Merge branch 'main' of https://github.com/StuyPulse/2024-Kitbot

StuyPulse · Jan 17, 2024 · 0cb359c · 0cb359c
2 parents 5ddb34d + 6ae77a3
commit 0cb359c
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Showing 6 changed files with 39 additions and 30 deletions.
diff --git a/.Glass/glass.json b/.Glass/glass.json
@@ -0,0 +1,23 @@
+{
+  "NetworkTables": {
+    "transitory": {
+      "SmartDashboard": {
+        "Drivetrain": {
+          "open": true
+        },
+        "open": true
+      }
+    },
+    "types": {
+      "/FMSInfo": "FMSInfo",
+      "/SmartDashboard/Autonomous": "String Chooser"
+    }
+  },
+  "NetworkTables Info": {
+    "visible": true
+  },
+  "NetworkTables Settings": {
+    "mode": "Client (NT4)",
+    "serverTeam": "694"
+  }
+}
diff --git a/src/main/java/com/stuypulse/robot/RobotContainer.java b/src/main/java/com/stuypulse/robot/RobotContainer.java
@@ -6,11 +6,9 @@
 package com.stuypulse.robot;
 
 import com.stuypulse.robot.commands.auton.DoNothingAuton;
-import com.stuypulse.robot.commands.drivetrain.DriveDrive;
-import com.stuypulse.robot.commands.drivetrain.DrivetrainDrive;
 import com.stuypulse.robot.commands.drivetrain.DrivetrainDriveForever;
-import com.stuypulse.robot.commands.launcher.LaunchNote;
 import com.stuypulse.robot.commands.launcher.LaunchPrepare;
+import com.stuypulse.robot.commands.launcher.LauncherLaunch;
 import com.stuypulse.robot.commands.launcher.LauncherIntakeNote;
 import com.stuypulse.robot.commands.launcher.LauncherStop;
 import com.stuypulse.robot.commands.odometry.OdometryRealign;
@@ -35,7 +33,7 @@ public class RobotContainer {
 
     // Subsystem
     public final AbstractDrivetrain drivetrain = AbstractDrivetrain.getInstance();
-    // public final Launcher launcher = Launcher.getInstance();
+    public final Launcher launcher = Launcher.getInstance();
     //public final AbstractOdometry odometry = AbstractOdometry.getInstance();
     //public final AbstractVision vision = AbstractVision.getInstance();
 
@@ -68,28 +66,17 @@ private void configureButtonBindings() {
     }
 
     private void configureDriverBindings() {
-        operator.getLeftBumper()
-            .onTrue(new LauncherIntakeNote())
+        driver.getRightBumper()
+            .whileTrue(new LauncherIntakeNote())
             .onFalse(new LauncherStop());
 
-        operator.getRightBumper()
-            .whileTrue(new WaitCommand(0.5)
-                    .andThen(new LaunchNote()))
+        driver.getBottomButton()
+            .onTrue(new LaunchPrepare())
+            .whileTrue(new WaitCommand(0.5).andThen(new LauncherLaunch()))
             .onFalse(new LauncherStop());
     }
 
-    private Command waitSeconds(double d) {
-        // TODO Auto-generated method stub
-        throw new UnsupportedOperationException("Unimplemented method 'waitSeconds'");
-    }
-
     private void configureOperatorBindings() {
-        // odometry
-        //driver.getDPadUp().onTrue(new OdometryRealign(Rotation2d.fromDegrees(180)));
-        //driver.getDPadLeft().onTrue(new OdometryRealign(Rotation2d.fromDegrees(-90)));
-        //driver.getDPadDown().onTrue(new OdometryRealign(Rotation2d.fromDegrees(0)));
-        //driver.getDPadRight().onTrue(new OdometryRealign(Rotation2d.fromDegrees(90)));
-
         driver.getLeftButton().onTrue(new DrivetrainDriveForever(2));
     }
 

diff --git a/src/main/java/com/stuypulse/robot/commands/drivetrain/DrivetrainDrive.java b/src/main/java/com/stuypulse/robot/commands/drivetrain/DrivetrainDrive.java
@@ -19,18 +19,17 @@ public class DrivetrainDrive extends Command {
     public DrivetrainDrive(Gamepad driver) {
         this.drivetrain = AbstractDrivetrain.getInstance();
 
-        this.speed = IStream.create(
-            () -> driver.getRightY() - driver.getLeftY())
+        this.speed = IStream.create(() -> driver.getRightTrigger() - driver.getLeftTrigger())
             .filtered(
                 x -> SLMath.deadband(x, 0),
                 x -> SLMath.spow(x, 2)
         );
 
-        this.angle = IStream.create(
-            () -> driver.getRightX() - driver.getLeftX())
+        this.angle = IStream.create(() -> driver.getLeftX())
             .filtered(
                 x -> SLMath.deadband(x, 0),
-                x -> SLMath.spow(x, 2)
+                x -> SLMath.spow(x, 2),
+                x -> -x
         );
 
         addRequirements(drivetrain);
@@ -39,6 +38,6 @@ public DrivetrainDrive(Gamepad driver) {
 
     @Override
     public void execute() {
-        drivetrain.arcadeDrive(speed.get(), angle.get());
+        drivetrain.curvatureDrive(speed.get(), angle.get(), true);
     }
 }
diff --git a/...e/robot/commands/launcher/LaunchNote.java → ...bot/commands/launcher/LauncherLaunch.java b/...e/robot/commands/launcher/LaunchNote.java → ...bot/commands/launcher/LauncherLaunch.java
@@ -4,10 +4,10 @@
 
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 
-public class LaunchNote extends InstantCommand {
+public class LauncherLaunch extends InstantCommand {
     Launcher launcher;
 
-    public LaunchNote() {
+    public LauncherLaunch() {
         launcher = Launcher.getInstance();
         addRequirements(launcher);
     }

diff --git a/src/main/java/com/stuypulse/robot/subsystems/drivetrain/AbstractDrivetrain.java b/src/main/java/com/stuypulse/robot/subsystems/drivetrain/AbstractDrivetrain.java
@@ -32,7 +32,7 @@ public static AbstractDrivetrain getInstance() {
 
     public abstract void stop();
 
-    public abstract void periodicChild();
+    public void periodicChild() {}
 
     @Override
     public void periodic() {

diff --git a/src/main/java/com/stuypulse/robot/subsystems/drivetrain/Drivetrain.java b/src/main/java/com/stuypulse/robot/subsystems/drivetrain/Drivetrain.java
@@ -76,7 +76,7 @@ public Angle getAngle() {
     //********** Drive Methods **********//
     public void tankDriveVolts(double leftVolts, double rightVolts) {
         leftFront.setVoltage(leftVolts);
-        rightFront.setVoltage(-rightVolts);
+        rightFront.setVoltage(rightVolts);
         drivetrain.feed();
     }