Team_2648/2025_Robot_Code
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fixed drive + climb bindings and kraken chirp

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This commit is contained in:
Tylr-J42 2025-02-27 03:06:56 -05:00
parent 2c1899f3b5
commit 496b9c15f9
6 changed files with 24 additions and 28 deletions
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32
src/main/java/frc/robot/RobotContainer.java
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@ -97,28 +97,21 @@ public class RobotContainer {
operator.y().whileTrue(elevator.sysIdDynamic(Direction.kReverse));
}*/
private void elevatorOnlyBindings(){
elevator.setDefaultCommand(elevator.maintainPosition());
manipulatorPivot.setDefaultCommand(manipulatorPivot.maintainPosition());
driver.a().onTrue(safeMoveManipulator(ElevatorConstants.kL2Position, ManipulatorPivotConstants.kL2Position));
}
private void configureButtonBindings() {
//Default commands
climberPivot.setDefaultCommand(
climberPivot.runPivot(0)
climberPivot.runPivot(() -> 0)
);
climberRollers.setDefaultCommand(
climberRollers.runRoller(0)
climberRollers.runRoller(() -> 0)
);
drivetrain.setDefaultCommand(
drivetrain.drive(
() -> Math.pow(driver.getLeftY(), 3),
() -> Math.pow(driver.getLeftX(), 3),
driver::getRightX, //Math.pow(driver.getRightX(), 3)
() -> Math.signum(driver.getLeftY()) * Math.pow(driver.getLeftY(), 3),
() -> Math.signum(driver.getLeftX()) * Math.pow(driver.getLeftX(), 3),
driver::getRightX, //Math.signum(driver.getRightX()) * Math.pow(driver.getRightX(), 3)
() -> true
)
);
@ -159,12 +152,7 @@ public class RobotContainer {
driver.y().whileTrue(drivetrain.zeroHeading());
driver.povDown().whileTrue(climberPivot.runPivot(-0.5));
driver.povUp().whileTrue(climberPivot.runPivot(0.5));
driver.povLeft().whileTrue(climberRollers.runRoller(0.5));
driver.povRight().whileTrue(climberRollers.runRoller(-0.5));
driver.a().whileTrue(manipulator.runManipulator(() -> 0.5, false));
driver.a().whileTrue(manipulator.runManipulator(() -> -0.5, false));
/*
driver.rightBumper().whileTrue(
@ -213,6 +201,8 @@ public class RobotContainer {
)
);
operator.start().toggleOnTrue(climberPivot.runPivot(() -> operator.getRightY()*0.5).alongWith(climberRollers.runRoller(() -> operator.getLeftY()*0.5)));
operator.a().onTrue(
safeMoveManipulator(ElevatorConstants.kL1Position, 0.0)
);
@ -220,18 +210,18 @@ public class RobotContainer {
operator.x().onTrue(
safeMoveManipulator(ElevatorConstants.kL2AlgaePosition, ManipulatorPivotConstants.kL2AlgaePosition)
.alongWith(manipulator.runManipulator(() -> 0.5, false))
.until(driver.rightTrigger())
.until(() -> driver.a().getAsBoolean())
);
operator.b().onTrue(
safeMoveManipulator(ElevatorConstants.kL3AlgaePosition, ManipulatorPivotConstants.kL3AlgaePosition)
.alongWith(manipulator.runManipulator(() -> 0.5, false))
.until(driver.rightTrigger())
.until(() -> driver.a().getAsBoolean())
);
operator.y().onTrue(moveWithAlgae(ElevatorConstants.kProcessorPosition, ManipulatorPivotConstants.kProcessorPosition)
.alongWith(manipulator.runManipulator(() -> 0.5, false))
.until(driver.rightTrigger())
.until(() -> driver.a().getAsBoolean())
);
}

4
src/main/java/frc/robot/constants/ModuleConstants.java
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@ -2,6 +2,7 @@ package frc.robot.constants;
import com.revrobotics.spark.config.ClosedLoopConfig.FeedbackSensor;
import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
import com.ctre.phoenix6.configs.AudioConfigs;
import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
import com.ctre.phoenix6.configs.FeedbackConfigs;
import com.ctre.phoenix6.configs.MotorOutputConfigs;
@ -57,6 +58,7 @@ public class ModuleConstants {
public static final FeedbackConfigs kDriveFeedConfig = new FeedbackConfigs();
public static final CurrentLimitsConfigs kDriveCurrentLimitConfig = new CurrentLimitsConfigs();
public static final MotorOutputConfigs kDriveMotorConfig = new MotorOutputConfigs();
public static final AudioConfigs kAudioConfig = new AudioConfigs();
public static final Slot0Configs kDriveSlot0Config = new Slot0Configs();
static {
@ -70,6 +72,8 @@ public class ModuleConstants {
kDriveMotorConfig.Inverted = kDriveInversionState;
kDriveMotorConfig.NeutralMode = kDriveIdleMode;
kAudioConfig.AllowMusicDurDisable = true;
kDriveSlot0Config.kP = kDriveP;
kDriveSlot0Config.kI = kDriveI;
kDriveSlot0Config.kD = kDriveD;

6
src/main/java/frc/robot/subsystems/ClimberPivot.java
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@ -1,5 +1,7 @@
package frc.robot.subsystems;
import java.util.function.DoubleSupplier;
import com.revrobotics.RelativeEncoder;
import com.revrobotics.spark.SparkMax;
import com.revrobotics.spark.SparkBase.PersistMode;
@ -30,9 +32,9 @@ public class ClimberPivot extends SubsystemBase {
neoEncoder = pivotMotor.getEncoder();
}
public Command runPivot(double speed) {
public Command runPivot(DoubleSupplier speed) {
return run(() -> {
pivotMotor.set(speed);
pivotMotor.set(speed.getAsDouble());
});
}

6
src/main/java/frc/robot/subsystems/ClimberRollers.java
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@ -1,5 +1,7 @@
package frc.robot.subsystems;
import java.util.function.DoubleSupplier;
import com.revrobotics.spark.SparkMax;
import com.revrobotics.spark.SparkBase.PersistMode;
import com.revrobotics.spark.SparkBase.ResetMode;
@ -32,9 +34,9 @@ public class ClimberRollers extends SubsystemBase {
* @param speed The speed in which the roller runs
* @return Runs the rollers at a set speed
*/
public Command runRoller(double speed) {
public Command runRoller(DoubleSupplier speed) {
return run(() -> {
rollerMotor.set(speed);
rollerMotor.set(speed.getAsDouble());
});
}
}

3
src/main/java/frc/robot/subsystems/Drivetrain.java
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@ -24,7 +24,6 @@ import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
import edu.wpi.first.math.kinematics.SwerveModulePosition;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import edu.wpi.first.wpilibj.Filesystem;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj2.command.Command;
@ -47,8 +46,6 @@ public class Drivetrain extends SubsystemBase {
// Odometry class for tracking robot pose
private SwerveDrivePoseEstimator m_estimator;
private Vision vision;
public Orchestra m_orchestra = new Orchestra();
private Timer musicTimer = new Timer();

1
src/main/java/frc/robot/subsystems/MAXSwerveModule.java
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@ -56,6 +56,7 @@ public class MAXSwerveModule {
m_drive.getConfigurator().apply(ModuleConstants.kDriveCurrentLimitConfig);
m_drive.getConfigurator().apply(ModuleConstants.kDriveFeedConfig);
m_drive.getConfigurator().apply(ModuleConstants.kDriveMotorConfig);
m_drive.getConfigurator().apply(ModuleConstants.kAudioConfig);
m_drive.getConfigurator().apply(ModuleConstants.kDriveSlot0Config);
m_turningSpark.configure(ModuleConstants.turningConfig, ResetMode.kResetSafeParameters,