Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

create rumble for note collected in the intake #128

Merged
merged 7 commits into from
Oct 26, 2024
Merged

create rumble for note collected in the intake #128

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
7 commits
Select commit Hold shift + click to select a range
67388ff
game piece collected rumble
Alenguye582 Oct 26, 2024
da193f0
merge conflicts
Alenguye582 Oct 26, 2024
017ba89
robot is shufflin
Alenguye582 Oct 26, 2024
aa8272a
create condition for rumble when drivetrain is facing shuffle
Alenguye582 Oct 26, 2024
47c469b
change pose of shuffle
Alenguye582 Oct 26, 2024
860aed4
no more todooo
Alenguye582 Oct 26, 2024
168e102
Merge branch 'main' into intake-sensor
Alenguye582 Oct 26, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
15 changes: 9 additions & 6 deletions src/main/java/frc/robot/Constants.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -56,6 +56,9 @@ public static class constControllers {

public static final double DRIVER_RUMBLE = 0.5;
public static final double OPERATOR_RUMBLE = 0.5;

public static final double DRIVER_GP_COLLECTED_RUMBLE = 0.3;
public static final double OPERATOR_GP_COLLECTED_RUMBLE = 0.3;
}

public static class constDrivetrain {
Expand Down Expand Up @@ -204,7 +207,7 @@ private static final class blueConstants {
private static final Pose3d SUBWOOFER = new Pose3d(new Pose2d(1.35, 5.50, Rotation2d.fromDegrees(0)));

private static final Pose3d SHUFFLE = new Pose3d(
new Pose2d(1.2991523742675781, 7.103456497192383, Rotation2d.fromDegrees(0)));
new Pose2d(3.42, 6.08, Rotation2d.fromDegrees(0)));
}

private static final class redConstants {
Expand All @@ -231,7 +234,7 @@ private static final class redConstants {
private static final Pose3d SUBWOOFER = new Pose3d(
new Pose2d(FIELD_LENGTH.in(Units.Meters) - 1.35, 5.50, Rotation2d.fromDegrees(180)));
private static final Pose3d SHUFFLE = new Pose3d(
new Pose2d(FIELD_LENGTH.in(Units.Meters) - 1.2991523742675781, 7.103456497192383, Rotation2d.fromDegrees(0)));
new Pose2d(FIELD_LENGTH.in(Units.Meters) - 3.42, 6.08, Rotation2d.fromDegrees(0)));
}
}

Expand Down Expand Up @@ -379,16 +382,16 @@ public ShooterPositionGroup(Measure<Angle> shooterAngle, Measure<Velocity<Angle>
}

public static final ShooterPositionGroup PREP_NONE = new ShooterPositionGroup(NONE_STATE_ANGLE,
Units.RotationsPerSecond.of(35), Units.RotationsPerSecond.of(35), Units.Meters.of(0));
Units.RotationsPerSecond.of(10), Units.RotationsPerSecond.of(10), Units.Meters.of(0));
public static final ShooterPositionGroup PREP_AMP_SHOOTER = new ShooterPositionGroup(Units.Degrees.of(111),
Units.RotationsPerSecond.of(10), Units.RotationsPerSecond.of(10), Units.Meters.of(0));
// Amping w/ amper
public static final ShooterPositionGroup PREP_AMP = new ShooterPositionGroup(Units.Degrees.of(99),
Units.RotationsPerSecond.of(10), Units.RotationsPerSecond.of(10), Units.Meters.of(0.46));
public static final ShooterPositionGroup PREP_SUB_BACKWARDS = new ShooterPositionGroup(Units.Degrees.of(111),
Units.RotationsPerSecond.of(35), Units.RotationsPerSecond.of(35), Units.Meters.of(0.46));
public static final ShooterPositionGroup PREP_SHUFFLE = new ShooterPositionGroup(Units.Degrees.of(42),
Units.RotationsPerSecond.of(35), Units.RotationsPerSecond.of(35), Units.Meters.of(0));
public static final ShooterPositionGroup PREP_SHUFFLE = new ShooterPositionGroup(Units.Degrees.of(34),
Units.RotationsPerSecond.of(30), Units.RotationsPerSecond.of(30), Units.Meters.of(0));
public static final ShooterPositionGroup PREP_SUB = new ShooterPositionGroup(Units.Degrees.of(45),
Units.RotationsPerSecond.of(35), Units.RotationsPerSecond.of(35), Units.Meters.of(0));
public static final ShooterPositionGroup PREP_SPIKE = new ShooterPositionGroup(Units.Degrees.of(27),
Expand Down Expand Up @@ -650,7 +653,7 @@ public static class constLEDs {
public static final int LED_STRIP_START_INDEX = 8;

public static final int[] CLEAR_LEDS = { 0, 0, 0 };
public static final int[] INTAKING_COLOR = { 0, 0, 0 };
public static final int[] GAME_PIECE_COLLECTED_COLOR = { 0, 0, 255 };
public static final int[] PREP_AMP_COLOR = { 200, 0, 255 };
public static final int[] PREP_SUB_BACKWARDS_COLOR = { 255, 255, 0 };
public static final int[] PREP_SPEAKER_COLOR = { 255, 130, 0 };
Expand Down
29 changes: 14 additions & 15 deletions src/main/java/frc/robot/RobotContainer.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -66,9 +66,11 @@ public class RobotContainer {
private final static Transfer subTransfer = new Transfer();
private final static Limelight subLimelight = new Limelight();

private final Trigger gamePieceTrigger = new Trigger(() -> subTransfer.getGamePieceStored());
private final Trigger gamePieceStoredTrigger = new Trigger(() -> subTransfer.getGamePieceStored());
private final Trigger gamePieceCollectedTrigger = new Trigger(() -> subIntake.getGamePieceCollected());

private final BooleanSupplier readyToShootOperator = (() -> subDrivetrain.isDrivetrainFacingSpeaker()
private final BooleanSupplier readyToShootOperator = (() -> (subDrivetrain.isDrivetrainFacingSpeaker()
|| subDrivetrain.isDrivetrainFacingShuffle())
&& subShooter.readyToShoot() && subStateMachine.isCurrentStateTargetState()
&& subTransfer.getGamePieceStored());

Expand All @@ -94,7 +96,7 @@ public RobotContainer() {
new Trigger(() -> conDriver.btn_X.getAsBoolean() || conDriver.btn_LeftTrigger.getAsBoolean())));

// - Manual Triggers -
gamePieceTrigger
gamePieceStoredTrigger
.onTrue(Commands
.deferredProxy(
() -> subStateMachine.tryState(RobotState.STORE_FEEDER, subStateMachine, subClimber, subDrivetrain,
Expand All @@ -104,15 +106,12 @@ public RobotContainer() {
subElevator, subDrivetrain))))
.onTrue(new GamePieceRumble(conDriver, conOperator).asProxy());

// new Trigger(readyToShootOperator).onTrue(
// Commands.runOnce(() -> conDriver.setRumble(RumbleType.kBothRumble,
// constControllers.DRIVER_RUMBLE)).alongWith(
// Commands.runOnce(() -> conOperator.setRumble(RumbleType.kBothRumble,
// constControllers.OPERATOR_RUMBLE))))
// .onFalse(
// Commands.runOnce(() -> conDriver.setRumble(RumbleType.kBothRumble,
// 0)).alongWith(
// Commands.runOnce(() -> conOperator.setRumble(RumbleType.kBothRumble, 0))));
gamePieceCollectedTrigger
.onTrue(Commands
.runOnce(() -> conDriver.setRumble(RumbleType.kLeftRumble, constControllers.DRIVER_GP_COLLECTED_RUMBLE)))
.onTrue(Commands.runOnce(
() -> conOperator.setRumble(RumbleType.kLeftRumble, constControllers.OPERATOR_GP_COLLECTED_RUMBLE)))
.onTrue(Commands.runOnce(() -> subLEDs.setLEDs(constLEDs.GAME_PIECE_COLLECTED_COLOR)));

new Trigger(readyToShootOperator).onTrue(
Commands.runOnce(() -> conOperator.setRumble(RumbleType.kBothRumble,
Expand All @@ -138,7 +137,7 @@ public RobotContainer() {
NamedCommands.registerCommand("Intaking", Commands.deferredProxy(
() -> subStateMachine.tryState(RobotState.INTAKING, subStateMachine, subClimber, subDrivetrain, subElevator,
subIntake, subLEDs, subTransfer, subShooter))
.until(gamePieceTrigger));
.until(gamePieceStoredTrigger));

SmartDashboard.putNumber("Preload Only Delay", 0);

Expand Down Expand Up @@ -172,7 +171,7 @@ private void configureOperatorBindings(SN_XboxController controller) {
.onFalse(Commands.deferredProxy(
() -> subStateMachine.tryState(RobotState.NONE, subStateMachine, subClimber, subDrivetrain, subElevator,
subIntake, subLEDs, subTransfer, subShooter))
.unless(gamePieceTrigger));
.unless(gamePieceStoredTrigger));

// Shoot
controller.btn_RightTrigger.whileTrue(
Expand All @@ -181,7 +180,7 @@ private void configureOperatorBindings(SN_XboxController controller) {
.onFalse(Commands.deferredProxy(
() -> subStateMachine.tryState(RobotState.NONE, subStateMachine, subClimber, subDrivetrain, subElevator,
subIntake, subLEDs, subTransfer, subShooter))
.unless(gamePieceTrigger));
.unless(gamePieceStoredTrigger));

// Prep with vision
controller.btn_RightBumper.onTrue(Commands.runOnce(() -> subStateMachine.setTargetState(TargetState.PREP_VISION)))
Expand Down
5 changes: 5 additions & 0 deletions src/main/java/frc/robot/subsystems/Drivetrain.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -169,6 +169,10 @@ public boolean isDrivetrainFacingSpeaker() {
return isDrivetrainAtAngle(getAngleToSpeaker());
}

public boolean isDrivetrainFacingShuffle() {
return isDrivetrainAtAngle(getAngleToShuffle());
}

/**
* Calculates the angle necessary for the shooter to face a given coordinate.
*
Expand Down Expand Up @@ -279,5 +283,6 @@ public void periodic() {

SmartDashboard.putNumber("Drivetrain Rotation", getRotation().getDegrees());
SmartDashboard.putBoolean("Drivetrain Facing Speaker", isDrivetrainFacingSpeaker());
SmartDashboard.putBoolean("Drivetrain Facing Shuffle", isDrivetrainFacingShuffle());
}
}
2 changes: 1 addition & 1 deletion src/main/java/frc/robot/subsystems/Shooter.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -385,9 +385,9 @@ public void periodic() {

SmartDashboard.putBoolean("Shooter/Safe to Move Elevator", isSafeToMoveElevator());
SmartDashboard.putBoolean("Shooter/Ready to Shoot", readyToShoot());
SmartDashboard.putNumber("Shooter/Last Desired Pivot Angle", lastDesiredPivotAngle.in(Units.Degrees));

SmartDashboard.putBoolean("Zeroing/Pivot/Attempting Zeroing", attemptingZeroing);
SmartDashboard.putBoolean("Zeroing/Pivot/Has Zeroed", hasZeroed);

}
}
1 change: 0 additions & 1 deletion src/main/java/frc/robot/subsystems/StateMachine.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -382,6 +382,5 @@ public void periodic() {
// This method will be called once per scheduler run
SmartDashboard.putString("CURRENT ROBOT STATE", getRobotState().toString());
SmartDashboard.putString("CURRENT TARGET STATE", getTargetState().toString());

}
}