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terrible seizure robot
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@GreenTomato5
GreenTomato5 committed Sep 9, 2024
1 parent 195f162 commit 5f722e5
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Showing 44 changed files with 3,311 additions and 3,522 deletions.
575 changes: 271 additions & 304 deletions src/main/java/frc/robot/Constants.java
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18 changes: 9 additions & 9 deletions src/main/java/frc/robot/Main.java
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Expand Up @@ -22,14 +22,14 @@
*/
public final class Main {

private Main() {}
private Main() {}

/**
* Main initialization function. Do not perform any initialization here.
*
* <p>If you change your main robot class, change the parameter type.
*/
public static void main(String... args) {
RobotBase.startRobot(Robot::new);
}
/**
* Main initialization function. Do not perform any initialization here.
*
* <p>If you change your main robot class, change the parameter type.
*/
public static void main(String... args) {
RobotBase.startRobot(Robot::new);
}
}
284 changes: 136 additions & 148 deletions src/main/java/frc/robot/Robot.java
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Expand Up @@ -13,13 +13,7 @@

package frc.robot;

import com.pathplanner.lib.auto.AutoBuilder;
import com.pathplanner.lib.auto.NamedCommands;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import frc.robot.commands.AutoCommands;
import frc.robot.subsystems.drive.AutoAlign;
import frc.robot.subsystems.manager.*;
import frc.robot.util.NoteSimulator;
Expand All @@ -38,146 +32,140 @@
*/
public class Robot extends LoggedRobot {

public Manager managerSubsystem;
private SendableChooser<Command> autoChooser;

private AutoCommands autoCommands = new AutoCommands(this);

private Command autonomousCommand;

/**
* This function is run when the robot is first started up and should be used for any
* initialization code.
*/
@Override
public void robotInit() {
managerSubsystem = new Manager();
AutoAlign.setManager(managerSubsystem);

NamedCommands.registerCommand("Intaking", autoCommands.intaking());
NamedCommands.registerCommand("Shooting", autoCommands.shooting());
NamedCommands.registerCommand("Return To Idle", autoCommands.returnToIdle());
NamedCommands.registerCommand("Speeding Up", autoCommands.startSpinningUp());
NamedCommands.registerCommand("Spin and Intake", autoCommands.spinAndIntake());

// Record metadata
Logger.recordMetadata("ProjectName", BuildConstants.MAVEN_NAME);
Logger.recordMetadata("BuildDate", BuildConstants.BUILD_DATE);
Logger.recordMetadata("GitSHA", BuildConstants.GIT_SHA);
Logger.recordMetadata("GitDate", BuildConstants.GIT_DATE);
Logger.recordMetadata("GitBranch", BuildConstants.GIT_BRANCH);
switch (BuildConstants.DIRTY) {
case 0:
Logger.recordMetadata("GitDirty", "All changes committed");
break;
case 1:
Logger.recordMetadata("GitDirty", "Uncomitted changes");
break;
default:
Logger.recordMetadata("GitDirty", "Unknown");
break;
}

// Set up data receivers & replay source
switch (Constants.currentMode) {
case REAL:
// Running on a real robot, log to a USB stick ("/U/logs")
Logger.addDataReceiver(new WPILOGWriter());
Logger.addDataReceiver(new NT4Publisher());
break;
case SIM:
// Running a physics simulator, log to NT
Logger.addDataReceiver(new NT4Publisher());
// Logger.addDataReceiver(new WPILOGWriter("C:\\Dev\\Robotics
// Related\\Controls\\2024-Rewrite\\logs", defaultPeriodSecs));
break;
case REPLAY:
// Replaying a log, set up replay source
setUseTiming(false); // Run as fast as possible
String logPath = LogFileUtil.findReplayLog();
Logger.setReplaySource(new WPILOGReader(logPath));
Logger.addDataReceiver(
new WPILOGWriter(LogFileUtil.addPathSuffix(logPath, "_sim"))
);
break;
}

// See http://bit.ly/3YIzFZ6 for more information on timestamps in AdvantageKit.
// Logger.disableDeterministicTimestamps()

// Start AdvantageKit logger
Logger.start();
// TODO: Make default auto a "cross line" auto
autoChooser = AutoBuilder.buildAutoChooser("Example Auto");
SmartDashboard.putData("Auto Chooser", autoChooser);
}

/** This function is called periodically during all modes. */
@Override
public void robotPeriodic() {
managerSubsystem.periodic();

// Logs note sim logging and updating sims
NoteSimulator.update();
NoteSimulator.logNoteInfo();

CommandScheduler.getInstance().run();
}

/** This function is called once when the robot is disabled. */
@Override
public void disabledInit() {
managerSubsystem.stop();
}

/** This function is called periodically when disabled. */
@Override
public void disabledPeriodic() {}

/** This function is called once the robot enters Auto. */
@Override
public void autonomousInit() {
autonomousCommand = getAutonomousCommand();

// schedule the autonomous command (example)
if (autonomousCommand != null) {
autonomousCommand.schedule();
}
}

/** This function is called periodically during autonomous. */
@Override
public void autonomousPeriodic() {}

/** This function is called once when teleop is enabled. */
@Override
public void teleopInit() {
if (autonomousCommand != null) {
autonomousCommand.cancel();
}
}

/** This function is called periodically during operator control. */
@Override
public void teleopPeriodic() {}

/** This function is called once when test mode is enabled. */
@Override
public void testInit() {}

/** This function is called periodically during test mode. */
@Override
public void testPeriodic() {}

/** This function is called once when the robot is first started up. */
@Override
public void simulationInit() {}

/** This function is called periodically whilst in simulation. */
@Override
public void simulationPeriodic() {}

public Command getAutonomousCommand() {
return autoChooser.getSelected();
}
public Manager managerSubsystem;
// private SendableChooser<Command> autoChooser;

// private AutoCommands autoCommands = new AutoCommands(this);

// private Command autonomousCommand;

/**
* This function is run when the robot is first started up and should be used for any
* initialization code.
*/
@Override
public void robotInit() {
managerSubsystem = new Manager();
AutoAlign.setManager(managerSubsystem);

// NamedCommands.registerCommand("Intaking", autoCommands.intaking());
// NamedCommands.registerCommand("Shooting", autoCommands.shooting());
// NamedCommands.registerCommand("Return To Idle", autoCommands.returnToIdle());
// NamedCommands.registerCommand("Speeding Up", autoCommands.startSpinningUp());
// NamedCommands.registerCommand("Spin and Intake", autoCommands.spinAndIntake());

// Record metadata
Logger.recordMetadata("ProjectName", BuildConstants.MAVEN_NAME);
Logger.recordMetadata("BuildDate", BuildConstants.BUILD_DATE);
Logger.recordMetadata("GitSHA", BuildConstants.GIT_SHA);
Logger.recordMetadata("GitDate", BuildConstants.GIT_DATE);
Logger.recordMetadata("GitBranch", BuildConstants.GIT_BRANCH);
switch (BuildConstants.DIRTY) {
case 0:
Logger.recordMetadata("GitDirty", "All changes committed");
break;
case 1:
Logger.recordMetadata("GitDirty", "Uncomitted changes");
break;
default:
Logger.recordMetadata("GitDirty", "Unknown");
break;
}

// Set up data receivers & replay source
switch (Constants.currentMode) {
case REAL:
// Running on a real robot, log to a USB stick ("/U/logs")
// Logger.addDataReceiver(new WPILOGWriter());
// Logger.addDataReceiver(new NT4Publisher());
break;
case SIM:
// Running a physics simulator, log to NT
Logger.addDataReceiver(new NT4Publisher());
// Logger.addDataReceiver(new WPILOGWriter("C:\\Dev\\Robotics
// Related\\Controls\\2024-Rewrite\\logs", defaultPeriodSecs));
break;
case REPLAY:
// Replaying a log, set up replay source
setUseTiming(false); // Run as fast as possible
String logPath = LogFileUtil.findReplayLog();
Logger.setReplaySource(new WPILOGReader(logPath));
Logger.addDataReceiver(new WPILOGWriter(LogFileUtil.addPathSuffix(logPath, "_sim")));
break;
}

// See http://bit.ly/3YIzFZ6 for more information on timestamps in AdvantageKit.
// Logger.disableDeterministicTimestamps()

// Start AdvantageKit logger
Logger.start();
// TODO: Make default auto a "cross line" auto
// autoChooser = AutoBuilder.buildAutoChooser("Example Auto");
// SmartDashboard.putData("Auto Chooser", autoChooser);
}

/** This function is called periodically during all modes. */
@Override
public void robotPeriodic() {
managerSubsystem.periodic();

// Logs note sim logging and updating sims
NoteSimulator.update();
NoteSimulator.logNoteInfo();

CommandScheduler.getInstance().run();
}

/** This function is called once when the robot is disabled. */
@Override
public void disabledInit() {
managerSubsystem.stop();
}

/** This function is called periodically when disabled. */
@Override
public void disabledPeriodic() {}

/** This function is called once the robot enters Auto. */
@Override
public void autonomousInit() {
// autonomousCommand = getAutonomousCommand();

// // schedule the autonomous command (example)
// if (autonomousCommand != null) {
// autonomousCommand.schedule();
// }
}

/** This function is called periodically during autonomous. */
@Override
public void autonomousPeriodic() {}

/** This function is called once when teleop is enabled. */
@Override
public void teleopInit() {
// if (autonomousCommand != null) {
// autonomousCommand.cancel();
// }
}

/** This function is called periodically during operator control. */
@Override
public void teleopPeriodic() {}

/** This function is called once when test mode is enabled. */
@Override
public void testInit() {}

/** This function is called periodically during test mode. */
@Override
public void testPeriodic() {}

/** This function is called once when the robot is first started up. */
@Override
public void simulationInit() {}

/** This function is called periodically whilst in simulation. */
@Override
public void simulationPeriodic() {}
}
68 changes: 31 additions & 37 deletions src/main/java/frc/robot/commands/AutoCommands.java
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Expand Up @@ -8,41 +8,35 @@

public class AutoCommands {

Robot robot = null;

public AutoCommands(Robot robot) {
this.robot = robot;
}

public Command intaking() {
return Commands.sequence(
new InstantCommand(() -> robot.managerSubsystem.setState(ManagerStates.INTAKING))
);
}

public Command shooting() {
return Commands.sequence(
new InstantCommand(() -> robot.managerSubsystem.setState(ManagerStates.SHOOTING))
);
}

public Command returnToIdle() {
return Commands.sequence(
new InstantCommand(() -> robot.managerSubsystem.setState(ManagerStates.IDLE))
);
}

public Command startSpinningUp() {
return Commands.sequence(
new InstantCommand(() -> robot.managerSubsystem.setState(ManagerStates.SPINNING_UP))
);
}

public Command spinAndIntake() {
return Commands.sequence(
new InstantCommand(() ->
robot.managerSubsystem.setState(ManagerStates.SPINNING_AND_INTAKING)
)
);
}
Robot robot = null;

public AutoCommands(Robot robot) {
this.robot = robot;
}

public Command intaking() {
return Commands.sequence(
new InstantCommand(() -> robot.managerSubsystem.setState(ManagerStates.INTAKING)));
}

public Command shooting() {
return Commands.sequence(
new InstantCommand(() -> robot.managerSubsystem.setState(ManagerStates.SHOOTING)));
}

public Command returnToIdle() {
return Commands.sequence(
new InstantCommand(() -> robot.managerSubsystem.setState(ManagerStates.IDLE)));
}

public Command startSpinningUp() {
return Commands.sequence(
new InstantCommand(() -> robot.managerSubsystem.setState(ManagerStates.SPINNING_UP)));
}

public Command spinAndIntake() {
return Commands.sequence(
new InstantCommand(
() -> robot.managerSubsystem.setState(ManagerStates.SPINNING_AND_INTAKING)));
}
}
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