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Finish mapping buttons.
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Some functionality had to be switched to toggle to match the button
design.
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@mrwaldron
mrwaldron committed Feb 29, 2020
1 parent 61a6a8f commit 91d09bb
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Showing 8 changed files with 153 additions and 165 deletions.
1 change: 1 addition & 0 deletions src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -124,6 +124,7 @@ private Constants() {
* Shooter constants
*/
public static final int[] SHOOTER_TALON_CAN_ID_LIST = {30, 31, 32};
public static final int SHOOTER_HOOD_SOLENOID_PORT = 3;
public static final double SHOOTER_SPEED_TOLERANCE_RPM = 600;
public static final double SHOOTER_F = 0.18;
public static final double SHOOTER_P = 0.7;
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108 changes: 30 additions & 78 deletions src/main/java/frc/robot/OI.java
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Original file line number Diff line number Diff line change
Expand Up @@ -48,7 +48,7 @@ public OI(Controller controller, Subsystems subsystems, Log log) {
*
* Driver Controls:
* Left flight joystick: move back/forward, climb up
* Right flight joystick: left/right
* Right flight joystick: left/right, climb up
* While held, right joystick top far left button (Button 5): release ratchets
* While not held, right joystick top far left button (Button 5): enable ratchets
* Right joystick top far right button (Button 6): shift PTO mode
Expand Down Expand Up @@ -82,97 +82,60 @@ public void configureJoysticks(FlightStick driverLeft, FlightStick driverRight,
}


public void configureDriverJoystick(FlightStick leftStick, FlightStick rightStick, String name) {
private void configureDriverJoystick(FlightStick leftStick, FlightStick rightStick, String name) {

// Intake
onTriggered(rightStick.getButton(1), Sequences.startIntaking());
onUntriggered(rightStick.getButton(1), Sequences.stopIntaking());

// slowdrive
// Slow drive
onTriggered(leftStick.getButton(1), Sequences.startSlowDriveForward());
onUntriggered(leftStick.getButton(1), Sequences.setDrivebaseToArcade());

// release/enable ratchets (empty sequence)
onTriggered(rightStick.getButton(5), Sequences.getEmptySequence());
onUntriggered(rightStick.getButton(5), Sequences.getEmptySequence());
// Release/enable ratchets (empty sequence)
onTriggered(rightStick.getButton(5), Sequences.releaseClimberBrake());
onUntriggered(rightStick.getButton(5), Sequences.applyClimberBrake());

// shift PTO mode, toggle (empty sequence)
onTriggered(rightStick.getButton(6), Sequences.getEmptySequence());
onUntriggered(rightStick.getButton(6), Sequences.getEmptySequence());
// Toggle drive / climb mode
onTriggered(rightStick.getButton(6), Sequences.toggleDriveClimbModes());

// Vision lineup
onTriggered(rightStick.getButton(2), Sequences.visionAim());
onUntriggered(rightStick.getButton(2), Sequences.getEmptySequence());
onUntriggered(rightStick.getButton(2), Sequences.setDrivebaseToArcade());

//onTriggered(rightStick.getButton(4), Sequences.deployBuddyClimber());
//onTriggered(rightStick.getButton(5), Sequences.retractBuddyClimber());
//onTriggered(rightStick.getButton(4), Sequences.toggleBuddyClimb());
}

public void configureOperatorJoystick(InputDevice stick, String name) {
// i dont know what the text below is for, its from 2019
//onTriggered(stick.getButton(GamepadButtonsX.START_BUTTON), Sequences.getStartSequence());

//lucas pls finish the colourwheel stuff amogh is confused

//note: manual adjust doesnt have an untriggered stop on it
//note: drop colourwheel has a seperate button (Y)


//colourwheel positional
private void configureOperatorJoystick(InputDevice stick, String name) {
// Colourwheel positional
onTriggered(stick.getButton(GamepadButtonsX.A_BUTTON), Sequences.startColourWheelPositional(WheelColour.UNKNOWN));
onUntriggered(stick.getButton(GamepadButtonsX.A_BUTTON), Sequences.stopColourWheel());

//colourwheel rotational
// Colourwheel rotational
onTriggered(stick.getButton(GamepadButtonsX.X_BUTTON), Sequences.startColourWheelRotational());
onUntriggered(stick.getButton(GamepadButtonsX.X_BUTTON), Sequences.stopColourWheel());

//manual adjust clockwise
onTriggered(stick.getAxis(GamepadButtonsX.LEFT_X_AXIS, GamepadButtonsX.AXIS_THRESHOLD),
() -> {
return Sequences.colourWheelClockwise();
});
onUntriggered(stick.getAxis(GamepadButtonsX.LEFT_X_AXIS, GamepadButtonsX.AXIS_THRESHOLD), Sequences.getEmptySequence());

//manual adjust anticlockwise
onTriggered(stick.getAxis(GamepadButtonsX.LEFT_X_AXIS, -GamepadButtonsX.AXIS_THRESHOLD),
() -> {
return Sequences.colourWheelAnticlockwise();
});
onUntriggered(stick.getAxis(GamepadButtonsX.LEFT_X_AXIS, GamepadButtonsX.AXIS_THRESHOLD), Sequences.getEmptySequence());

//deploy/stow colourwheel, toggle (empty sequence)
onTriggered(stick.getButton(GamepadButtonsX.Y_BUTTON), Sequences.getEmptySequence());

//shoot (empty sequence)
onTriggered(stick.getAxis(GamepadButtonsX.LEFT_TRIGGER_AXIS, GamepadButtonsX.TRIGGER_THRESHOLD),
() -> {
return Sequences.getEmptySequence();
});
onUntriggered(stick.getAxis(GamepadButtonsX.LEFT_TRIGGER_AXIS, GamepadButtonsX.TRIGGER_THRESHOLD), Sequences.getEmptySequence());

//shot 1 (empty sequence)
onTriggered(stick.getButton(GamepadButtonsX.LEFT_BUMPER), Sequences.getEmptySequence());
onUntriggered(stick.getButton(GamepadButtonsX.LEFT_BUMPER), Sequences.getEmptySequence());
// Colourwheel manual adjust clockwise
onTriggered(stick.getAxis(GamepadButtonsX.LEFT_X_AXIS, GamepadButtonsX.AXIS_THRESHOLD), Sequences.colourWheelClockwise());
onUntriggered(stick.getAxis(GamepadButtonsX.LEFT_X_AXIS, GamepadButtonsX.AXIS_THRESHOLD), Sequences.stopColourWheel());

//shot 2 (empty sequence)
onTriggered(stick.getButton(GamepadButtonsX.RIGHT_BUMPER), Sequences.getEmptySequence());
onUntriggered(stick.getButton(GamepadButtonsX.RIGHT_BUMPER), Sequences.getEmptySequence());
// Colourwheel manual adjust anticlockwise
onTriggered(stick.getAxis(GamepadButtonsX.LEFT_X_AXIS, -GamepadButtonsX.AXIS_THRESHOLD), Sequences.colourWheelAnticlockwise());
onUntriggered(stick.getAxis(GamepadButtonsX.LEFT_X_AXIS, GamepadButtonsX.AXIS_THRESHOLD), Sequences.stopColourWheel());

//buddy climb, toggle (empty sequence)
onTriggered(stick.getButton(GamepadButtonsX.B_BUTTON), Sequences.getEmptySequence());
onUntriggered(stick.getButton(GamepadButtonsX.B_BUTTON), Sequences.getEmptySequence());
// Close shot
onTriggered(stick.getAxis(GamepadButtonsX.LEFT_TRIGGER_AXIS, GamepadButtonsX.TRIGGER_THRESHOLD), Sequences.startShooting(/*close=*/true));
onUntriggered(stick.getAxis(GamepadButtonsX.LEFT_TRIGGER_AXIS, GamepadButtonsX.TRIGGER_THRESHOLD), Sequences.stopShooting());

// Colour Wheel testing.
onTriggered(stick.getButton(GamepadButtonsX.A_BUTTON), Sequences.startColourWheelPositional(WheelColour.UNKNOWN));
onUntriggered(stick.getButton(GamepadButtonsX.A_BUTTON), Sequences.stopColourWheel());
onTriggered(stick.getButton(GamepadButtonsX.X_BUTTON), Sequences.startColourWheelRotational());
onUntriggered(stick.getButton(GamepadButtonsX.X_BUTTON), Sequences.stopColourWheel());
onTriggered(stick.getButton(GamepadButtonsX.LEFT_BUMPER), Sequences.colourWheelAnticlockwise());
onUntriggered(stick.getButton(GamepadButtonsX.LEFT_BUMPER), Sequences.stopColourWheel());
onTriggered(stick.getButton(GamepadButtonsX.RIGHT_BUMPER), Sequences.colourWheelClockwise());
onUntriggered(stick.getButton(GamepadButtonsX.RIGHT_BUMPER), Sequences.stopColourWheel());
// Far shot
onTriggered(stick.getAxis(GamepadButtonsX.LEFT_TRIGGER_AXIS, GamepadButtonsX.TRIGGER_THRESHOLD), Sequences.startShooting(/*close=*/false));
onUntriggered(stick.getAxis(GamepadButtonsX.LEFT_TRIGGER_AXIS, GamepadButtonsX.TRIGGER_THRESHOLD), Sequences.stopShooting());

// Spin up shooter. Touch and release the close or far shot buttons to stop shooter wheel.
onTriggered(stick.getButton(GamepadButtonsX.RIGHT_BUMPER), Sequences.spinUpShooter());

// Buddy climb toggle
onTriggered(stick.getButton(GamepadButtonsX.B_BUTTON), Sequences.toggleBuddyClimb());
}


Expand Down Expand Up @@ -225,18 +188,7 @@ public void configureDiagBox(InputDevice box) {
() -> loaderIF.setPaddleNotBlocking(false));
onTriggered(box.getButton(OperatorBoxButtons.LOADER_PADDLE_NOTBLOCKING),
() -> loaderIF.setPaddleNotBlocking(true));

//might be outdated already
/*
ClimberInterface climberIF = subsystems.climberOverride.getOverrideInterface();
// Setup the switch for manual/auto/off modes.
mapOverrideSwitch(box, OperatorBoxButtons.CLIMBER_DISABLE, OperatorBoxButtons.CLIMBER_MANUAL, subsystems.climberOverride);
onTriggered(box.getButton(OperatorBoxButtons.CLIMBER_EXTEND),
() -> climberIF.setDesiredAction(new ClimberAction(Type.SET_BOTH_HEIGHT,
0.2*box.getAxis(OperatorBoxButtons.CLIMBER_POT).read())));
*/

}
}



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26 changes: 19 additions & 7 deletions src/main/java/frc/robot/controller/Controller.java
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Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,6 @@
import frc.robot.interfaces.ColourWheelInterface.ColourAction;
import frc.robot.interfaces.ColourWheelInterface.ColourAction.ColourWheelType;
import frc.robot.lib.WheelColour;
import frc.robot.subsystems.ColourWheel;
import frc.robot.subsystems.Subsystems;

/**
Expand Down Expand Up @@ -124,11 +123,6 @@ public boolean isAlive() {
/**
* Does the simple, dumb and most importantly, safe thing.
*
* See the design doc before changing this.
*
* Steps through: - Wait for all subsystems to finish moving. - Deploy or
* retract the intake if necessary. -
*
* Note if the step asks for something which will cause harm to the robot, the
* request will be ignored. For example if the lift was moved into a position
* the intake could hit it and then the intake was moved into the lift, the
Expand Down Expand Up @@ -169,11 +163,24 @@ private void applyState(State desiredState) {

subsystems.colourWheel.setArmExtended(desiredState.extendColourWheel);
subsystems.colourWheel.setDesiredAction(desiredState.colourAction);

subsystems.shooter.setTargetRPM(desiredState.shooterRPM);
subsystems.shooter.setHoodExtended(desiredState.shooterHoodExtended);

// Toggle buddy climb if needed
if (desiredState.buddyClimbToggle) {
subsystems.buddyClimb.setExtended(!subsystems.buddyClimb.isExtended());
}

// Toggle between drive and climb modes if needed
if (desiredState.driveClimbModeToggle) {
subsystems.drivebase.activateClimbMode(!subsystems.drivebase.isClimbModeEnabled());
}

//subsystems.jevois.setCameraMode(desiredState.cameraMode);
maybeWaitForBalls(desiredState.expectedNumberOfBalls);
waitForIntake();
waitForShooterHood();
maybeWaitForShooter(desiredState.shooterUpToSpeed);
maybeWaitForColourWheel();
// Wait for driving to finish if needed.
Expand All @@ -200,7 +207,12 @@ private void waitForIntake() {
waitUntil(() -> subsystems.intake.isRetracted() || subsystems.intake.isExtended(), "intake to finish moving");
}


/**
* Blocks waiting till the shooter hood is in position.
*/
private void waitForShooterHood() {
waitUntil(() -> subsystems.shooter.isHoodExtended() || subsystems.shooter.isHoodRetracted(), "hood to finish moving");
}

/**
* Maybe wait for the shooter to get up to the target speed.
Expand Down
93 changes: 56 additions & 37 deletions src/main/java/frc/robot/controller/Sequences.java
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Original file line number Diff line number Diff line change
Expand Up @@ -2,9 +2,6 @@
* Sequences for doing most actions on the robot.
*
* If you add a new sequence, add it to allSequences at the end of this file.
*
* Design doc:
* https://docs.google.com/document/d/1IBAw5dKG8hiahRkd8FzU75j3yF6No33oQXtNEKi3LXc/edit#
*/
package frc.robot.controller;

Expand Down Expand Up @@ -93,7 +90,10 @@ public static Sequence startSlowDriveForward() {

public static Sequence setDrivebaseToArcade() {
Sequence seq = new Sequence("Arcade");
seq.add().doArcadeDrive();
seq.add().doArcadeDrive()
.setShooterRPM(0) // Turn off everything that may be on.
.retractShooterHood()
.setLoaderSpinnerMotorRPM(0);
return seq;
}

Expand Down Expand Up @@ -161,36 +161,53 @@ public static Sequence startLoaderTest() {

// Testing methods
public static Sequence startIntakingOnly() {
Sequence seq = new Sequence("start Intaking");
Sequence seq = new Sequence("start intaking");
seq.add().deployIntake();
seq.add().setIntakeMotorOutput(INTAKE_MOTOR_CURRENT).deployIntake();
return seq;
}

public static Sequence stopIntakingOnly() {
Sequence seq = new Sequence("stop Intaking");
Sequence seq = new Sequence("stop intaking");
seq.add().setIntakeMotorOutput(0.0);
seq.add().stowIntake();
return seq;
}

// This is to test the Loader system
public static Sequence startLoader() {
Sequence seq = new Sequence("start Loader");
Sequence seq = new Sequence("start loader");
seq.add().setLoaderSpinnerMotorRPM(LOADER_MOTOR_RPM);
return seq;
}

public static Sequence stopLoader() {
Sequence seq = new Sequence("stop Loader");
Sequence seq = new Sequence("stop loader");
seq.add().setLoaderSpinnerMotorRPM(0.0);
return seq;
}

public static Sequence startShooting() {

/**
* As the shooter takes time to spin up, enable spinning
* it up in advance.
* Touch the startShooting() sequences to halt.
*/
public static Sequence spinUpShooter() {
Sequence seq = new Sequence("spin up shooter");
seq.add().setShooterRPM(SHOOTER_TARGET_SPEED_RPM);
return seq;
}

public static Sequence startShooting(boolean closeToGoal) {
Sequence seq = new Sequence("start shooting");
seq.add().setShooterRPM(SHOOTER_TARGET_SPEED_RPM);
// Give the shooter wheel time to spin up.
seq.add().setDelayDelta(2);
if (closeToGoal) {
// Shooting from just below the goal straight up.
seq.add().retractShooterHood();
} else {
// Shooting from far from the goal at a flat angle.
seq.add().extendShooterHood();
}
// Start the loader to push the balls.
seq.add().setLoaderSpinnerMotorRPM(LOADER_MOTOR_RPM);
// Wait for the shooter wheel to settle.
Expand Down Expand Up @@ -233,9 +250,22 @@ public static Sequence stopDriveByVision() {
public static Sequence visionAim(){
Sequence seq = new Sequence("vision aim");
seq.add().setShooterRPM(SHOOTER_TARGET_SPEED_RPM);
// Start the loader to push the balls.
seq.add().setLoaderSpinnerMotorRPM(LOADER_MOTOR_RPM);
seq.add().extendShooterHood();
// Allow the robot to move to aim to the vision target while
// the shooter wheel spins up.
seq.add().doVisionAim();
// Wait for the shooter wheel to settle if it hasn't already.
seq.add().waitForShooter();
// Back to normal driving so it can be adjusted while shooting.
seq.add().doArcadeDrive();
// Let the balls out of the loader and into the shooter.
seq.add().unblockShooter();
// Wait for all of the balls to leave.
seq.add().waitForBalls(0);
// Turn off everything.
seq.add().setShooterRPM(0).setLoaderPassthroughMotorOutput(0).setLoaderSpinnerMotorRPM(0).blockShooter();
return seq;
}

Expand Down Expand Up @@ -276,41 +306,29 @@ public static Sequence colourWheelClockwise() {
return seq;
}

// Climber
public static Sequence enableClimbMode() {
Sequence seq = new Sequence("Enable climb mode");
seq.add().enableClimbMode();
// Drive / climb mode.
public static Sequence toggleDriveClimbModes() {
Sequence seq = new Sequence("toggle drive / climb modes");
seq.add().toggleDriveClimbMode();
return seq;
}

public static Sequence enableDriveMode() {
Sequence seq = new Sequence("Enable drive mode");
seq.add().enableDriveMode();
return seq;
}

public static Sequence climberBrake() {
Sequence seq = new Sequence("Climber brake apply");
public static Sequence applyClimberBrake() {
Sequence seq = new Sequence("apply climber brake");
seq.add().applyClimberBrake();
return seq;
}

public static Sequence climberStopBrake() {
Sequence seq = new Sequence("Climber brake release");
public static Sequence releaseClimberBrake() {
Sequence seq = new Sequence("release climber brake");
seq.add().releaseClimberBrake();
return seq;
}

// Buddy Climb
public static Sequence deployBuddyClimber() {
Sequence seq = new Sequence("Deploying buddy climb attatchment");
seq.add().deployBuddyClimb();
return seq;
}

public static Sequence retractBuddyClimber() {
Sequence seq = new Sequence("Retracting buddy climb attatchment");
seq.add().retractBuddyClimb();
// Toggle buddy climb (deploy / retract)
public static Sequence toggleBuddyClimb() {
Sequence seq = new Sequence("toggle buddy climb attatchment");
seq.add().toggleBuddyClimb();
return seq;
}

Expand All @@ -322,13 +340,14 @@ public static Sequence retractBuddyClimber() {
getResetSequence(),
startIntaking(),
stopIntaking(),
startShooting(),
startShooting(true),
stopShooting(),
startIntakingOnly(),
stopIntakingOnly(),
getDriveToWaypointSequence(0, 12, 0),
startLoader(),
stopLoader(),
toggleBuddyClimb(),
visionAim(),
};
}
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