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Added CS12 and CS13 first versions

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Bradley Bickford
2024-05-23 19:02:53 -04:00
parent d3b8be3072
commit 1c2266f4c5
46 changed files with 2197 additions and 0 deletions
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3
CS13 - Digital and Analog Input/src/main/deploy/example.txt Normal file
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Files placed in this directory will be deployed to the RoboRIO into the
'deploy' directory in the home folder. Use the 'Filesystem.getDeployDirectory' wpilib function
to get a proper path relative to the deploy directory.

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CS13 - Digital and Analog Input/src/main/java/frc/robot/Main.java Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc.robot;
import edu.wpi.first.wpilibj.RobotBase;
public final class Main {
private Main() {}
public static void main(String... args) {
RobotBase.startRobot(Robot::new);
}
}

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CS13 - Digital and Analog Input/src/main/java/frc/robot/Robot.java Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc.robot;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
public class Robot extends TimedRobot {
private Command m_autonomousCommand;
private RobotContainer m_robotContainer;
@Override
public void robotInit() {
m_robotContainer = new RobotContainer();
}
@Override
public void robotPeriodic() {
CommandScheduler.getInstance().run();
}
@Override
public void disabledInit() {}
@Override
public void disabledPeriodic() {}
@Override
public void disabledExit() {}
@Override
public void autonomousInit() {
m_autonomousCommand = m_robotContainer.getAutonomousCommand();
if (m_autonomousCommand != null) {
m_autonomousCommand.schedule();
}
}
@Override
public void autonomousPeriodic() {}
@Override
public void autonomousExit() {}
@Override
public void teleopInit() {
if (m_autonomousCommand != null) {
m_autonomousCommand.cancel();
}
}
@Override
public void teleopPeriodic() {}
@Override
public void teleopExit() {}
@Override
public void testInit() {
CommandScheduler.getInstance().cancelAll();
}
@Override
public void testPeriodic() {}
@Override
public void testExit() {}
}

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CS13 - Digital and Analog Input/src/main/java/frc/robot/RobotContainer.java Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc.robot;
import java.util.Map;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import frc.robot.constants.ArmConstants;
import frc.robot.constants.OIConstants;
import frc.robot.subsystems.Arm;
import frc.robot.subsystems.Drivetrain;
import frc.robot.subsystems.Elevator;
public class RobotContainer {
private Drivetrain drivetrain;
private Elevator elevator;
private Arm arm;
private CommandXboxController driver;
private CommandXboxController operator;
public RobotContainer() {
drivetrain = new Drivetrain();
elevator = new Elevator();
arm = new Arm();
driver = new CommandXboxController(OIConstants.kDriverUSB);
operator = new CommandXboxController(OIConstants.kOperatorUSB);
configureBindings();
configureShuffleboard();
}
private void configureBindings() {
drivetrain.setDefaultCommand(
drivetrain.driveArcade(
driver::getLeftY,
driver::getLeftX
)
);
elevator.setDefaultCommand(
elevator.setSpeed(operator::getLeftY)
);
arm.setDefaultCommand(
arm.setSpeed(operator::getRightY)
);
operator.a().onTrue(elevator.goToTop(() -> .5, 3));
operator.b().onTrue(elevator.goToBottom(() -> .5, 3));
operator.x().onTrue(arm.goToAngle(() -> .5, 45, 3));
operator.y().onTrue(arm.goToAngle(() -> .5, 135, 3));
}
private void configureShuffleboard() {
ShuffleboardTab robotIndicatorTab = Shuffleboard.getTab(OIConstants.kRobotIndicatorsTabName);
robotIndicatorTab.addBoolean("Elevator Top Beam Break", elevator::getTopBeamBreak)
.withPosition(0, 0)
.withSize(2, 1)
.withWidget(BuiltInWidgets.kBooleanBox);
robotIndicatorTab.addBoolean("Elevator Bottom Beam Break", elevator::getBottomBeamBreak)
.withPosition(0, 1)
.withSize(2, 1)
.withWidget(BuiltInWidgets.kBooleanBox);
robotIndicatorTab.addDouble("Arm Angle", arm::getArmAngle)
.withPosition(2, 0)
.withSize(2, 2)
.withWidget(BuiltInWidgets.kDial)
.withProperties(Map.of(
"Max", ArmConstants.kPotentiometerMaxAngle
));
}
public Command getAutonomousCommand() {
return drivetrain.driveTank(() -> .4, () -> -.4);
}
}

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CS13 - Digital and Analog Input/src/main/java/frc/robot/constants/ArmConstants.java Normal file
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package frc.robot.constants;
public class ArmConstants {
public static final int kMotorPWM = 6;
public static final int kPotentiometerAnalogIn = 0;
public static final double kPotentiometerMaxAngle = 180;
}

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CS13 - Digital and Analog Input/src/main/java/frc/robot/constants/DrivetrainConstants.java Normal file
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package frc.robot.constants;
public class DrivetrainConstants {
public static final int kLeftFrontPWM = 0;
public static final int kLeftRearPWM = 1;
public static final int kRightFrontPWM = 2;
public static final int kRightRearPWM = 3;
}

9
CS13 - Digital and Analog Input/src/main/java/frc/robot/constants/ElevatorConstants.java Normal file
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package frc.robot.constants;
public class ElevatorConstants {
public static final int kMotor1PWM = 4;
public static final int kMotor2PWM = 5;
public static final int kBottomBeamBreakDIO = 0;
public static final int kTopBeamBreakDIO = 1;
}

8
CS13 - Digital and Analog Input/src/main/java/frc/robot/constants/OIConstants.java Normal file
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package frc.robot.constants;
public class OIConstants {
public static final int kDriverUSB = 0;
public static final int kOperatorUSB = 1;
public static final String kRobotIndicatorsTabName = "Robot Indicators";
}

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CS13 - Digital and Analog Input/src/main/java/frc/robot/subsystems/Arm.java Normal file
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package frc.robot.subsystems;
import java.util.function.DoubleSupplier;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.wpilibj.AnalogPotentiometer;
import edu.wpi.first.wpilibj.motorcontrol.VictorSP;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.constants.ArmConstants;
public class Arm extends SubsystemBase {
private VictorSP motor;
private AnalogPotentiometer potentiometer;
public Arm() {
motor = new VictorSP(ArmConstants.kMotorPWM);
potentiometer = new AnalogPotentiometer(
ArmConstants.kPotentiometerAnalogIn,
ArmConstants.kPotentiometerMaxAngle
);
}
public double getArmAngle() {
return potentiometer.get();
}
public Command setSpeed(DoubleSupplier speed){
return run(() -> {
motor.set(speed.getAsDouble());
});
}
public Command goToAngle(DoubleSupplier speed, double angle, double timeout) {
boolean shouldNegate = potentiometer.get() > angle;
return setSpeed(() -> {
if (shouldNegate) {
return -1 * Math.abs(speed.getAsDouble());
} else {
return Math.abs(speed.getAsDouble());
}
})
.until(() -> MathUtil.isNear(angle, potentiometer.get(), 3))
.withTimeout(timeout);
}
public Command stop() {
return setSpeed(() -> 0);
}
}

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CS13 - Digital and Analog Input/src/main/java/frc/robot/subsystems/Drivetrain.java Normal file
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package frc.robot.subsystems;
import java.util.function.DoubleSupplier;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.motorcontrol.VictorSP;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.constants.DrivetrainConstants;
public class Drivetrain extends SubsystemBase {
private VictorSP leftFront;
private VictorSP leftRear;
private VictorSP rightFront;
private VictorSP rightRear;
private DifferentialDrive drive;
public Drivetrain() {
leftFront = new VictorSP(DrivetrainConstants.kLeftFrontPWM);
leftRear = new VictorSP(DrivetrainConstants.kLeftRearPWM);
rightFront = new VictorSP(DrivetrainConstants.kRightFrontPWM);
rightRear = new VictorSP(DrivetrainConstants.kRightRearPWM);
leftFront.addFollower(leftRear);
rightFront.addFollower(rightRear);
rightFront.setInverted(true);
drive = new DifferentialDrive(leftFront, rightFront);
}
public Command driveArcade(DoubleSupplier xSpeed, DoubleSupplier zRotation) {
return run(() -> {
drive.arcadeDrive(xSpeed.getAsDouble(), zRotation.getAsDouble());
});
}
public Command driveTank(DoubleSupplier leftSpeed, DoubleSupplier rightSpeed) {
return run(() -> {
drive.tankDrive(leftSpeed.getAsDouble(), rightSpeed.getAsDouble());
});
}
}

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CS13 - Digital and Analog Input/src/main/java/frc/robot/subsystems/Elevator.java Normal file
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package frc.robot.subsystems;
import java.util.function.DoubleSupplier;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.motorcontrol.VictorSP;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.constants.ElevatorConstants;
public class Elevator extends SubsystemBase {
private VictorSP motor1;
private VictorSP motor2;
private DigitalInput bottomBeamBreak;
private DigitalInput topBeamBreak;
public Elevator() {
motor1 = new VictorSP(ElevatorConstants.kMotor1PWM);
motor2 = new VictorSP(ElevatorConstants.kMotor2PWM);
motor1.addFollower(motor2);
bottomBeamBreak = new DigitalInput(ElevatorConstants.kBottomBeamBreakDIO);
topBeamBreak = new DigitalInput(ElevatorConstants.kTopBeamBreakDIO);
}
public boolean getBottomBeamBreak() {
return bottomBeamBreak.get();
}
public boolean getTopBeamBreak() {
return topBeamBreak.get();
}
public Command setSpeed(DoubleSupplier speed) {
return run(() -> {
double desiredSpeed = speed.getAsDouble();
if (desiredSpeed < 0) {
if (bottomBeamBreak.get()) {
motor1.set(0);
} else {
motor1.set(desiredSpeed);
}
} else {
if (topBeamBreak.get()) {
motor1.set(0);
} else {
motor1.set(desiredSpeed);
}
}
});
}
public Command goToBottom(DoubleSupplier speed, double timeout) {
return setSpeed(() -> -Math.abs(speed.getAsDouble()))
.until(bottomBeamBreak::get)
.withTimeout(timeout);
}
public Command goToTop(DoubleSupplier speed, double timeout) {
return setSpeed(() -> Math.abs(speed.getAsDouble()))
.until(topBeamBreak::get)
.withTimeout(timeout);
}
public Command stop() {
return setSpeed(() -> 0);
}
}