunIntakeCommand(m_intakeSubsystem, -0.75, m_hopperSubsystem));
- // testCommands.add(
- // "Shoot RPM", new ShooterPIDCommand(m_shooterSubsystem, m_tunableShooterGoal.get()));
- // testCommands.add("Tower Up", new TowerUpCommand(m_towerSubsystem));
- // testCommands.add("Tower Down", new TowerDownCommand(m_towerSubsystem));
- // testCommands.add("Tower Kicker", new TowerKickerCommand(m_towerSubsystem));
- // testCommands.add("Hopper Up", new HopperCommand(m_hopperSubsystem, 0.5));
- // testCommands.add("Hopper Down", new HopperCommand(m_hopperSubsystem, -0.5));
- }
-
- /**
- * 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 passing it to a {@link
- * edu.wpi.first.wpilibj2.command.button.JoystickButton}.
- */
- private void configureButtonBindings() {
- /* FOR SIENNA :)
- moving drivetrain
- intake out/in
- shooter + kicker logic
- conveyor up/down
- climber up/down
- kicker separately
- */
-
-
-
- // driver joystick
- m_operatorCommand.rightTrigger().whileTrue(m_intakeInCommand);
- new JoystickButton(m_operator, XboxController.Button.kRightBumper.value)
- .whileTrue(m_intakeOutCommand);
-
- new JoystickButton(m_driver, XboxController.Button.kLeftBumper.value)
- .whileTrue(new ClimberCommand(m_climberSubsystem, 0.75));
- m_driverCommand.leftTrigger().whileTrue(new ClimberCommand(m_climberSubsystem, -0.75));
-
- new JoystickButton(m_operator, XboxController.Button.kB.value)
- .whileTrue(new KickIfShootSetRPMCommand(m_shooterSubsystem, m_towerSubsystem, 1000));
- new JoystickButton(m_operator, XboxController.Button.kA.value)
- .whileTrue(new KickIfShootSetRPMCommand(m_shooterSubsystem, m_towerSubsystem, 2000));
-
- //testing: individually shoot out by addressing shooter and tower
- new JoystickButton(m_operator, XboxController.Button.kX.value)
- .whileTrue(new ShootFromDistanceCommand(m_shooterSubsystem, m_limelightSubsystem, m_shooterLookupTable));
-
- new JoystickButton(m_operator, XboxController.Button.kLeftBumper.value)
- .whileTrue(new TowerUpCommand(m_towerSubsystem));
- new JoystickButton(m_operator, XboxController.Button.kRightBumper.value)
- .whileTrue(new TowerDownCommand(m_towerSubsystem));
- }
-
-
- /**
- * Use this to pass the autonomous command to the main {@link Robot} class.
- *
- * @return the command to run in autonomous
- */
- public Command getAutonomousCommand() {
- // An ExampleCommand will run in autonomous
- return m_autonomousFactory.getAutonomousCommand();
- }
+ private final XboxController m_operator = new XboxController(0);
+
+ private final CommandXboxController m_operatorCommand = new CommandXboxController(0);
+
+ private final XboxController m_driver = new XboxController(1);
+
+ private final CommandXboxController m_driverCommand = new CommandXboxController(1);
+
+ // The robot's subsystems and commands are defined here...
+ private final IntakeSubsystem m_intakeSubsystem = new IntakeSubsystem();
+ private final DrivetrainSubsystem m_drivetrainSubsystem = new DrivetrainSubsystem();
+ private final ClimberSubsystem m_climberSubsystem = new ClimberSubsystem();
+ private final ShooterSubsytem m_shooterSubsystem = new ShooterSubsytem();
+ private final TowerSubsystem m_towerSubsystem = new TowerSubsystem();
+ private final HopperSubsystem m_hopperSubsystem = new HopperSubsystem();
+
+ private final LimelightSubsystem m_limelightSubsystem = new LimelightSubsystem();
+
+ private final ShooterLookupTable m_shooterLookupTable = new ShooterLookupTable();
+
+ private final AutonomousFactory m_autonomousFactory =
+ new AutonomousFactory(m_shooterSubsystem);
+
+ private final RunIntakeCommand m_intakeInCommand =
+ new RunIntakeCommand(m_intakeSubsystem, 0.5, m_hopperSubsystem, m_towerSubsystem, 0.5);
+ private final RunIntakeCommand m_intakeOutCommand =
+ new RunIntakeCommand(m_intakeSubsystem, -0.5, m_hopperSubsystem, m_towerSubsystem, -0.5);
+ private final StopIntakeCommand m_intakeStopCommand =
+ new StopIntakeCommand(m_intakeSubsystem, m_hopperSubsystem);
+ private final DriveCommand m_driveCommand = new DriveCommand(m_drivetrainSubsystem, m_operator);
+ // private final KickIfShootSetRPMCommand m_kickIfShootSetRPMCommand =
+ // new KickIfShootSetRPMCommand(m_shooterSubsystem, m_towerSubsystem);
+
+ public RobotContainer() {
+ CameraServer.startAutomaticCapture();
+ // Configure the button bindings
+ configureButtonBindings();
+ m_intakeSubsystem.setDefaultCommand(m_intakeStopCommand);
+ m_hopperSubsystem.setDefaultCommand(new HopperCommand(m_hopperSubsystem, 0));
+ m_shooterSubsystem.setDefaultCommand(new SetShooterSpeedCommand(m_shooterSubsystem, 0));
+ m_drivetrainSubsystem.setDefaultCommand(m_driveCommand);
+ m_climberSubsystem.setDefaultCommand(new ClimberCommand(m_climberSubsystem, 0));
+ // ShuffleboardTab testCommands = Shuffleboard.getTab("test commands");
+
+ // testCommands.add("ClimbUp", new ClimberCommand(m_climberSubsystem, 0.25));
+ // testCommands.add("ClimbDown", new ClimberCommand(m_climberSubsystem, -0.25));
+ // testCommands.add("IntakeIn", new RunIntakeCommand(m_intakeSubsystem, 0.75,
+ // m_hopperSubsystem));
+ // testCommands.add(
+ // "IntakeOut", new RunIntakeCommand(m_intakeSubsystem, -0.75, m_hopperSubsystem));
+ // testCommands.add(
+ // "Shoot RPM", new ShooterPIDCommand(m_shooterSubsystem, m_tunableShooterGoal.get()));
+ // testCommands.add("Tower Up", new TowerUpCommand(m_towerSubsystem));
+ // testCommands.add("Tower Down", new TowerDownCommand(m_towerSubsystem));
+ // testCommands.add("Tower Kicker", new TowerKickerCommand(m_towerSubsystem));
+ // testCommands.add("Hopper Up", new HopperCommand(m_hopperSubsystem, 0.5));
+ // testCommands.add("Hopper Down", new HopperCommand(m_hopperSubsystem, -0.5));
+ }
+
+ /**
+ * 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 passing it to a {@link
+ * edu.wpi.first.wpilibj2.command.button.JoystickButton}.
+ */
+ private void configureButtonBindings() {
+ /* FOR SIENNA :)
+ moving drivetrain
+ intake out/in
+ shooter + kicker logic
+ conveyor up/down
+ climber up/down
+ kicker separately
+ */
+
+ // driver joystick
+ m_operatorCommand.rightTrigger().whileTrue(m_intakeInCommand);
+ new JoystickButton(m_operator, XboxController.Button.kRightBumper.value)
+ .whileTrue(m_intakeOutCommand);
+
+ new JoystickButton(m_driver, XboxController.Button.kLeftBumper.value)
+ .whileTrue(new ClimberCommand(m_climberSubsystem, 0.75));
+ m_driverCommand.leftTrigger().whileTrue(new ClimberCommand(m_climberSubsystem, -0.75));
+
+ new JoystickButton(m_operator, XboxController.Button.kB.value)
+ .whileTrue(new KickIfShootSetRPMCommand(m_shooterSubsystem, m_towerSubsystem, 1000));
+ new JoystickButton(m_operator, XboxController.Button.kA.value)
+ .whileTrue(new KickIfShootSetRPMCommand(m_shooterSubsystem, m_towerSubsystem, 2000));
+
+ // testing: individually shoot out by addressing shooter and tower
+ new JoystickButton(m_operator, XboxController.Button.kX.value)
+ .whileTrue(
+ new ShootFromDistanceCommand(
+ m_shooterSubsystem, m_limelightSubsystem, m_shooterLookupTable));
+
+ new JoystickButton(m_operator, XboxController.Button.kLeftBumper.value)
+ .whileTrue(new TowerUpCommand(m_towerSubsystem));
+ new JoystickButton(m_operator, XboxController.Button.kRightBumper.value)
+ .whileTrue(new TowerDownCommand(m_towerSubsystem));
+ }
+
+ /**
+ * Use this to pass the autonomous command to the main {@link Robot} class.
+ *
+ * @return the command to run in autonomous
+ */
+ public Command getAutonomousCommand() {
+ // An ExampleCommand will run in autonomous
+ return m_autonomousFactory.getAutonomousCommand();
+ }
}
diff --git a/src/main/java/frc/robot/ShooterLookupTable.java b/src/main/java/frc/robot/ShooterLookupTable.java
index e531042..48e1ca6 100644
--- a/src/main/java/frc/robot/ShooterLookupTable.java
+++ b/src/main/java/frc/robot/ShooterLookupTable.java
@@ -5,39 +5,33 @@
import java.util.TreeMap;
public class ShooterLookupTable {
- private final NavigableMap All translations and poses are stored with the origin at the rightmost point on the BLUE
-// * ALLIANCE wall. Use the {@link #allianceFlip(Translation2d)} and {@link #allianceFlip(Pose2d)}
-// * methods to flip these values based on the current alliance color.
-// */
-//public final class FieldConstants {
-// public static final double FIELD_LENGTH = Units.inchesToMeters(651.25);
-// public static final double FIELD_WIDTH = Units.inchesToMeters(315.5);
-// public static final double TAPE_WIDTH = Units.inchesToMeters(2.0);
-// public static final double APRIL_TAG_WIDTH = Units.inchesToMeters(6.0);
-//
-// // Dimensions for community and charging station, including the tape.
-// public static final class Community {
-// // Region dimensions
-// public static final double INNER_X = 0.0;
-// public static final double MID_X =
-// Units.inchesToMeters(132.375); // Tape to the left of charging station
-// public static final double OUTER_X =
-// Units.inchesToMeters(193.25); // Tape to the right of charging station
-// public static final double LEFT_Y = Units.feetToMeters(18.0);
-// public static final double MID_Y = LEFT_Y - Units.inchesToMeters(59.39) + TAPE_WIDTH;
-// public static final double RIGHT_Y = 0.0;
-// public static final Translation2d[] REGION_CORNERS = {
-// new Translation2d(INNER_X, RIGHT_Y),
-// new Translation2d(INNER_X, LEFT_Y),
-// new Translation2d(MID_X, LEFT_Y),
-// new Translation2d(MID_X, MID_Y),
-// new Translation2d(OUTER_X, MID_Y),
-// new Translation2d(OUTER_X, RIGHT_Y),
-// };
-//
-// // Charging station dimensions
-// public static final double CHARGING_STATION_LENGTH = Units.inchesToMeters(76.125);
-// public static final double CHARGING_STATION_WIDTH = Units.inchesToMeters(97.25);
-// public static final double CHARGING_STATION_OUTER_X = OUTER_X - TAPE_WIDTH;
-// public static final double CHARGING_STATION_INNER_X =
-// CHARGING_STATION_OUTER_X - CHARGING_STATION_LENGTH;
-// public static final double CHARGING_STATION_LEFT_Y = MID_Y - TAPE_WIDTH;
-// public static final double CHARGING_STATION_RIGHT_Y = CHARGING_STATION_LEFT_Y - CHARGING_STATION_WIDTH;
-// public static final Translation2d[] CHARGING_STATION_CORNERS = {
-// new Translation2d(CHARGING_STATION_INNER_X, CHARGING_STATION_RIGHT_Y),
-// new Translation2d(CHARGING_STATION_INNER_X, CHARGING_STATION_LEFT_Y),
-// new Translation2d(CHARGING_STATION_OUTER_X, CHARGING_STATION_RIGHT_Y),
-// new Translation2d(CHARGING_STATION_OUTER_X, CHARGING_STATION_LEFT_Y)
-// };
-//
-// // Cable bump
-// public static final double CABLE_BUMP_INNER_X =
-// INNER_X + Grids.OUTER_X + Units.inchesToMeters(95.25);
-// public static final double CABLE_BUMP_OUTER_X = CABLE_BUMP_INNER_X + Units.inchesToMeters(7);
-// public static final Translation2d[] CABLE_BUMP_CORNERS = {
-// new Translation2d(CABLE_BUMP_INNER_X, 0.0),
-// new Translation2d(CABLE_BUMP_INNER_X, CHARGING_STATION_RIGHT_Y),
-// new Translation2d(CABLE_BUMP_OUTER_X, 0.0),
-// new Translation2d(CABLE_BUMP_OUTER_X, CHARGING_STATION_RIGHT_Y)
-// };
-// }
-//
-// // Dimensions for grids and nodes
-// public static final class Grids {
-// // X layout
-// public static final double OUTER_X = Units.inchesToMeters(54.25);
-// public static final double LOW_X =
-// OUTER_X - (Units.inchesToMeters(14.25) / 2.0); // Centered when under cube nodes
-// public static final double MID_X = OUTER_X - Units.inchesToMeters(22.75);
-// public static final double HIGH_X = OUTER_X - Units.inchesToMeters(39.75);
-//
-// // Y layout
-// public static final int NODE_ROW_COUNT = 9;
-// public static final double NODE_FIRST_Y = Units.inchesToMeters(20.19);
-// public static final double NODE_SEPARATION_Y = Units.inchesToMeters(22.0);
-//
-// // Z layout
-// public static final double CUBE_EDGE_HIGH = Units.inchesToMeters(3.0);
-// public static final double HIGH_CUBE_Z = Units.inchesToMeters(35.5) - CUBE_EDGE_HIGH;
-// public static final double MID_CUBE_Z = Units.inchesToMeters(23.5) - CUBE_EDGE_HIGH;
-// public static final double HIGH_CONE_Z = Units.inchesToMeters(46.0);
-// public static final double MID_CONE_Z = Units.inchesToMeters(34.0);
-//
-// // Translations (all nodes in the same column/row have the same X/Y coordinate)
-// public static final Translation2d[] LOW_TRANSLATIONS = new Translation2d[NODE_ROW_COUNT];
-// public static final Translation2d[] MID_TRANSLATIONS = new Translation2d[NODE_ROW_COUNT];
-// public static final Translation3d[] MID_3D_TRANSLATIONS = new Translation3d[NODE_ROW_COUNT];
-// public static final Translation2d[] HIGH_TRANSLATIONS = new Translation2d[NODE_ROW_COUNT];
-// public static final Translation3d[] HIGH_3D_TRANSLATIONS = new Translation3d[NODE_ROW_COUNT];
-//
-// static {
-// for (int i = 0; i < NODE_ROW_COUNT; i++) {
-// boolean isCube = i == 1 || i == 4 || i == 7;
-// LOW_TRANSLATIONS[i] = new Translation2d(LOW_X, NODE_FIRST_Y + NODE_SEPARATION_Y * i);
-// MID_TRANSLATIONS[i] = new Translation2d(MID_X, NODE_FIRST_Y + NODE_SEPARATION_Y * i);
-// MID_3D_TRANSLATIONS[i] =
-// new Translation3d(MID_X, NODE_FIRST_Y + NODE_SEPARATION_Y * i, isCube ? MID_CUBE_Z : MID_CONE_Z);
-// HIGH_3D_TRANSLATIONS[i] =
-// new Translation3d(
-// HIGH_X, NODE_FIRST_Y + NODE_SEPARATION_Y * i, isCube ? HIGH_CUBE_Z : HIGH_CONE_Z);
-// HIGH_TRANSLATIONS[i] = new Translation2d(HIGH_X, NODE_FIRST_Y + NODE_SEPARATION_Y * i);
-// }
-// }
-//
-// // Complex low layout (shifted to account for cube vs cone rows and wide edge nodes)
-// public static final double COMPLEX_LOW_X_CONES =
-// OUTER_X - Units.inchesToMeters(16.0) / 2.0; // Centered X under cone nodes
-// public static final double COMPLEX_LOW_X_CUBES = LOW_X; // Centered X under cube nodes
-// public static final double COMPLEX_LOW_OUTER_Y_OFFSET =
-// NODE_FIRST_Y - Units.inchesToMeters(3.0) - (Units.inchesToMeters(25.75) / 2.0);
-//
-// public static final Translation2d[] COMPLEX_LOW_TRANSLATIONS = {
-// new Translation2d(COMPLEX_LOW_X_CONES, NODE_FIRST_Y - COMPLEX_LOW_OUTER_Y_OFFSET),
-// new Translation2d(COMPLEX_LOW_X_CUBES, NODE_FIRST_Y + NODE_SEPARATION_Y * 1),
-// new Translation2d(COMPLEX_LOW_X_CONES, NODE_FIRST_Y + NODE_SEPARATION_Y * 2),
-// new Translation2d(COMPLEX_LOW_X_CONES, NODE_FIRST_Y + NODE_SEPARATION_Y * 3),
-// new Translation2d(COMPLEX_LOW_X_CUBES, NODE_FIRST_Y + NODE_SEPARATION_Y * 4),
-// new Translation2d(COMPLEX_LOW_X_CONES, NODE_FIRST_Y + NODE_SEPARATION_Y * 5),
-// new Translation2d(COMPLEX_LOW_X_CONES, NODE_FIRST_Y + NODE_SEPARATION_Y * 6),
-// new Translation2d(COMPLEX_LOW_X_CUBES, NODE_FIRST_Y + NODE_SEPARATION_Y * 7),
-// new Translation2d(
-// COMPLEX_LOW_X_CONES, NODE_FIRST_Y + NODE_SEPARATION_Y * 8 + COMPLEX_LOW_OUTER_Y_OFFSET),
-// };
-// }
-//
-// // Dimensions for loading zone and substations, including the tape
-// public static final class LoadingZone {
-// // Region dimensions
-// public static final double WIDTH = Units.inchesToMeters(99.0);
-// public static final double INNER_X = FieldConstants.FIELD_LENGTH;
-// public static final double MID_X = FIELD_LENGTH - Units.inchesToMeters(132.25);
-// public static final double OUTER_X = FIELD_LENGTH - Units.inchesToMeters(264.25);
-// public static final double LEFT_Y = FieldConstants.FIELD_WIDTH;
-// public static final double MID_Y = LEFT_Y - Units.inchesToMeters(50.5);
-// public static final double RIGHT_Y = LEFT_Y - WIDTH;
-// public static final Translation2d[] REGION_CORNERS = {
-// new Translation2d(
-// MID_X, RIGHT_Y), // Start at lower left next to border with opponent community
-// new Translation2d(MID_X, MID_Y),
-// new Translation2d(OUTER_X, MID_Y),
-// new Translation2d(OUTER_X, LEFT_Y),
-// new Translation2d(INNER_X, LEFT_Y),
-// new Translation2d(INNER_X, RIGHT_Y),
-// };
-//
-// // Double substation dimensions
-// public static final double DOUBLE_SUBSTATION_LENGTH = Units.inchesToMeters(14.0);
-// public static final double DOUBLE_SUBSTATION_X = INNER_X - DOUBLE_SUBSTATION_LENGTH;
-// public static final double DOUBLE_SUBSTATION_SHELF_Z = Units.inchesToMeters(37.375);
-// public static final double DOUBLE_SUBSTATION_CENTER_Y = Units.inchesToMeters(265.74);
-//
-// // Single substation dimensions
-// public static final double SINGLE_SUBSTATION_WIDTH = Units.inchesToMeters(22.75);
-// public static final double SINGLE_SUBSTATION_LEFT_X =
-// FieldConstants.FIELD_LENGTH - DOUBLE_SUBSTATION_LENGTH - Units.inchesToMeters(88.77);
-// public static final double SINGLE_SUBSTATION_CENTER_X =
-// SINGLE_SUBSTATION_LEFT_X + (SINGLE_SUBSTATION_WIDTH / 2.0);
-// public static final double SINGLE_SUBSTATION_RIGHT_X =
-// SINGLE_SUBSTATION_LEFT_X + SINGLE_SUBSTATION_WIDTH;
-// public static final Translation2d SINGLE_SUBSTATION_TRANSLATION =
-// new Translation2d(SINGLE_SUBSTATION_CENTER_X, LEFT_Y);
-//
-// public static final double SINGLE_SUBSTATION_HEIGHT = Units.inchesToMeters(18.0);
-// public static final double SINGLE_SUBSTATION_LOW_Z = Units.inchesToMeters(27.125);
-// public static final double SINGLE_SUBSTATION_CENTER_Z =
-// SINGLE_SUBSTATION_LOW_Z + (SINGLE_SUBSTATION_HEIGHT / 2.0);
-// public static final double SINGLE_SUBSTATION_HIGH_Z =
-// SINGLE_SUBSTATION_LOW_Z + SINGLE_SUBSTATION_HEIGHT;
-// }
-//
-// // Locations of staged game pieces
-// public static final class StagingLocations {
-// public static final double CENTER_OFFSET_X = Units.inchesToMeters(47.36);
-// public static final double POSITION_X = FIELD_LENGTH / 2.0 - Units.inchesToMeters(47.36);
-// public static final double FIRST_Y = Units.inchesToMeters(36.19);
-// public static final double SEPARATION_Y = Units.inchesToMeters(48.0);
-// public static final Translation2d[] TRANSLATIONS = new Translation2d[4];
-//
-// static {
-// for (int i = 0; i < TRANSLATIONS.length; i++) {
-// TRANSLATIONS[i] = new Translation2d(POSITION_X, FIRST_Y + (i * SEPARATION_Y));
-// }
-// }
-// }
-//}
diff --git a/styleguide/checkstyle.xml b/styleguide/checkstyle.xml
new file mode 100644
index 0000000..b6983ec
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