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08 end of regional 2 first day
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@aiyaszk
aiyaszk committed Mar 8, 2024
1 parent f3b6baa commit e572811
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3 changes: 2 additions & 1 deletion build.gradle
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Original file line number Diff line number Diff line change
Expand Up @@ -35,7 +35,8 @@ deploy {
jvmArgs.add("-Dcom.sun.management.jmxremote.local.only=false")
jvmArgs.add("-Dcom.sun.management.jmxremote.ssl=false")
jvmArgs.add("-Dcom.sun.management.jmxremote.authenticate=false")
jvmArgs.add("-Djava.rmi.server.hostname=10.60.14.2")
//jvmArgs.add("-Djava.rmi.server.hostname=10.60.14.2")
jvmArgs.add("-Djava.rmi.server.hostname=172.22.1.2")
//
// cd "C:\Users\Public\wpilib\visualvm_216\bin" (VISUALVM file path)
// ./visualvm --jdkhome "C:\Users\Public\wpilib\2023\jdk" (wpilib JDK path)
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99 changes: 67 additions & 32 deletions src/main/java/frc/robot/RobotContainer.java
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Expand Up @@ -112,7 +112,7 @@ public class RobotContainer {
private final ParallelCommandGroup openWristStartIntakeBeamBreak = new ParallelCommandGroup(
new ArmStateSet(mArm, ArmControlState.INTAKE),
new ParallelDeadlineGroup(
new IntakeStopAtBeambreak().withTimeout(4.0), // this is the deadline
new IntakeStopAtBeambreak().withTimeout(2.0), // this is the deadline
new WristSetState(mWrist, Position.OPEN),
new IntakeSetOpenLoop(mIntake, IntakeConstants.FORWARD_PERCENT)));

Expand Down Expand Up @@ -321,39 +321,73 @@ private void configureButtonBindings() {
}

private void configureButtonBindingsAlper() {

// UNUSED:
// driver: two little buttons near touchpad
// operator: A and left stick

/* DRIVE */
mDriver.cross().onTrue(new ResetGyro(mDrive));

/* SHOOTER + FEEDER */

/**
* MANUAL
* METHODS
*/
// Shooter - Feeder
mDriver.square().whileTrue(new FeederCommand().withFeederState(FeederState.LET_HIM_COOK));
mDriver.circle().whileTrue(new FeederCommand().withFeederState(FeederState.UPSI));
mDriver.triangle().toggleOnTrue(new ShooterCommand().withShooterState(ShooterState.LOOKUP));

/* ARM */
mOperator.leftBumper().toggleOnTrue(new ArmStateSet(mArm,
ArmControlState.ZERO));
// Arm
mOperator.povDown().toggleOnTrue(new ArmStateSet(mArm,
ArmControlState.INTAKE));
mOperator.povLeft().toggleOnTrue(new ArmStateSet(mArm, ArmControlState.AMP));
mOperator.povRight().toggleOnTrue(new ArmStateSet(mArm,
ArmControlState.SPEAKER_SHORT));
mOperator.povUp().toggleOnTrue(new ArmStateSet(mArm,
ArmControlState.SPEAKER_LONG));
// mOperator.rightBumper().onTrue(armOpenLoop);
ArmControlState.LOOKUP));

/* WRIST */
mOperator.leftTrigger().toggleOnTrue(new WristSetState(mWrist, Position.CLOSED));
mOperator.rightTrigger().toggleOnTrue(new WristSetState(mWrist, Position.OPEN));
// mOperator.a().onTrue(wristOpenLoop);
// Wrist
mDriver.povLeft().toggleOnTrue(new WristSetState(mWrist, Position.CLOSED));
mDriver.povRight().toggleOnTrue(new WristSetState(mWrist, Position.OPEN));

/* INTAKE */
mOperator.rightStick().onTrue(intakeOpenLoop);
mOperator.rightBumper().whileTrue(new IntakeSetOpenLoop(mIntake, IntakeConstants.FORWARD_PERCENT));
// Intake - outtake
// mOperator.rightBumper().whileTrue(new IntakeSetOpenLoop(mIntake,
// IntakeConstants.FORWARD_PERCENT));
mOperator.leftBumper().whileTrue(new IntakeSetOpenLoop(mIntake, IntakeConstants.REVERSE_PERCENT));
mOperator.y().toggleOnTrue(new ShooterCommand().withShooterState(ShooterState.SPEAKER_LONG));
mOperator.x().toggleOnTrue(new ShooterCommand().withShooterState(ShooterState.AMP));
mOperator.b().toggleOnTrue(new ShooterCommand().withShooterState(ShooterState.CLOSED));
mOperator.a().toggleOnTrue(new ShooterCommand().withShooterState(ShooterState.SPEAKER_SHORT));

// Telescopic
// mDriver.povDown().whileTrue(new
// TelescopicStateCommand().withArbitrarySet(TelescopicConstants.DENEME));
// mDriver.povUp().whileTrue(new
// TelescopicStateCommand().withTelescopicState(TelescopicState.STOP));
// mOperator.rightStick().onTrue(telescopicOpenLoop);

/* COMMAND GROUPS */
// Intake
mOperator.rightTrigger().onTrue(openWristStartIntakeBeamBreak);
mOperator.rightBumper().onTrue(openWristStartIntake);
// Feed
mOperator.leftTrigger().onTrue(
closeWristStopIntakeArmIntake
.andThen(new WaitCommand(0.5))
.andThen(startStopFeeder)); // TODO: Change to beam break if reading
// stable

// Shoot
mOperator.b().onTrue(setArmFeedAndShootSpeakerShort);
mOperator.x().onTrue(setArmFeedAndShootAmp);
mOperator.y().onTrue(setArmFeedAndShootSpeakerLOOKUP);
mOperator.a().toggleOnTrue(new ArmStateSet(mArm, ArmControlState.CLIMB));

/* LIMELIGHT */
mDriver.povDown().whileTrue(new AlignToAmp());
mDriver.povUp().whileTrue(new RotateToSpeaker(mDrive));

/* MISC */
mDriver.touchpad().toggleOnTrue(new SetIdleModeInvert());
mDriver.L2().whileTrue(new StartEndCommand(() -> DriveSubsystem.getInstance().setSnapActive(true),
() -> DriveSubsystem.getInstance().setSnapActive(false)));

// FeedForwardCharacterization example, use this with any subsystem that you
// want to characterize
Expand All @@ -362,26 +396,27 @@ private void configureButtonBindingsAlper() {
// .beforeStarting(() ->
// mArm.setArmControlState(ArmControlState.CHARACTERIZATION), mArm));

mDriver.L2().whileTrue(new StartEndCommand(() -> DriveSubsystem.getInstance().setSnapActive(true),
() -> DriveSubsystem.getInstance().setSnapActive(false)));

mOperator.a().and(mOperator.rightBumper())
.whileTrue(mArm.sysIdQuasistatic(SysIdRoutine.Direction.kForward));
mOperator.b().and(mOperator.rightBumper())
.whileTrue(mArm.sysIdQuasistatic(SysIdRoutine.Direction.kReverse));
mOperator.x().and(mOperator.rightBumper())
.whileTrue(mArm.sysIdDynamic(SysIdRoutine.Direction.kForward));
mOperator.y().and(mOperator.rightBumper())
.whileTrue(mArm.sysIdDynamic(SysIdRoutine.Direction.kReverse));
// mDriver.L2().whileTrue(new StartEndCommand(() ->
// DriveSubsystem.getInstance().setSnapActive(true),
// () -> DriveSubsystem.getInstance().setSnapActive(false)));

// mOperator.a().and(mOperator.rightBumper())
// .whileTrue(mArm.sysIdQuasistatic(SysIdRoutine.Direction.kForward));
// mOperator.b().and(mOperator.rightBumper())
// .whileTrue(mArm.sysIdQuasistatic(SysIdRoutine.Direction.kReverse));
// mOperator.x().and(mOperator.rightBumper())
// .whileTrue(mArm.sysIdDynamic(SysIdRoutine.Direction.kForward));
// mOperator.y().and(mOperator.rightBumper())
// .whileTrue(mArm.sysIdDynamic(SysIdRoutine.Direction.kReverse));
}

/*
* Named commands
*/
private void configureNamedCommands() {

NamedCommands.registerCommand("ReadyIntaking", AUTOopenWristStartIntake);
NamedCommands.registerCommand("ReadyIntakingLong", AUTOopenWristStartIntakeLong);
NamedCommands.registerCommand("ReadyIntaking", openWristStartIntake);
NamedCommands.registerCommand("ReadyIntakingLong", openWristStartIntake);
NamedCommands.registerCommand("CloseIntake", closeWristStopIntakeArmIntake);
NamedCommands.registerCommand("Feed", startStopFeeder);

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1 change: 1 addition & 0 deletions src/main/java/frc/robot/subsystems/TelescopicSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -78,6 +78,7 @@ private void configureTelescopicMotors() {

zeroEncoders();
setNeutralMode(NeutralModeValue.Brake);
m_master.setInverted(true);
}

public void maybeHoldCurrentPosition() {
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