Team_2648/2024_Robot_Code
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Merging most recent master branch

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This commit is contained in:
Bradley Bickford 2024-02-18 09:02:42 -05:00
commit 53da8f70be
6 changed files with 33 additions and 9 deletions
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10
src/main/java/frc/robot/RobotContainer.java
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@ -133,14 +133,14 @@ public class RobotContainer {
); );
//intake.setDefaultCommand(intake.intakeUpCommand()); //intake.setDefaultCommand(intake.intakeUpCommand());
intake.setDefaultCommand(intake.manualPivot(operator::getLeftY)); intake.setDefaultCommand(intake.manualPivot(operator::getLeftY, driver::getLeftTriggerAxis));
// shooter.setDefaultCommand(shooter.angleSpeedsSetpoints(ShooterConstants.kShooterLoadAngle, 0.0, 0.0)); // shooter.setDefaultCommand(shooter.angleSpeedsSetpoints(ShooterConstants.kShooterLoadAngle, 0.0, 0.0));
shooter.setDefaultCommand(shooter.manualPivot(operator::getRightY)); shooter.setDefaultCommand(shooter.manualPivot(operator::getRightY, operator::getLeftTriggerAxis));
climber.setDefaultCommand(climber.stop()); climber.setDefaultCommand(climber.stop());
indexer.setDefaultCommand(indexer.autoIndexing()); indexer.setDefaultCommand(indexer.shootNote(operator::getRightTriggerAxis));
driver.povCenter().onFalse( driver.povCenter().onFalse(
drivetrain.driveCardinal( drivetrain.driveCardinal(
@ -226,6 +226,10 @@ public class RobotContainer {
.withPosition(0, 0) .withPosition(0, 0)
.withSize(2, 1) .withSize(2, 1)
.withWidget(BuiltInWidgets.kBooleanBox); .withWidget(BuiltInWidgets.kBooleanBox);
teleopTab.addBoolean("indexer beam break", indexer.getBeamBreak());
teleopTab.addBoolean("shooter beam break", shooter.getBeamBreak());
teleopTab.addDouble("shooter angle", shooter.getShooterAngle());
teleopTab.addDouble("intake angle", intake.getIntakeAngle());
} }
public Command getAutonomousCommand() { public Command getAutonomousCommand() {

2
src/main/java/frc/robot/constants/IndexerConstants.java
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@ -3,5 +3,5 @@ package frc.robot.constants;
public class IndexerConstants { public class IndexerConstants {
public static final int kIndexerID = 13; public static final int kIndexerID = 13;
public static final int kIndexerBeamBreakChannel = 3; public static final int kIndexerBeamBreakChannel = 2;
} }

2
src/main/java/frc/robot/constants/ShooterConstants.java
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@ -31,5 +31,5 @@ public class ShooterConstants {
public static final int kShooterEncoderChannelA = 0; public static final int kShooterEncoderChannelA = 0;
public static final int kShooterEncoderChannelB = 1; public static final int kShooterEncoderChannelB = 1;
public static final int kShooterBeamBreakChannel = 4; public static final int kShooterBeamBreakChannel = 3;
} }

12
src/main/java/frc/robot/subsystems/Indexer.java
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@ -1,6 +1,10 @@
package frc.robot.subsystems; package frc.robot.subsystems;
import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMax;
import java.util.function.BooleanSupplier;
import java.util.function.DoubleSupplier;
import com.revrobotics.CANSparkBase.IdleMode; import com.revrobotics.CANSparkBase.IdleMode;
import com.revrobotics.CANSparkLowLevel.MotorType; import com.revrobotics.CANSparkLowLevel.MotorType;
@ -35,9 +39,13 @@ public class Indexer extends SubsystemBase{
}); });
} }
public Command shootNote(){ public Command shootNote(DoubleSupplier indexerSpeed){
return run(() -> { return run(() -> {
indexerMotor.set(1.0); indexerMotor.set(indexerSpeed.getAsDouble());
}); });
} }
public BooleanSupplier getBeamBreak(){
return indexerBeamBreak::get;
}
} }

7
src/main/java/frc/robot/subsystems/Intake.java
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@ -109,9 +109,10 @@ public class Intake extends SubsystemBase{
}); });
} }
public Command manualPivot(DoubleSupplier pivotPower){ public Command manualPivot(DoubleSupplier pivotPower, DoubleSupplier rollerSpinny){
return run(() ->{ return run(() ->{
intakePivot.set(pivotPower.getAsDouble()); intakePivot.set(pivotPower.getAsDouble());
intakeRoller.set(rollerSpinny.getAsDouble());
}); });
} }
@ -154,4 +155,8 @@ public class Intake extends SubsystemBase{
public Command sysIdDynamic(SysIdRoutine.Direction direction) { public Command sysIdDynamic(SysIdRoutine.Direction direction) {
return intakePivotRoutine.dynamic(direction); return intakePivotRoutine.dynamic(direction);
} }
public DoubleSupplier getIntakeAngle(){
return intakeEncoder::getPosition;
}
} }

9
src/main/java/frc/robot/subsystems/Shooter.java
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@ -1,5 +1,6 @@
package frc.robot.subsystems; package frc.robot.subsystems;
import java.util.function.BooleanSupplier;
import java.util.function.DoubleSupplier; import java.util.function.DoubleSupplier;
import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMax;
@ -224,9 +225,15 @@ public class Shooter extends SubsystemBase {
return () -> {return pivotEncoder.getDistance();}; return () -> {return pivotEncoder.getDistance();};
} }
public Command manualPivot(DoubleSupplier pivotPower){ public BooleanSupplier getBeamBreak(){
return shooterBeamBreak::get;
}
public Command manualPivot(DoubleSupplier pivotPower, DoubleSupplier spinny){
return run(() ->{ return run(() ->{
shooterPivot.set(pivotPower.getAsDouble()); shooterPivot.set(pivotPower.getAsDouble());
topShooter.set(spinny.getAsDouble());
bottomShooter.set(spinny.getAsDouble());
}); });
} }