Team_2648/2024_Robot_Code
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operator and driver controls change

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This commit is contained in:
Tyler-J42 2024-02-29 03:38:24 -05:00
parent 4c8c449776
commit 662c31702f
7 changed files with 152 additions and 10 deletions
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37
src/main/deploy/pathplanner/autos/Center Subwoofer 1S.auto Normal file
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@ -0,0 +1,37 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 1.335622956146197,
"y": 5.5196408968316515
},
"rotation": 179.37978729180955
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "Charge Shooter"
}
},
{
"type": "named",
"data": {
"name": "Speaker Note Shot"
}
},
{
"type": "path",
"data": {
"pathName": "Center Subwoofer to Center"
}
}
]
}
},
"folder": null,
"choreoAuto": false
}

18
src/main/deploy/pathplanner/autos/Left Subwoofer Center 1S.auto Normal file
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@ -0,0 +1,18 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 2,
"y": 2
},
"rotation": 0
},
"command": {
"type": "sequential",
"data": {
"commands": []
}
},
"folder": null,
"choreoAuto": false
}

6
src/main/deploy/pathplanner/autos/Right Subwoofer 1S.auto
View File

@ -17,6 +17,12 @@
"name": "Charge Shooter"
}
},
{
"type": "wait",
"data": {
"waitTime": 2.0
}
},
{
"type": "named",
"data": {

74
src/main/deploy/pathplanner/paths/Center Subwoofer to Center.path Normal file
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@ -0,0 +1,74 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 1.335622956146197,
"y": 5.5196408968316515
},
"prevControl": null,
"nextControl": {
"x": 2.3356229561461985,
"y": 5.5196408968316515
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 4.072055095677142,
"y": 5.028486410249174
},
"prevControl": {
"x": 3.364392809755599,
"y": 5.618204981850461
},
"nextControl": {
"x": 4.843869288878178,
"y": 4.385307915914977
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 7.299641721790566,
"y": 0.877061583182996
},
"prevControl": {
"x": 6.773404771880769,
"y": 4.046177437084219
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [
{
"waypointRelativePos": 0.9,
"rotationDegrees": 90.25335933192582,
"rotateFast": false
}
],
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
"goalEndState": {
"velocity": 0,
"rotation": 0,
"rotateFast": false
},
"reversed": false,
"folder": null,
"previewStartingState": {
"rotation": 179.04515874612784,
"velocity": 0
},
"useDefaultConstraints": true
}

9
src/main/java/frc/robot/RobotContainer.java
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@ -189,7 +189,7 @@ public class RobotContainer {
);
// Lock on to the appropriate Amp AprilTag while still being able to strafe and drive forward and back
driver.a().onTrue(
driver.leftBumper().onTrue(
drivetrain.driveAprilTagLock(
driver::getLeftY,
driver::getLeftX,
@ -260,6 +260,13 @@ public class RobotContainer {
operator.y().whileTrue(Commands.parallel(climber.setSpeedWithSupplier(operator::getRightTriggerAxis), shooter.climbState()));
driver.a().whileTrue(indexer.shootNote(() -> 1.0));
operator.back().toggleOnTrue(shooter.manualPivot(
() -> operator.getLeftY(),
() -> operator.getRightTriggerAxis()-operator.getLeftTriggerAxis()
));
operator.start().onTrue(shooter.zeroEncoder());
}

4
src/main/java/frc/robot/subsystems/Climber.java
View File

@ -29,8 +29,10 @@ public class Climber extends SubsystemBase {
public Command setSpeedWithSupplier(DoubleSupplier speed) {
return run(() -> {
if(shooterAngle.getAsDouble() > Math.toRadians(-10.0)){
if(shooterAngle.getAsDouble() > Math.toRadians(-5.0)){
motor1.set(VictorSPXControlMode.PercentOutput, speed.getAsDouble());
}else{
motor1.set(VictorSPXControlMode.PercentOutput, 0);
}
});
}

14
src/main/java/frc/robot/subsystems/Shooter.java
View File

@ -4,8 +4,6 @@ import java.util.function.BooleanSupplier;
import java.util.function.DoubleSupplier;
import com.revrobotics.CANSparkMax;
import com.revrobotics.RelativeEncoder;
import com.revrobotics.SparkPIDController;
import com.revrobotics.CANSparkBase.IdleMode;
import com.revrobotics.CANSparkLowLevel.MotorType;
@ -21,9 +19,6 @@ public class Shooter extends SubsystemBase{
private CANSparkMax topShooter;
private CANSparkMax bottomShooter;
private RelativeEncoder bottomEncoder;
private RelativeEncoder topEncoder;
private CANSparkMax shooterPivot;
private Encoder pivotEncoder;
@ -42,9 +37,6 @@ public class Shooter extends SubsystemBase{
shooterPivot = new CANSparkMax(ShooterConstants.kShooterPivotID, MotorType.kBrushless);
shooterPivot.setInverted(true);
topEncoder = topShooter.getEncoder();
bottomEncoder = bottomShooter.getEncoder();
/*
topPID = topShooter.getPIDController();
topPID.setFeedbackDevice(topEncoder);
@ -137,6 +129,12 @@ public class Shooter extends SubsystemBase{
return pivotEncoder.getDistance() + ShooterConstants.kShooterLoadAngle;
}
public Command zeroEncoder(){
return run(() -> {
pivotEncoder.reset();
});
}
public Boolean getBeamBreak(){
return shooterBeamBreak.get();
}