Abstract button board for sim?

FRCTeam3044 · Feb 15, 2025 · 9844198 · 9844198
1 parent 6335a92
commit 9844198
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Showing 17 changed files with 122 additions and 51 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -25,6 +25,7 @@
 public final class Constants {
   public static final Mode simMode = Mode.SIM;
   public static final Mode currentMode = RobotBase.isReal() ? Mode.REAL : simMode;
+  public static final boolean simButtonBoard = true;
   public static final boolean visionSim = false;
   // If true, drive controls are based off alliance like in real life. If false,
   // up is positive y, right is positive x.

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -58,7 +58,9 @@
 import frc.robot.subsystems.vision.VisionIO;
 import frc.robot.subsystems.vision.VisionIOPhotonVisionSim;
 import frc.robot.util.AllianceUtil;
-import frc.robot.util.ButtonBoardUtil;
+import frc.robot.util.bboard.BBoardIOReal;
+import frc.robot.util.bboard.BBoardIOSim;
+import frc.robot.util.bboard.ButtonBoard;
 
 import org.ironmaple.simulation.SimulatedArena;
 import org.ironmaple.simulation.drivesims.SwerveDriveSimulation;
@@ -77,7 +79,7 @@
 public class RobotContainer {
         // Subsystems
         public final Drive drive;
-        public final ButtonBoardUtil buttonBoard;
+        public final ButtonBoard buttonBoard;
         private final Vision vision;
         private final Elevator elevator;
         private final Shoulder shoulder;
@@ -120,7 +122,7 @@ public RobotContainer() {
                                 elevator = new Elevator(new ElevatorIOSpark());
                                 shoulder = new Shoulder(new ShoulderIOSpark());
                                 endEffector = new EndEffector(new EndEffectorIOSpark());
-                                buttonBoard = new ButtonBoardUtil();
+                                buttonBoard = new ButtonBoard(new BBoardIOReal());
                                 LEDs = new LEDs(new LEDsIORio());
                                 break;
 
@@ -149,7 +151,7 @@ public RobotContainer() {
                                 elevator = new Elevator(new ElevatorIOSim());
                                 shoulder = new Shoulder(new ShoulderIOSim());
                                 endEffector = new EndEffector(new EndEffectorIOSim());
-                                buttonBoard = new ButtonBoardUtil();
+                                buttonBoard = new ButtonBoard(Constants.simButtonBoard ? new BBoardIOSim() : new BBoardIOReal());
                                 LEDs = new LEDs(new LEDsIORio());
                                 break;
 
@@ -175,7 +177,7 @@ public RobotContainer() {
                                 });
                                 endEffector = new EndEffector(new EndEffectorIO() {
                                 });
-                                buttonBoard = new ButtonBoardUtil();
+                                buttonBoard = new ButtonBoard(new BBoardIOReal());
                                 LEDs = new LEDs(new LEDsIORio());
                                 break;
                 }

diff --git a/src/main/java/frc/robot/statemachine/StateMachine.java b/src/main/java/frc/robot/statemachine/StateMachine.java
@@ -32,11 +32,11 @@
 import frc.robot.subsystems.drive.Drive;
 import frc.robot.subsystems.elevator.Elevator;
 import frc.robot.subsystems.shoulder.Shoulder;
-import frc.robot.util.ButtonBoardUtil;
+import frc.robot.util.bboard.ButtonBoard;
 
 public class StateMachine extends StateMachineBase {
         public StateMachine(CommandXboxController driverController, CommandXboxController operatorController,
-                        ButtonBoardUtil buttonBoard, LoggedDashboardChooser<Command> chooser,
+                        ButtonBoard buttonBoard, LoggedDashboardChooser<Command> chooser,
                         Drive drive, Elevator elevator, Shoulder shoulder, EndEffector endEffector, LEDs LEDs) {
                 super();
                 State disabled = new DisabledState(this);

diff --git a/src/main/java/frc/robot/statemachine/states/tele/GoToReefIntake.java b/src/main/java/frc/robot/statemachine/states/tele/GoToReefIntake.java
@@ -5,10 +5,10 @@
 import frc.robot.subsystems.LEDs.LEDs;
 import frc.robot.subsystems.drive.Drive;
 import frc.robot.subsystems.drive.DriveCommands;
-import frc.robot.util.ButtonBoardUtil;
+import frc.robot.util.bboard.ButtonBoard;
 
 public class GoToReefIntake extends State {
-    public GoToReefIntake(StateMachineBase stateMachine, ButtonBoardUtil buttonBoard, Drive drive, LEDs LEDs) {
+    public GoToReefIntake(StateMachineBase stateMachine, ButtonBoard buttonBoard, Drive drive, LEDs LEDs) {
         super(stateMachine);
 
         startWhenActive(DriveCommands.goToPoint(drive, buttonBoard::getAlgaeReefTarget));

diff --git a/src/main/java/frc/robot/statemachine/states/tele/GoToScoreCoral.java b/src/main/java/frc/robot/statemachine/states/tele/GoToScoreCoral.java
@@ -4,10 +4,10 @@
 import frc.robot.statemachine.reusable.StateMachineBase;
 import frc.robot.subsystems.drive.Drive;
 import frc.robot.subsystems.drive.DriveCommands;
-import frc.robot.util.ButtonBoardUtil;
+import frc.robot.util.bboard.ButtonBoard;
 
 public class GoToScoreCoral extends State {
-    public GoToScoreCoral(StateMachineBase stateMachine, ButtonBoardUtil buttonBoard, Drive drive) {
+    public GoToScoreCoral(StateMachineBase stateMachine, ButtonBoard buttonBoard, Drive drive) {
         super(stateMachine);
 
         startWhenActive(DriveCommands.goToPoint(drive, buttonBoard::getCoralReefTarget));

diff --git a/src/main/java/frc/robot/statemachine/states/tele/GoToScoreNet.java b/src/main/java/frc/robot/statemachine/states/tele/GoToScoreNet.java
@@ -4,10 +4,10 @@
 import frc.robot.statemachine.reusable.StateMachineBase;
 import frc.robot.subsystems.drive.Drive;
 import frc.robot.subsystems.drive.DriveCommands;
-import frc.robot.util.ButtonBoardUtil;
+import frc.robot.util.bboard.ButtonBoard;
 
 public class GoToScoreNet extends State {
-    public GoToScoreNet(StateMachineBase stateMachine, ButtonBoardUtil buttonBoard, Drive drive) {
+    public GoToScoreNet(StateMachineBase stateMachine, ButtonBoard buttonBoard, Drive drive) {
         super(stateMachine);
 
         // TODO: change position to net

diff --git a/src/main/java/frc/robot/statemachine/states/tele/GoToScoreProcessor.java b/src/main/java/frc/robot/statemachine/states/tele/GoToScoreProcessor.java
@@ -5,10 +5,10 @@
 import frc.robot.subsystems.drive.Drive;
 import frc.robot.subsystems.drive.DriveCommands;
 import frc.robot.util.AutoTargetUtils;
-import frc.robot.util.ButtonBoardUtil;
+import frc.robot.util.bboard.ButtonBoard;
 
 public class GoToScoreProcessor extends State {
-    public GoToScoreProcessor(StateMachineBase stateMachine, ButtonBoardUtil buttonBoard, Drive drive) {
+    public GoToScoreProcessor(StateMachineBase stateMachine, ButtonBoard buttonBoard, Drive drive) {
         super(stateMachine);
 
         // TODO: change to processor

diff --git a/src/main/java/frc/robot/statemachine/states/tele/GoToStationIntake.java b/src/main/java/frc/robot/statemachine/states/tele/GoToStationIntake.java
@@ -5,10 +5,10 @@
 import frc.robot.subsystems.LEDs.LEDs;
 import frc.robot.subsystems.drive.Drive;
 import frc.robot.subsystems.drive.DriveCommands;
-import frc.robot.util.ButtonBoardUtil;
+import frc.robot.util.bboard.ButtonBoard;
 
 public class GoToStationIntake extends State {
-    public GoToStationIntake(StateMachineBase stateMachine, ButtonBoardUtil buttonBoard, Drive drive, LEDs LEDs) {
+    public GoToStationIntake(StateMachineBase stateMachine, ButtonBoard buttonBoard, Drive drive, LEDs LEDs) {
         super(stateMachine);
 
         startWhenActive(DriveCommands.goToPoint(drive, buttonBoard::getIntakeStationTarget));

diff --git a/src/main/java/frc/robot/statemachine/states/tele/IntakeAlgae.java b/src/main/java/frc/robot/statemachine/states/tele/IntakeAlgae.java
@@ -7,10 +7,10 @@
 import frc.robot.subsystems.drive.Drive;
 import frc.robot.subsystems.drive.DriveCommands;
 import frc.robot.subsystems.elevator.Elevator;
-import frc.robot.util.ButtonBoardUtil;
+import frc.robot.util.bboard.ButtonBoard;
 
 public class IntakeAlgae extends State {
-    public IntakeAlgae(StateMachineBase stateMachine, ButtonBoardUtil buttonBoard, Drive drive, Elevator elevator,
+    public IntakeAlgae(StateMachineBase stateMachine, ButtonBoard buttonBoard, Drive drive, Elevator elevator,
             EndEffector endEffector, LEDs LEDs) {
         super(stateMachine);
 

diff --git a/src/main/java/frc/robot/statemachine/states/tele/IntakeCoral.java b/src/main/java/frc/robot/statemachine/states/tele/IntakeCoral.java
@@ -7,10 +7,10 @@
 import frc.robot.subsystems.drive.Drive;
 import frc.robot.subsystems.drive.DriveCommands;
 import frc.robot.subsystems.elevator.Elevator;
-import frc.robot.util.ButtonBoardUtil;
+import frc.robot.util.bboard.ButtonBoard;
 
 public class IntakeCoral extends State {
-    public IntakeCoral(StateMachineBase stateMachine, ButtonBoardUtil buttonBoard, Drive drive, Elevator elevator,
+    public IntakeCoral(StateMachineBase stateMachine, ButtonBoard buttonBoard, Drive drive, Elevator elevator,
             EndEffector endEffector, LEDs LEDs) {
         super(stateMachine);
 

diff --git a/src/main/java/frc/robot/statemachine/states/tele/ScoreAlgaeNet.java b/src/main/java/frc/robot/statemachine/states/tele/ScoreAlgaeNet.java
@@ -6,10 +6,10 @@
 import frc.robot.subsystems.LEDs.LEDs;
 import frc.robot.subsystems.drive.Drive;
 import frc.robot.subsystems.drive.DriveCommands;
-import frc.robot.util.ButtonBoardUtil;
+import frc.robot.util.bboard.ButtonBoard;
 
 public class ScoreAlgaeNet extends State {
-    public ScoreAlgaeNet(StateMachineBase stateMachine, ButtonBoardUtil buttonBoard, Drive drive,
+    public ScoreAlgaeNet(StateMachineBase stateMachine, ButtonBoard buttonBoard, Drive drive,
             EndEffector endEffector, LEDs LEDs) {
         super(stateMachine);
 

diff --git a/src/main/java/frc/robot/statemachine/states/tele/ScoreAlgaeProcessor.java b/src/main/java/frc/robot/statemachine/states/tele/ScoreAlgaeProcessor.java
@@ -7,10 +7,10 @@
 import frc.robot.subsystems.drive.Drive;
 import frc.robot.subsystems.drive.DriveCommands;
 import frc.robot.util.AutoTargetUtils;
-import frc.robot.util.ButtonBoardUtil;
+import frc.robot.util.bboard.ButtonBoard;
 
 public class ScoreAlgaeProcessor extends State {
-    public ScoreAlgaeProcessor(StateMachineBase stateMachine, ButtonBoardUtil buttonBoard, Drive drive,
+    public ScoreAlgaeProcessor(StateMachineBase stateMachine, ButtonBoard buttonBoard, Drive drive,
             EndEffector endEffector, LEDs LEDs) {
         super(stateMachine);
 

diff --git a/src/main/java/frc/robot/statemachine/states/tele/ScoreCoral.java b/src/main/java/frc/robot/statemachine/states/tele/ScoreCoral.java
@@ -9,10 +9,10 @@
 import frc.robot.subsystems.drive.DriveCommands;
 import frc.robot.subsystems.elevator.Elevator;
 import frc.robot.subsystems.shoulder.Shoulder;
-import frc.robot.util.ButtonBoardUtil;
+import frc.robot.util.bboard.ButtonBoard;
 
 public class ScoreCoral extends State {
-    public ScoreCoral(StateMachineBase stateMachine, ButtonBoardUtil buttonBoard, Drive drive, EndEffector endEffector,
+    public ScoreCoral(StateMachineBase stateMachine, ButtonBoard buttonBoard, Drive drive, EndEffector endEffector,
             Elevator elevator, Shoulder shoulder, LEDs LEDs) {
         super(stateMachine);
 

diff --git a/src/main/java/frc/robot/util/bboard/BBoardIO.java b/src/main/java/frc/robot/util/bboard/BBoardIO.java
@@ -0,0 +1,9 @@
+package frc.robot.util.bboard;
+
+import frc.robot.util.bboard.ButtonBoard.ButtonInfo;
+import frc.robot.util.bboard.ButtonBoard.SelectButtonInfo;
+
+public interface BBoardIO {
+    public boolean isPressed(ButtonInfo button);
+    public boolean isPressed(SelectButtonInfo<?> button);
+}
diff --git a/src/main/java/frc/robot/util/bboard/BBoardIOReal.java b/src/main/java/frc/robot/util/bboard/BBoardIOReal.java
@@ -0,0 +1,30 @@
+package frc.robot.util.bboard;
+
+import edu.wpi.first.wpilibj.GenericHID;
+import frc.robot.util.bboard.ButtonBoard.ButtonInfo;
+import frc.robot.util.bboard.ButtonBoard.SelectButtonInfo;
+
+public class BBoardIOReal implements BBoardIO {
+    private static GenericHID padOne = new GenericHID(2);
+    private static GenericHID padTwo = new GenericHID(3);
+    private static GenericHID padThree = new GenericHID(4);
+
+    @Override
+    public boolean isPressed(ButtonInfo buttonInfo) {
+        int board = buttonInfo.board();
+        int button = buttonInfo.button();
+        return (board == 0 && padOne.getRawButtonPressed(button))
+                || (board == 1 && padTwo.getRawButtonPressed(button))
+                || (board == 2 && padThree.getRawButtonPressed(button));
+    }
+
+
+    @Override
+    public boolean isPressed(SelectButtonInfo<?> buttonInfo) {
+        int board = buttonInfo.board();
+        int button = buttonInfo.button();
+        return (board == 0 && padOne.getRawButtonPressed(button))
+                || (board == 1 && padTwo.getRawButtonPressed(button))
+                || (board == 2 && padThree.getRawButtonPressed(button));
+    }
+}
diff --git a/src/main/java/frc/robot/util/bboard/BBoardIOSim.java b/src/main/java/frc/robot/util/bboard/BBoardIOSim.java
@@ -0,0 +1,35 @@
+package frc.robot.util.bboard;
+
+import java.util.ArrayList;
+
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import frc.robot.util.bboard.ButtonBoard.ButtonInfo;
+import frc.robot.util.bboard.ButtonBoard.SelectButtonInfo;
+
+public class BBoardIOSim implements BBoardIO{
+    public BBoardIOSim() {
+        SmartDashboard.putNumberArray("ButtonBoardSim/Pressed", new double[0]);
+    }
+
+    private ArrayList<ButtonInfo> pressedButtons = new ArrayList<>();
+
+    public void periodic(){
+        double[] pressed = SmartDashboard.getNumberArray("ButtonBoardSim/Pressed", new double[0]);
+        pressedButtons.clear();
+        for (int i = 0; i < pressed.length - 1; i += 2) {
+            pressedButtons.add(new ButtonInfo((int) pressed[i], (int) pressed[i + 1]));
+        }
+        SmartDashboard.putNumberArray("ButtonBoardSim/Pressed", new double[0]);
+    }
+
+    @Override
+    public boolean isPressed(ButtonInfo button) {
+        return pressedButtons.contains(button);
+    }
+
+    @Override
+    public boolean isPressed(SelectButtonInfo<?> button) {
+        return pressedButtons.contains(button.buttonInfo());
+    }
+
+}
diff --git a/.../java/frc/robot/util/ButtonBoardUtil.java → ...va/frc/robot/util/bboard/ButtonBoard.java b/.../java/frc/robot/util/ButtonBoardUtil.java → ...va/frc/robot/util/bboard/ButtonBoard.java
@@ -1,40 +1,33 @@
-package frc.robot.util;
+package frc.robot.util.bboard;
 
 import java.util.List;
 import java.util.function.DoubleSupplier;
 
 import org.littletonrobotics.junction.Logger;
 
 import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.wpilibj.GenericHID;
 import frc.robot.subsystems.drive.Drive;
 import frc.robot.util.AutoTargetUtils.IntakeStations.IntakeStation;
+import frc.robot.util.AutoTargetUtils;
 import frc.robot.util.AutoTargetUtils.IntakeStations;
 import frc.robot.util.AutoTargetUtils.Reef;
 import frc.robot.util.AutoTargetUtils.Reef.CoralLevel;
 import frc.robot.util.AutoTargetUtils.Reef.CoralReefLocation;
 import me.nabdev.oxconfig.ConfigurableParameter;
 
-public class ButtonBoardUtil {
-    private static GenericHID padOne = new GenericHID(2);
-    private static GenericHID padTwo = new GenericHID(3);
-    private static GenericHID padThree = new GenericHID(4);
+public class ButtonBoard {
+    private final BBoardIO boardIO;
 
-    private static boolean isButtonPressed(int board, int button) {
-        return (board == 0 && padOne.getRawButtonPressed(button))
-                || (board == 1 && padTwo.getRawButtonPressed(button))
-                || (board == 2 && padThree.getRawButtonPressed(button));
+    public ButtonBoard(BBoardIO boardIO) {
+        this.boardIO = boardIO;
     }
 
     public record ButtonInfo(int board, int button) {
-        public boolean isPressed() {
-            return isButtonPressed(board, button);
-        }
     };
 
     public record SelectButtonInfo<T extends Enum<?>>(int board, int button, T value) {
-        public boolean isPressed() {
-            return isButtonPressed(board, button);
+        public ButtonInfo buttonInfo() {
+            return new ButtonInfo(board, button);
         }
     };
 
@@ -97,7 +90,7 @@ public boolean getSelectedAlgaeLocation() {
 
     public void periodic(Drive drive) {
         for (SelectButtonInfo<CoralReefLocation> button : reefButtons) {
-            if (button.isPressed()) {
+            if (boardIO.isPressed(button)) {
                 coralReefLocation = button.value();
                 coralReefReferencePose = coralReefLocation.pose();
                 algaeReefTargetPose = Reef.algae(coralReefLocation.algae());
@@ -108,27 +101,27 @@ public void periodic(Drive drive) {
             }
         }
         for (SelectButtonInfo<CoralLevel> button : levels) {
-            if (button.isPressed()) {
+            if (boardIO.isPressed(button)) {
                 coralReefLevel = button.value();
                 if (coralReefLocation != null)
                     coralReefTargetPose = Reef.coral(coralReefLocation, coralReefLevel);
             }
         }
 
         for (SelectButtonInfo<IntakeStation> button : intakeStationButtons) {
-            if (button.isPressed()) {
+            if (boardIO.isPressed(button)) {
                 intakeStation = button.value();
                 intakeStationPose = IntakeStations.intakeStation(intakeStation);
                 intakeStationReferencePose = intakeStation.pose();
             }
         }
-        if (algaeModeToggle.isPressed()) {
+        if (boardIO.isPressed(algaeModeToggle)) {
             algaeMode = !algaeMode;
         }
-        if (processor.isPressed()) {
+        if (boardIO.isPressed(processor)) {
             isProcessor = true;
         }
-        if (net.isPressed()) {
+        if (boardIO.isPressed(net)) {
             isProcessor = false;
         }
 
@@ -148,8 +141,8 @@ public void periodic(Drive drive) {
         Logger.recordOutput("ButtonBoard/CoralReefLevel", coralReefLevel);
         Logger.recordOutput("ButtonBoard/IntakeStation", intakeStation);
         Logger.recordOutput("ButtonBoard/IntakeStationPose", intakeStationPose);
-        Logger.recordOutput("ButtonBoard/ClimbUp", climbUp.isPressed());
-        Logger.recordOutput("ButtonBoard/ClimbDown", climbDown.isPressed());
+        Logger.recordOutput("ButtonBoard/ClimbUp", boardIO.isPressed(climbUp));
+        Logger.recordOutput("ButtonBoard/ClimbDown", boardIO.isPressed(climbDown));
     }
 
     public Pose2d getCoralReefTarget() {
@@ -197,7 +190,8 @@ public boolean closeToScoringTarget(Drive drive) {
                 if (coralReefTargetPose == null) {
                     return false;
                 }
-                return AutoTargetUtils.robotDistToPose(drive, AutoTargetUtils.processor()) < processorDistThreshold.get();
+                return AutoTargetUtils.robotDistToPose(drive, AutoTargetUtils.processor()) < processorDistThreshold
+                        .get();
             } else {
                 // TODO: Net
                 return false;