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Adding CS10 and CS11 code

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This commit is contained in:
Bradley Bickford
2024-05-19 19:05:58 -04:00
parent f402bf42b8
commit 5c8d9a1c91
40 changed files with 1972 additions and 0 deletions
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3
CS11 - Autonomous and Command Decoration/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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CS11 - Autonomous and Command Decoration/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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CS11 - Autonomous and Command Decoration/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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CS11 - Autonomous and Command Decoration/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 edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import frc.robot.constants.OIConstants;
import frc.robot.subsystems.Drivetrain;
import frc.robot.subsystems.TruckHorn;
public class RobotContainer {
private Drivetrain drivetrain;
private TruckHorn horn;
private CommandXboxController driver;
public RobotContainer() {
drivetrain = new Drivetrain();
horn = new TruckHorn();
driver = new CommandXboxController(OIConstants.kDriverUSB);
configureBindings();
}
private void configureBindings() {
drivetrain.setDefaultCommand(
drivetrain.driveArcade(
driver::getLeftY,
driver::getLeftX
)
);
horn.setDefaultCommand(horn.stop());
}
public Command getAutonomousCommand() {
return drivetrain.driveTank(() -> .4, () -> .4)
.alongWith(horn.blastHorn()).withTimeout(3)
.andThen(
drivetrain.driveTank(() -> .5, () -> -.5)
.alongWith(horn.threeBlasts(2, 1))
);
}
}

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CS11 - Autonomous and Command Decoration/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;
}

5
CS11 - Autonomous and Command Decoration/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;
}

5
CS11 - Autonomous and Command Decoration/src/main/java/frc/robot/constants/TruckHornConstants.java Normal file
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package frc.robot.constants;
public class TruckHornConstants {
public static final int kTruckHornRelayChannel = 0;
}

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CS11 - Autonomous and Command Decoration/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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CS11 - Autonomous and Command Decoration/src/main/java/frc/robot/subsystems/TruckHorn.java Normal file
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package frc.robot.subsystems;
import edu.wpi.first.wpilibj.Relay;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.constants.TruckHornConstants;
public class TruckHorn extends SubsystemBase {
private Relay horn;
public TruckHorn() {
horn = new Relay(TruckHornConstants.kTruckHornRelayChannel);
}
public Command blastHorn() {
return run(() -> {
horn.set(Relay.Value.kOn);
});
}
public Command timedBlastHorn(double timeout) {
return blastHorn().withTimeout(timeout);
}
public Command threeBlasts(double blastDuration, double timeoutDuration) {
return timedBlastHorn(blastDuration).andThen(
stop().withTimeout(timeoutDuration),
timedBlastHorn(blastDuration),
stop().withTimeout(timeoutDuration),
timedBlastHorn(blastDuration)
);
}
public Command stop() {
return run(() -> {
horn.set(Relay.Value.kOff);
});
}
}