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Merge pull request #42 from flamingchickens1540/zach/manualscoring
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Zach/manualscoring
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@sanashah007
sanashah007 authored Oct 17, 2023
2 parents 1b86379 + 586927b commit 59f6206
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Showing 21 changed files with 48 additions and 37 deletions.
3 changes: 2 additions & 1 deletion .gitignore
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Expand Up @@ -172,4 +172,5 @@ gradle-app.setting
# Simulator
simgui*.json
networktables.json
*.wpilog
*.wpilog
/.run/
2 changes: 1 addition & 1 deletion src/main/java/org/team1540/robot2023/Constants.java
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Expand Up @@ -152,7 +152,7 @@ public static final class Swerve {
/* Module Specific Constants */
/* Front Left Module - Module 0 */
public static final class Mod0 {
private static final int moduleID = 1; //4
private static final int moduleID = 2; //4
public static final SwerveModuleConstants constants = new SwerveModuleConstants(moduleID, ModuleCorner.FRONT_LEFT);
}

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27 changes: 12 additions & 15 deletions src/main/java/org/team1540/robot2023/RobotContainer.java
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Expand Up @@ -6,10 +6,7 @@
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.wpilibj.*;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.*;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.button.Trigger;
import org.team1540.lib.RevBlinkin;
Expand Down Expand Up @@ -101,23 +98,23 @@ private void configureButtonBindings() {
driver.b().whileTrue(new TurnToGamePiece(drivetrain,driver, TurnToGamePiece.GamePiece.CONE));
//Coop: button(X, Cube vision [HOLD], pilot)
driver.x().whileTrue(new TurnToGamePiece(drivetrain,driver, TurnToGamePiece.GamePiece.CUBE));

driver.a().onTrue(drivetrain.updateOdometryAnd(new PrintCommand("Updating odometry")));

// Copilot
// driver.start().onTrue(new InstantCommand(drivetrain::updateWithApriltags).andThen(new PrintCommand("Rezeroing")).ignoringDisable(true));
controlPanel.onButton(ButtonPanel.PanelButton.STYLE_PURPLE).onTrue(blinkins.commandSetGamepiece(false));
controlPanel.onButton(ButtonPanel.PanelButton.STYLE_YELLOW).onTrue(blinkins.commandSetGamepiece(true));

//coop:button(LTrigger, Confirm alignment [PRESS], pilot)
controlPanel.onButton(ButtonPanel.PanelButton.TOP_LEFT ).whileTrue(new AutoCone(drivetrain, arm,Constants.Auto.highCone.withPolePosition(PolePosition.LEFT), intake, driver, true));
controlPanel.onButton(ButtonPanel.PanelButton.TOP_CENTER ).whileTrue(new AutoCube(drivetrain, arm,Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, true));
controlPanel.onButton(ButtonPanel.PanelButton.TOP_RIGHT ).whileTrue(new AutoCone(drivetrain, arm,Constants.Auto.highCone.withPolePosition(PolePosition.RIGHT), intake, driver, true));
controlPanel.onButton(ButtonPanel.PanelButton.MIDDLE_LEFT ).whileTrue(new AutoCone(drivetrain, arm,Constants.Auto.midCone.withPolePosition(PolePosition.LEFT), intake, driver, true));
controlPanel.onButton(ButtonPanel.PanelButton.MIDDLE_CENTER).whileTrue(new AutoCube(drivetrain, arm,Constants.Auto.midCube.withPolePosition(PolePosition.CENTER), intake, true));
controlPanel.onButton(ButtonPanel.PanelButton.MIDDLE_RIGHT ).whileTrue(new AutoCone(drivetrain, arm,Constants.Auto.midCone.withPolePosition(PolePosition.RIGHT), intake, driver, true));
controlPanel.onButton(ButtonPanel.PanelButton.BOTTOM_LEFT ).whileTrue(new AutoHybrid(drivetrain, arm,Constants.Auto.hybridNode.withPolePosition(PolePosition.LEFT), intake, driver));
controlPanel.onButton(ButtonPanel.PanelButton.BOTTOM_CENTER).whileTrue(new AutoHybrid(drivetrain, arm,Constants.Auto.middleHybridNode.withPolePosition(PolePosition.CENTER), intake, driver));
controlPanel.onButton(ButtonPanel.PanelButton.BOTTOM_RIGHT ).whileTrue(new AutoHybrid(drivetrain, arm,Constants.Auto.hybridNode.withPolePosition(PolePosition.RIGHT), intake, driver));
controlPanel.onButton(ButtonPanel.PanelButton.TOP_LEFT ).whileTrue(drivetrain.updateOdometryAnd(new AutoCone(drivetrain, arm,Constants.Auto.highCone.withPolePosition(PolePosition.LEFT), intake, driver, false)));
controlPanel.onButton(ButtonPanel.PanelButton.TOP_CENTER ).whileTrue(drivetrain.updateOdometryAnd(new AutoCube(drivetrain, arm,Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, driver, false)));
controlPanel.onButton(ButtonPanel.PanelButton.TOP_RIGHT ).whileTrue(drivetrain.updateOdometryAnd(new AutoCone(drivetrain, arm,Constants.Auto.highCone.withPolePosition(PolePosition.RIGHT), intake, driver, false)));
controlPanel.onButton(ButtonPanel.PanelButton.MIDDLE_LEFT ).whileTrue(drivetrain.updateOdometryAnd(new AutoCone(drivetrain, arm,Constants.Auto.midCone.withPolePosition(PolePosition.LEFT), intake, driver, false)));
controlPanel.onButton(ButtonPanel.PanelButton.MIDDLE_CENTER).whileTrue(drivetrain.updateOdometryAnd(new AutoCube(drivetrain, arm,Constants.Auto.midCube.withPolePosition(PolePosition.CENTER), intake, driver, false)));
controlPanel.onButton(ButtonPanel.PanelButton.MIDDLE_RIGHT ).whileTrue(drivetrain.updateOdometryAnd(new AutoCone(drivetrain, arm,Constants.Auto.midCone.withPolePosition(PolePosition.RIGHT), intake, driver, false)));
controlPanel.onButton(ButtonPanel.PanelButton.BOTTOM_LEFT ).whileTrue(drivetrain.updateOdometryAnd(new AutoHybrid(drivetrain, arm,Constants.Auto.hybridNode.withPolePosition(PolePosition.LEFT), intake, driver, false)));
controlPanel.onButton(ButtonPanel.PanelButton.BOTTOM_CENTER).whileTrue(drivetrain.updateOdometryAnd(new AutoHybrid(drivetrain, arm,Constants.Auto.middleHybridNode.withPolePosition(PolePosition.CENTER), intake, driver, false)));
controlPanel.onButton(ButtonPanel.PanelButton.BOTTOM_RIGHT ).whileTrue(drivetrain.updateOdometryAnd(new AutoHybrid(drivetrain, arm,Constants.Auto.hybridNode.withPolePosition(PolePosition.RIGHT), intake, driver, false)));

// coop:button(A, Run Intake [PRESS],copilot)
copilot.a().toggleOnTrue(intakeCommand);
Expand Down Expand Up @@ -226,7 +223,7 @@ private void initAutos() {
// manager.addAuto(new Auto2PieceTaxi(drivetrain, arm, intake, ScoringGridLocation.BOTTOM_GRID));
// manager.addAuto("MiddleGrid1PieceSideBalance", new Auto1PieceSideBalance(drivetrain, arm, intake));
// manager.addAuto("MiddleGridSideBalance", new AutoSideBalance(drivetrain, arm, intake));
manager.addAuto("ScoreHighCube", new AutoCube(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, true));
manager.addAuto("ScoreHighCube", new AutoCube(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, null, false));
manager.addAuto("ScoreMidCube", new AutoHybrid(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake));
manager.addDefaultAuto("DoNothing", new InstantCommand(), null);
}
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5 changes: 3 additions & 2 deletions src/main/java/org/team1540/robot2023/commands/auto/AutoCube.java
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@@ -1,6 +1,7 @@
package org.team1540.robot2023.commands.auto;

import edu.wpi.first.wpilibj2.command.*;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import org.team1540.robot2023.commands.arm.Arm;
import org.team1540.robot2023.commands.arm.ResetArmPositionCommand;
import org.team1540.robot2023.commands.arm.SetArmPosition;
Expand All @@ -12,7 +13,7 @@
import java.util.function.BooleanSupplier;

public class AutoCube extends SequentialCommandGroup {
public AutoCube(Drivetrain drivetrain, Arm arm, GridScoreData positions, WheeledGrabber intake, boolean shouldAlign){
public AutoCube(Drivetrain drivetrain, Arm arm, GridScoreData positions, WheeledGrabber intake, CommandXboxController controller, boolean shouldAlign){
BooleanSupplier shouldRun;
if (shouldAlign) {
shouldRun = drivetrain::updateWithScoringApriltags;
Expand All @@ -28,11 +29,11 @@ public AutoCube(Drivetrain drivetrain, Arm arm, GridScoreData positions, Wheeled
new SetArmPosition(arm, positions.approach),
Commands.sequence(
new ProxyCommand(() -> new WaitCommand((arm.timeToState(positions.approach)-150)/1000)),

new GrabberOuttakeCommand(intake)

)
),
// new WaitUntilCommand(() -> controller.getLeftTriggerAxis() > 0.95).unless(() -> controller == null || positions.polePosition == PolePosition.CENTER),
Commands.deadline(
Commands.sequence(
new SetArmPosition(arm, AutoHybrid.catchNull(positions.retreat)).unless(() -> positions.retreat == null),
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2 changes: 1 addition & 1 deletion src/main/java/org/team1540/robot2023/commands/auto/sequence/Auto1PieceSideBalance.java
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Expand Up @@ -12,7 +12,7 @@
public class Auto1PieceSideBalance extends AutoCommand {
public Auto1PieceSideBalance(Drivetrain drivetrain, Arm arm, WheeledGrabber intake) {
addCommands(
new AutoCube(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, true),
new AutoCube(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, null, true),
getPathPlannerDriveCommand(drivetrain, "MiddleGrid1PieceSideBalance"),
new AutoSideBalanceCommand(drivetrain)
);
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2 changes: 1 addition & 1 deletion src/main/java/org/team1540/robot2023/commands/auto/sequence/Auto1PieceTaxi.java
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Expand Up @@ -12,7 +12,7 @@
public class Auto1PieceTaxi extends AutoCommand {
public Auto1PieceTaxi(Drivetrain drivetrain, Arm arm, WheeledGrabber intake, ScoringGridLocation.OuterGrid grid) {
addCommands(
new AutoCube(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, true),
new AutoCube(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, null, true),
getPathPlannerDriveCommand(drivetrain, grid.getPathName("1PieceTaxi"))
);
}
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2 changes: 1 addition & 1 deletion src/main/java/org/team1540/robot2023/commands/auto/sequence/Auto2PieceTaxiCone.java
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Expand Up @@ -41,7 +41,7 @@ public Auto2PieceTaxiCone(Drivetrain drivetrain, Arm arm, WheeledGrabber intake,
)
)
),
new AutoCube(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, true)
new AutoCube(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, null, true)

);
}
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2 changes: 1 addition & 1 deletion src/main/java/org/team1540/robot2023/commands/auto/sequence/Auto2PieceTaxiConeVision.java
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Expand Up @@ -49,7 +49,7 @@ public Auto2PieceTaxiConeVision(Drivetrain drivetrain, Arm arm, WheeledGrabber i
)
)
),
new AutoCube(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, true)
new AutoCube(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, null, true)

);
}
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2 changes: 1 addition & 1 deletion src/main/java/org/team1540/robot2023/commands/auto/sequence/AutoMiddleGrid1PieceBalance.java
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Expand Up @@ -16,7 +16,7 @@ public class AutoMiddleGrid1PieceBalance extends AutoCommand {
public AutoMiddleGrid1PieceBalance(Drivetrain drivetrain, Arm arm, WheeledGrabber intake) {
addCommands(
// new AutoGridScore(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake),
new AutoCube(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, false),
new AutoCube(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, null, false),
new RetractAndPivotCommand(arm, Rotation2d.fromDegrees(45)),
getPathPlannerDriveCommand(drivetrain, "MiddleGrid1PieceBalance", new PathConstraints(1, 1), false),
new AutoBalanceCommand(drivetrain)
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2 changes: 1 addition & 1 deletion ...n/java/org/team1540/robot2023/commands/auto/sequence/AutoMiddleGrid1PieceTaxiBalance.java
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Expand Up @@ -21,7 +21,7 @@ public AutoMiddleGrid1PieceTaxiBalance(Drivetrain drivetrain, Arm arm, WheeledGr
List<Command> commands = getPathPlannerDriveCommandGroup(drivetrain, "MiddleGrid1PieceTaxiBalance", new PathConstraints(1, 1), false);
addCommands(
// new AutoGridScore(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake),
new AutoCube(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, false),
new AutoCube(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, null, false),
new RetractAndPivotCommand(arm, Rotation2d.fromDegrees(45)),
commands.get(0),
Commands.parallel(
Expand Down
2 changes: 1 addition & 1 deletion ...ava/org/team1540/robot2023/commands/auto/sequence/bottom/AutoBottomGrid1PieceBalance.java
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Expand Up @@ -17,7 +17,7 @@ public class AutoBottomGrid1PieceBalance extends AutoCommand {
public AutoBottomGrid1PieceBalance(Drivetrain drivetrain, Arm arm, WheeledGrabber intake) {
addCommands(
// new AutoGridScore(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake),
new AutoCube(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, false),
new AutoCube(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, null, false),
Commands.parallel(
new RetractAndPivotCommand(arm, Rotation2d.fromDegrees(-45)),
getPathPlannerDriveCommand(drivetrain, "BottomGrid1PieceBalance", new PathConstraints(4, 2), false)
Expand Down
2 changes: 1 addition & 1 deletion ...n/java/org/team1540/robot2023/commands/auto/sequence/bottom/AutoBottomGrid2PieceTaxi.java
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Expand Up @@ -25,7 +25,7 @@ public AutoBottomGrid2PieceTaxi(Drivetrain drivetrain, Arm arm, WheeledGrabber i
new PathConstraints(4,2)
}, false);
addCommands(
new AutoCube(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, false),
new AutoCube(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, null, false),
Commands.parallel(
new GrabberIntakeCommand(intake),
Commands.sequence(
Expand Down
2 changes: 1 addition & 1 deletion .../org/team1540/robot2023/commands/auto/sequence/bottom/AutoBottomGrid2PieceTaxiVision.java
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Expand Up @@ -31,7 +31,7 @@ public AutoBottomGrid2PieceTaxiVision(Drivetrain drivetrain, Arm arm, WheeledGra

addCommands(
new InstantCommand(() -> limelight.setPipeline(Limelight.Pipeline.GAME_PIECE)),
new AutoCube(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, false),
new AutoCube(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, null, false),
Commands.parallel(
new GrabberIntakeCommand(intake),
Commands.sequence(
Expand Down
2 changes: 1 addition & 1 deletion ...java/org/team1540/robot2023/commands/auto/sequence/bottom/AutoBottomGrid2_5PieceTaxi.java
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Expand Up @@ -26,7 +26,7 @@ public AutoBottomGrid2_5PieceTaxi(Drivetrain drivetrain, Arm arm, WheeledGrabber
}, false);
setName("BottomGrid2.5PieceTaxi");
addCommands(
new AutoCube(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, false),
new AutoCube(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake,null,false),
Commands.parallel(
new GrabberIntakeCommand(intake),
Commands.sequence(
Expand Down
2 changes: 1 addition & 1 deletion ...main/java/org/team1540/robot2023/commands/auto/sequence/top/AutoTopGrid1PieceBalance.java
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Expand Up @@ -17,7 +17,7 @@ public class AutoTopGrid1PieceBalance extends AutoCommand {
public AutoTopGrid1PieceBalance(Drivetrain drivetrain, Arm arm, WheeledGrabber intake) {
addCommands(
// new AutoGridScore(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake),
new AutoCube(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, false),
new AutoCube(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, null, false),
Commands.parallel(
new RetractAndPivotCommand(arm, Rotation2d.fromDegrees(-45)),
getPathPlannerDriveCommand(drivetrain, "TopGrid1PieceBalance", new PathConstraints(4, 2), false)
Expand Down
2 changes: 1 addition & 1 deletion src/main/java/org/team1540/robot2023/commands/auto/sequence/top/AutoTopGrid2PieceTaxi.java
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Expand Up @@ -22,7 +22,7 @@ public AutoTopGrid2PieceTaxi(Drivetrain drivetrain, Arm arm, WheeledGrabber inta
List<Command> pathCommands = getPathPlannerDriveCommandGroup(drivetrain, "TopGrid2PieceTaxi");
addCommands(

new AutoCube(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, false),
new AutoCube(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, null, false),
Commands.parallel(
new GrabberIntakeCommand(intake),
Commands.sequence(
Expand Down
2 changes: 1 addition & 1 deletion src/main/java/org/team1540/robot2023/commands/auto/sequence/top/AutoTopGrid2PieceVision.java
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Expand Up @@ -27,7 +27,7 @@ public AutoTopGrid2PieceVision(Drivetrain drivetrain, Arm arm, WheeledGrabber in
limelight.setPipeline(Limelight.Pipeline.GAME_PIECE);
addCommands(

new AutoCube(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, false),
new AutoCube(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, null, false),
Commands.parallel(
new GrabberIntakeCommand(intake),
Commands.sequence(
Expand Down
2 changes: 1 addition & 1 deletion src/main/java/org/team1540/robot2023/commands/auto/sequence/top/AutoTopGrid2_5PieceTaxi.java
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Expand Up @@ -22,7 +22,7 @@ public AutoTopGrid2_5PieceTaxi(Drivetrain drivetrain, Arm arm, WheeledGrabber in
List<Command> pathCommands = getPathPlannerDriveCommandGroup(drivetrain, "TopGrid3PieceTaxi");
setName("TopGrid2.5PieceTaxi");
addCommands(
new AutoCube(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, false),
new AutoCube(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, null, false),
Commands.parallel(
new GrabberIntakeCommand(intake),
Commands.sequence(
Expand Down
2 changes: 1 addition & 1 deletion src/main/java/org/team1540/robot2023/commands/auto/sequence/top/AutoTopGrid3PieceTaxi.java
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Expand Up @@ -26,7 +26,7 @@ public class AutoTopGrid3PieceTaxi extends AutoCommand {
public AutoTopGrid3PieceTaxi(Drivetrain drivetrain, Arm arm, WheeledGrabber intake) {
List<Command> pathCommands = getPathPlannerDriveCommandGroup(drivetrain, "TopGrid3PieceTaxi", new PathConstraints(5, 3), false);
addCommands(
new AutoCube(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, false),
new AutoCube(drivetrain, arm, Constants.Auto.highCube.withPolePosition(PolePosition.CENTER), intake, null, false),
Commands.parallel(
new GrabberIntakeCommand(intake),
Commands.sequence(
Expand Down
12 changes: 12 additions & 0 deletions src/main/java/org/team1540/robot2023/commands/drivetrain/Drivetrain.java
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Expand Up @@ -120,6 +120,18 @@ public boolean updateWithScoringApriltags() {
return LimelightManager.getInstance().applyFrontEstimates(poseEstimator, getYaw(), getModulePositions());
}

public Command updateOdometryAnd(Command cmd) {
return new ParallelCommandGroup(
new InstantCommand(() -> {
boolean isGood = this.updateWithScoringApriltags();
if (isGood) {
this.zeroFieldOrientation();
}
}),
cmd
);
}


public void resetAllToAbsolute() {
DataLogManager.log("Zeroing swerve module relative encoders");
Expand Down
6 changes: 3 additions & 3 deletions src/main/java/org/team1540/robot2023/utils/swerve/ModuleMagnetOffset.java
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Expand Up @@ -7,13 +7,13 @@
public class ModuleMagnetOffset {
private static final double[] offsets = new double[]{
75.469, // Module 1
91.318, // Module 2
256.729, // Module 3
91.318 - 90, // Module 2
256.729 + 3, // Module 3
9.0, // Module 4
239.766, // Module 5
32.08, // Module 6
27.861, // Module 7
105.011 // Module 8
105.011 + 3 // Module 8
};

/**
Expand Down

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