Team_2648/2025_Robot_Code
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processor placement, advantagekit, and chirp

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This commit is contained in:
Tylr-J42 2025-02-24 07:50:18 -05:00
parent 4d260809d8
commit d934cdf35b
11 changed files with 184 additions and 16 deletions
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8
build.gradle
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@ -10,6 +10,11 @@ java {
def ROBOT_MAIN_CLASS = "frc.robot.Main"
task(replayWatch, type: JavaExec) {
mainClass = "org.littletonrobotics.junction.ReplayWatch"
classpath = sourceSets.main.runtimeClasspath
}
// Define my targets (RoboRIO) and artifacts (deployable files)
// This is added by GradleRIO's backing project DeployUtils.
deploy {
@ -72,6 +77,9 @@ dependencies {
testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
annotationProcessor "org.littletonrobotics.akit:akit-autolog:$akitJson.version"
}
test {

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src/main/deploy/Orchestra/doomE1M1.chrp Normal file
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2
src/main/deploy/pathplanner/navgrid.json
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54
src/main/deploy/pathplanner/paths/New Path.path Normal file
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@ -0,0 +1,54 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 2.0,
"y": 7.0
},
"prevControl": null,
"nextControl": {
"x": 3.0,
"y": 7.0
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 3.4559075342465753,
"y": 3.123458904109589
},
"prevControl": {
"x": 2.4559075342465753,
"y": 3.123458904109589
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 4.0,
"maxAcceleration": 4.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": 57.80426606528677
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 0.0
},
"useDefaultConstraints": true
}

32
src/main/java/frc/robot/Robot.java
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@ -4,7 +4,15 @@
package frc.robot;
import edu.wpi.first.wpilibj.TimedRobot;
import org.littletonrobotics.junction.LoggedRobot;
import org.littletonrobotics.junction.LogFileUtil;
import org.littletonrobotics.junction.Logger;
import org.littletonrobotics.junction.networktables.NT4Publisher;
import org.littletonrobotics.junction.wpilog.WPILOGReader;
import org.littletonrobotics.junction.wpilog.WPILOGWriter;
import edu.wpi.first.wpilibj.PowerDistribution;
import edu.wpi.first.wpilibj.PowerDistribution.ModuleType;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
@ -14,11 +22,31 @@ import edu.wpi.first.wpilibj2.command.CommandScheduler;
* the package after creating this project, you must also update the build.gradle file in the
* project.
*/
public class Robot extends TimedRobot {
public class Robot extends LoggedRobot {
private Command m_autonomousCommand;
private RobotContainer m_robotContainer;
@SuppressWarnings("resource")
public Robot() {
Logger.recordMetadata("ProjectName", "2025_Robot_Code"); // Set a metadata value
if (isReal()) {
Logger.addDataReceiver(new WPILOGWriter()); // Log to a USB stick ("/U/logs")
Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables
new PowerDistribution(1, ModuleType.kRev); // Enables power distribution logging
} else {
setUseTiming(false); // Run as fast as possible
String logPath = LogFileUtil.findReplayLog(); // Pull the replay log from AdvantageScope (or prompt the user)
Logger.setReplaySource(new WPILOGReader(logPath)); // Read replay log
Logger.addDataReceiver(new WPILOGWriter(LogFileUtil.addPathSuffix(logPath, "_sim"))); // Save outputs to a new log
}
Logger.start(); // Start logging! No more data receivers, replay sources, or metadata values may be added.
}
/**
* This function is run when the robot is first started up and should be used for any
* initialization code.

26
src/main/java/frc/robot/RobotContainer.java
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@ -7,6 +7,7 @@ package frc.robot;
import frc.robot.constants.ManipulatorPivotConstants;
import frc.robot.constants.ClimberPivotConstants;
import frc.robot.constants.ElevatorConstants;
import frc.robot.constants.ManipulatorConstants;
import frc.robot.constants.OIConstants;
import frc.robot.subsystems.ManipulatorPivot;
import frc.robot.subsystems.Vision;
@ -64,6 +65,12 @@ public class RobotContainer {
manipulatorPivot = new ManipulatorPivot();
//commands for pathplanner
NamedCommands.registerCommand("Shoot Coral L4", manipulator.runManipulator(() -> 0.4, true));
NamedCommands.registerCommand("Collect Coral", manipulator.runUntilCollected(() -> 0.35));
NamedCommands.registerCommand("Lift L4", safeMoveManipulator(ElevatorConstants.kL4Position, ManipulatorPivotConstants.kL4Position));
NamedCommands.registerCommand("HP Pickup", safeMoveManipulator(ElevatorConstants.kCoralIntakePosition, ManipulatorPivotConstants.kCoralIntakePosition));
driver = new CommandXboxController(OIConstants.kDriverControllerPort);
operator = new CommandXboxController(OIConstants.kOperatorControllerPort);
@ -143,14 +150,6 @@ public class RobotContainer {
manipulator.runUntilCollected(() -> 0.35)
);
driver.leftBumper().whileTrue(
manipulator.runUntilCollected(() -> 0.5)
);
driver.rightBumper().whileTrue(
manipulator.runManipulator(() -> 1, false)
);
driver.start().and(driver.back()).onTrue(
startingConfig()
);
@ -205,6 +204,8 @@ public class RobotContainer {
safeMoveManipulator(ElevatorConstants.kL3AlgaePosition, ManipulatorPivotConstants.kL3AlgaePosition)
);
operator.y().onTrue(moveWithAlgae(ElevatorConstants.kProcessorPosition, ManipulatorPivotConstants.kProcessorPosition));
}
private void configureNamedCommands() {
@ -418,6 +419,15 @@ public class RobotContainer {
.raceWith(elevator.maintainPosition()));
}
private Command moveWithAlgae(double elevatorPosition, double armPosition) {
/*return moveManipulatorUtil(elevatorPosition, ManipulatorPivotConstants.kPivotSafeStowPosition, false, true)
.deadlineFor(manipulatorPivot.goToSetpoint(() -> armPosition),
elevator.maintainPosition());*/
return manipulatorPivot.goToSetpoint(() -> ManipulatorPivotConstants.kProcessorPosition)
.andThen(elevator.goToSetpoint(() -> elevatorPosition), manipulatorPivot.goToSetpoint(() -> armPosition)
.raceWith(elevator.maintainPosition()));
}
@SuppressWarnings("unused")
private Command startingConfig() {
return moveManipulatorUtil(0, 0, false, true)

2
src/main/java/frc/robot/constants/ManipulatorPivotConstants.java
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@ -43,7 +43,7 @@ public class ManipulatorPivotConstants {
public static final double kL4Position = Units.degreesToRadians(45.0);
public static final double kL2AlgaePosition = Units.degreesToRadians(175.0);
public static final double kL3AlgaePosition = Units.degreesToRadians(175.0);
public static final double kProcesserPosition = Units.degreesToRadians(175.0);
public static final double kProcessorPosition = Units.degreesToRadians(175.0);
public static final double kNetPosition = Units.degreesToRadians(175.0);
/**The closest position to the elevator brace without hitting it */
public static final double kPivotSafeStowPosition = Units.degreesToRadians(71.0);

31
src/main/java/frc/robot/subsystems/Drivetrain.java
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@ -4,10 +4,12 @@
package frc.robot.subsystems;
import java.io.File;
import java.util.Optional;
import java.util.function.BooleanSupplier;
import java.util.function.DoubleSupplier;
import com.ctre.phoenix6.Orchestra;
import com.pathplanner.lib.auto.AutoBuilder;
import com.studica.frc.AHRS;
import com.studica.frc.AHRS.NavXComType;
@ -22,6 +24,8 @@ 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;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.constants.AutoConstants;
@ -43,6 +47,9 @@ public class Drivetrain extends SubsystemBase {
private Vision vision;
public Orchestra m_orchestra = new Orchestra();
private Timer musicTimer = new Timer();
/** Creates a new DriveSubsystem. */
public Drivetrain() {
m_frontLeft = new MAXSwerveModule(
@ -73,7 +80,7 @@ public class Drivetrain extends SubsystemBase {
m_estimator = new SwerveDrivePoseEstimator(
DrivetrainConstants.kDriveKinematics,
Rotation2d.fromDegrees(gyro.getAngle()),
Rotation2d.fromDegrees(getGyroValue()),
new SwerveModulePosition[] {
m_frontLeft.getPosition(),
m_frontRight.getPosition(),
@ -99,6 +106,21 @@ public class Drivetrain extends SubsystemBase {
},
this
);
m_orchestra.loadMusic(Filesystem.getDeployDirectory()
.toPath()
.resolve("Orchestra" + File.separator + "doomE1M1.chrp")
.toString());
// Add a single device to the orchestra
m_orchestra.addInstrument(m_frontLeft.getDrivingMotor(), 0);
m_orchestra.addInstrument(m_frontRight.getDrivingMotor(), 1);
m_orchestra.addInstrument(m_rearLeft.getDrivingMotor(), 2);
m_orchestra.addInstrument(m_rearRight.getDrivingMotor(), 3);
m_orchestra.play();
musicTimer.reset();
musicTimer.start();
}
@Override
@ -130,6 +152,13 @@ public class Drivetrain extends SubsystemBase {
}
*/
if(musicTimer.get()>8){
if (m_orchestra.isPlaying()) {
m_orchestra.stop();
}
musicTimer.stop();
musicTimer.reset();
}
}

8
src/main/java/frc/robot/subsystems/MAXSwerveModule.java
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@ -107,9 +107,9 @@ public class MAXSwerveModule {
// Command driving and turning SPARKS towards their respective setpoints.
m_drive.setControl(
driveVelocityRequest.withVelocity(
correctedDesiredState.speedMetersPerSecond
correctedDesiredState.speedMetersPerSecond / ModuleConstants.kWheelCircumferenceMeters
).withFeedForward(
correctedDesiredState.speedMetersPerSecond
correctedDesiredState.speedMetersPerSecond / ModuleConstants.kWheelCircumferenceMeters
)
);
@ -134,6 +134,10 @@ public class MAXSwerveModule {
return m_turningSpark.get() * RobotController.getBatteryVoltage();
}
public TalonFX getDrivingMotor(){
return m_drive;
}
/** Zeroes all the SwerveModule encoders. */
public void resetEncoders() {
m_drive.setPosition(0);

2
src/main/java/frc/robot/subsystems/ManipulatorPivot.java
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@ -47,7 +47,7 @@ public class ManipulatorPivot extends SubsystemBase {
);
pidController.setSetpoint(0);
pidController.disableContinuousInput();
pidController.enableContinuousInput(0, 180);
feedForward = new ArmFeedforward(
ManipulatorPivotConstants.kFeedForwardS,

35
vendordeps/AdvantageKit.json Normal file
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@ -0,0 +1,35 @@
{
"fileName": "AdvantageKit.json",
"name": "AdvantageKit",
"version": "4.1.1",
"uuid": "d820cc26-74e3-11ec-90d6-0242ac120003",
"frcYear": "2025",
"mavenUrls": [
"https://frcmaven.wpi.edu/artifactory/littletonrobotics-mvn-release/"
],
"jsonUrl": "https://github.com/Mechanical-Advantage/AdvantageKit/releases/latest/download/AdvantageKit.json",
"javaDependencies": [
{
"groupId": "org.littletonrobotics.akit",
"artifactId": "akit-java",
"version": "4.1.1"
}
],
"jniDependencies": [
{
"groupId": "org.littletonrobotics.akit",
"artifactId": "akit-wpilibio",
"version": "4.1.1",
"skipInvalidPlatforms": false,
"isJar": false,
"validPlatforms": [
"linuxathena",
"linuxx86-64",
"linuxarm64",
"osxuniversal",
"windowsx86-64"
]
}
],
"cppDependencies": []
}