Intake - Manual/Auto fixes (CurtinFRC#114)

* First version Tank Drive * Intake draft * Intake draft fixed errors 1 * Intake draft fixed errors 2 * Intake draft fixed errors 3 * Intake draft fixed errors 4 * Intake draft fixed errors 5 * Network files 1 * Network files 2 * Network files 3 * Almost done i think * finished wpiformat errors * finished wpiformat errors 2 * finished wpiformat errors 3 * finished wpiformat errors 4 * ran wpiformat * finished wpiformat errors 5 * finished wpiformat errors 8 * finished wpiformat errors 9 * finished wpiformat errors 10 * Tested on robot * Fixed github build errors after modifying during robot tests * fixed more github build errors 2 * fixed more github build errors 3 * Tested on robot and works * added beam break * [docs] Update README.md (CurtinFRC#107) * [docs] Update README.md * Update README.md * Added auto to intake * [ci] add comment command action (CurtinFRC#111) * [ci] add comment command action * fix * Tested on robot * fixed intake manual auto, has not been tested on robot * fixed github build errors * Added intake better manual and verfied on robot! * Bump actions/setup-python from 4 to 5 (CurtinFRC#116) Bumps [actions/setup-python](https://github.com/actions/setup-python) from 4 to 5. - [Release notes](https://github.com/actions/setup-python/releases) - [Commits](actions/setup-python@v4...v5) --- updated-dependencies: - dependency-name: actions/setup-python dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> * Bump actions/github-script from 6 to 7 (CurtinFRC#115) Bumps [actions/github-script](https://github.com/actions/github-script) from 6 to 7. - [Release notes](https://github.com/actions/github-script/releases) - [Commits](actions/github-script@v6...v7) --- updated-dependencies: - dependency-name: actions/github-script dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> * Fixed readme (CurtinFRC#118) * ran wpiformat * fix * fix line endings * builds --------- Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: Kingsley Wong <kingsley.wong@student.education.wa.edu.au> Co-authored-by: Isaac Turner <spacey_sooty@outlook.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> Co-authored-by: Paul Hodges <111325206+Superbro525Alt@users.noreply.github.com>
Superbro525Alt · Feb 12, 2024 · d5872bf · d5872bf
1 parent 7a95046
commit d5872bf
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Showing 6 changed files with 146 additions and 3 deletions.
diff --git a/src/main/cpp/Intake.cpp b/src/main/cpp/Intake.cpp
@@ -30,19 +30,33 @@ void Intake::OnUpdate(units::second_t dt) {
       _setVoltage = 7_V;
       if (_config.intakeSensor->Get() == true) {
         setState(IntakeState::kIdle);
+<<<<<<< HEAD
+=======
+        _ejecting = false;
+>>>>>>> c30477a (Intake - Manual/Auto fixes (#114))
       }
     } break;
 
     case IntakeState::kHold: {
       _stringStateName = "Hold";
       _setVoltage = 0_V;
+<<<<<<< HEAD
+=======
+      // if (_config.intakeSensor->Get() == false) {
+      //   setState(IntakeState::kHold);
+      // }
+>>>>>>> c30477a (Intake - Manual/Auto fixes (#114))
     } break;
 
     case IntakeState::kIntake: {
       _stringStateName = "Intake";
       _setVoltage = -7_V;
       if (_config.intakeSensor->Get() == false) {
         setState(IntakeState::kHold);
+<<<<<<< HEAD
+=======
+        _intaking = false;
+>>>>>>> c30477a (Intake - Manual/Auto fixes (#114))
       }
     } break;
 
@@ -51,6 +65,10 @@ void Intake::OnUpdate(units::second_t dt) {
       _setVoltage = -7_V;
       if (_config.intakeSensor->Get() == true) {
         setState(IntakeState::kIdle);
+<<<<<<< HEAD
+=======
+        _passing = false;
+>>>>>>> c30477a (Intake - Manual/Auto fixes (#114))
       }
     } break;
     default:
@@ -78,4 +96,8 @@ void Intake::setRaw(units::volt_t voltage) {
 }
 IntakeState Intake::getState() {
   return _state;
-}
+<<<<<<< HEAD
+}
+=======
+}
+>>>>>>> c30477a (Intake - Manual/Auto fixes (#114))
diff --git a/src/main/cpp/IntakeBehaviour.cpp b/src/main/cpp/IntakeBehaviour.cpp
@@ -13,23 +13,45 @@ IntakeManualControl::IntakeManualControl(Intake* intake, frc::XboxController& co
 
 void IntakeManualControl::OnTick(units::second_t dt) {
   if (_codriver.GetBButtonReleased()) {
+<<<<<<< HEAD
     if (_intake->getState() == IntakeState::kRaw) {
       _intake->setState(IntakeState::kIdle);
     } else {
+=======
+    if (_rawControl) {
+      _rawControl = false;
+      _intaking = false;
+      _ejecting = false;
+      _intake->setState(IntakeState::kIdle);
+    } else {
+      _rawControl = true;
+      _intaking = false;
+      _ejecting = false;
+>>>>>>> c30477a (Intake - Manual/Auto fixes (#114))
       _intake->setState(IntakeState::kRaw);
     }
   }
 
+<<<<<<< HEAD
   if (_intake->getState() == IntakeState::kRaw) {
     if (_codriver.GetRightBumper()) {
       _intake->setRaw(8_V);
     } else if (_codriver.GetLeftBumper()) {
       _intake->setRaw(-8_V);
+=======
+  if (_rawControl) {
+    if (_codriver.GetRightTriggerAxis() > 0.1) {
+      _intake->setRaw(_codriver.GetRightTriggerAxis() * 10_V);
+    } else if (_codriver.GetLeftTriggerAxis() > 0.1) {
+      _intake->setRaw(_codriver.GetLeftTriggerAxis() * -10_V);
+>>>>>>> c30477a (Intake - Manual/Auto fixes (#114))
     } else {
       _intake->setRaw(0_V);
     }
+    _intake->setState(IntakeState::kRaw);
 
   } else {
+<<<<<<< HEAD
     if (_codriver.GetRightBumperPressed()) {
       if (_intake->getState() == IntakeState::kIntake) {
         _intake->setState(IntakeState::kIdle);
@@ -43,21 +65,73 @@ void IntakeManualControl::OnTick(units::second_t dt) {
         _intake->setState(IntakeState::kIdle);
       } else {
         _intake->setState(IntakeState::kEject);
+=======
+    if (_codriver.GetRightTriggerAxis() > 0.1) {
+      if (_intaking) {
+        _intaking = false;
+        _intake->setState(IntakeState::kIdle);
+      } else {
+        _intaking = true;
+        _ejecting = false;
+      }
+    }
+
+    if (_codriver.GetLeftTriggerAxis() > 0.1) {
+      if (_ejecting) {
+        _ejecting = false;
+        _intake->setState(IntakeState::kIdle);
+      } else {
+        _ejecting = true;
+        _intaking = false;
+>>>>>>> c30477a (Intake - Manual/Auto fixes (#114))
       }
     }
 
     if (_codriver.GetAButtonPressed()) {
+<<<<<<< HEAD
       if (_intake->getState() == IntakeState::kPass) {
         _intake->setState(IntakeState::kIdle);
       } else {
         _intake->setState(IntakeState::kPass);
       }
     }
+=======
+      if (_passing) {
+        _passing = false;
+        _intake->setState(IntakeState::kIdle);
+      } else {
+        _passing = true;
+        _intaking = false;
+      }
+    }
+
+    if (_intaking) {
+      if (_intake->getState() == IntakeState::kIdle) {
+        _intake->setState(IntakeState::kIntake);
+      }
+    }
+
+    if (_passing) {
+      if (_intake->getState() == IntakeState::kHold) {
+        _intake->setState(IntakeState::kPass);
+      }
+    }
+
+    if (_ejecting) {
+      if (_intake->getState() == IntakeState::kIdle || _intake->getState() == IntakeState::kHold) {
+        _intake->setState(IntakeState::kEject);
+      }
+    }
+>>>>>>> c30477a (Intake - Manual/Auto fixes (#114))
   }
 }
 
 IntakeAutoControl::IntakeAutoControl(Intake* intake) : _intake(intake) {
   Controls(intake);
 }
 
-void IntakeAutoControl::OnTick(units::second_t dt) {}
+<<<<<<< HEAD
+void IntakeAutoControl::OnTick(units::second_t dt) {}
+=======
+void IntakeAutoControl::OnTick(units::second_t dt) {}
+>>>>>>> c30477a (Intake - Manual/Auto fixes (#114))
diff --git a/src/main/cpp/Robot.cpp b/src/main/cpp/Robot.cpp
@@ -69,13 +69,16 @@ void Robot::RobotInit() {
 
   // robotmap.swerveBase.gyro->Reset();
 
+<<<<<<< HEAD
 <<<<<<< HEAD
 =======
   // _swerveDrive = new wom::SwerveDrive(robotmap.swerveBase.config, frc::Pose2d());
   // wom::BehaviourScheduler::GetInstance()->Register(_swerveDrive);
   // _swerveDrive->SetDefaultBehaviour(
   //     [this]() { return wom::make<wom::ManualDrivebase>(_swerveDrive, &robotmap.controllers.driver); });
 >>>>>>> 0029f49 (fix some formatting)
+=======
+>>>>>>> c30477a (Intake - Manual/Auto fixes (#114))
   _swerveDrive = new wom::SwerveDrive(robotmap.swerveBase.config, frc::Pose2d());
   wom::BehaviourScheduler::GetInstance()->Register(_swerveDrive);
   _swerveDrive->SetDefaultBehaviour(
@@ -153,6 +156,7 @@ void Robot::RobotPeriodic() {
   wom::BehaviourScheduler::GetInstance()->Tick();
   sched->Tick();
 
+<<<<<<< HEAD
 <<<<<<< HEAD
 <<<<<<< HEAD
   robotmap.swerveTable.swerveDriveTable->GetEntry("Encoder 0 offset: ")
@@ -169,6 +173,9 @@ void Robot::RobotPeriodic() {
       ->GetEntry("frontLeftEncoder")
 
 >>>>>>> 57d11c0 (Shooter pid (#117))
+=======
+  robotmap.swerveTable.swerveDriveTable->GetEntry("frontLeftEncoder")
+>>>>>>> c30477a (Intake - Manual/Auto fixes (#114))
       .SetDouble(robotmap.swerveBase.moduleConfigs[0].turnMotor.encoder->GetEncoderPosition().value());
   robotmap.swerveTable.swerveDriveTable->GetEntry("frontRightEncoder")
       .SetDouble(robotmap.swerveBase.moduleConfigs[1].turnMotor.encoder->GetEncoderPosition().value());
@@ -182,6 +189,12 @@ void Robot::RobotPeriodic() {
   // intake->OnUpdate(dt);
   // alphaArm->OnUpdate(dt);
   _swerveDrive->OnUpdate(dt);
+<<<<<<< HEAD
+=======
+  alphaArm->OnUpdate(dt);
+  shooter->OnStart();
+  intake->OnUpdate(dt);
+>>>>>>> c30477a (Intake - Manual/Auto fixes (#114))
 }
 
 void Robot::AutonomousInit() {
@@ -202,6 +215,7 @@ void Robot::TeleopInit() {
   loop.Clear();
   wom::BehaviourScheduler* sched = wom::BehaviourScheduler::GetInstance();
 <<<<<<< HEAD
+<<<<<<< HEAD
 <<<<<<< HEAD
   // shooter->OnStart();
   // alphaArm->OnStart();
@@ -210,6 +224,8 @@ void Robot::TeleopInit() {
 =======
   shooter->OnStart();
 >>>>>>> 57d11c0 (Shooter pid (#117))
+=======
+>>>>>>> c30477a (Intake - Manual/Auto fixes (#114))
   sched->InterruptAll();
 
   // frontLeft->SetVoltage(4_V);

diff --git a/src/main/include/Intake.h b/src/main/include/Intake.h
@@ -38,6 +38,12 @@ class Intake : public behaviour::HasBehaviour {
   units::volt_t _rawVoltage = 0_V;
   std::string _stringStateName = "error";
   units::volt_t _setVoltage = 0_V;
+<<<<<<< HEAD
+=======
+  bool _intaking;
+  bool _ejecting;
+  bool _passing;
+>>>>>>> c30477a (Intake - Manual/Auto fixes (#114))
 
   std::shared_ptr<nt::NetworkTable> _table = nt::NetworkTableInstance::GetDefault().GetTable("Intake");
 };
diff --git a/src/main/include/IntakeBehaviour.h b/src/main/include/IntakeBehaviour.h
@@ -21,6 +21,13 @@ class IntakeManualControl : public behaviour::Behaviour {
 
   units::volt_t _rawVoltage;
   units::volt_t _setVoltage;
+<<<<<<< HEAD
+=======
+  bool _rawControl = true;
+  bool _intaking = false;
+  bool _ejecting = false;
+  bool _passing = false;
+>>>>>>> c30477a (Intake - Manual/Auto fixes (#114))
 };
 
 class IntakeAutoControl : public behaviour::Behaviour {

diff --git a/src/main/include/RobotMap.h b/src/main/include/RobotMap.h
@@ -31,10 +31,10 @@ struct RobotMap {
   struct Controllers {
     frc::XboxController driver = frc::XboxController(0);
     frc::XboxController codriver = frc::XboxController(1);
-    frc::XboxController testController = frc::XboxController(2);
   };
   Controllers controllers;
 
+<<<<<<< HEAD
 <<<<<<< HEAD
   //   struct AlphaArmSystem {
   //     rev::CANSparkMax alphaArmMotor{12, rev::CANSparkMax::MotorType::kBrushless};
@@ -52,6 +52,21 @@ struct RobotMap {
 =======
     AlphaArmConfig config{alphaArmGearbox, wristGearbox};
 =======
+=======
+  struct IntakeSystem {
+    rev::CANSparkMax intakeMotor{2, rev::CANSparkMax::MotorType::kBrushed};
+    // wom::CANSparkMaxEncoder intakeEncoder{&intakeMotor, 0.1_m};
+    frc::DigitalInput intakeSensor{4};
+    // frc::DigitalInput magSensor{0};
+    // frc::DigitalInput shooterSensor{0};
+
+    wom::Gearbox IntakeGearbox{&intakeMotor, nullptr, frc::DCMotor::CIM(1)};
+
+    IntakeConfig config{IntakeGearbox, &intakeSensor /*, &magSensor, &shooterSensor*/};
+  };
+  IntakeSystem intakeSystem;
+
+>>>>>>> c30477a (Intake - Manual/Auto fixes (#114))
   struct Shooter {
     rev::CANSparkMax shooterMotor{11, rev::CANSparkMax::MotorType::kBrushless};  // Port 11
     // frc::DigitalInput shooterSensor{2};
@@ -74,6 +89,7 @@ struct RobotMap {
   };
   Shooter shooterSystem;
 
+<<<<<<< HEAD
   struct IntakeSystem {
     rev::CANSparkMax intakeMotor{2, rev::CANSparkMax::MotorType::kBrushed};
     // wom::CANSparkMaxEncoder intakeEncoder{&intakeMotor, 0.1_m};
@@ -148,6 +164,8 @@ struct RobotMap {
 >>>>>>> 0029f49 (fix some formatting)
 =======
 >>>>>>> 57d11c0 (Shooter pid (#117))
+=======
+>>>>>>> c30477a (Intake - Manual/Auto fixes (#114))
   struct SwerveBase {
     ctre::phoenix6::hardware::CANcoder frontLeftCancoder{16, "Drivebase"};
     ctre::phoenix6::hardware::CANcoder frontRightCancoder{18, "Drivebase"};