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Merge pull request #39 from Team4388/Port-PIDS
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Add PID and Auto recording
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@Connorppeach
Connorppeach authored Jan 8, 2024
2 parents df6bd03 + 4ee7300 commit df59a65
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14 changes: 14 additions & 0 deletions src/main/java/frc4388/robot/RobotContainer.java
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import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.commands.Swerve.JoystickPlayback;
import frc4388.robot.commands.Swerve.JoystickRecorder;
import frc4388.robot.subsystems.LED;
import frc4388.utility.LEDPatterns;
import frc4388.utility.controller.IHandController;
Expand Down Expand Up @@ -57,6 +59,18 @@ public RobotContainer() {
private void configureButtonBindings() {
/* Driver Buttons */
// test command to spin the robot while pressing A on the driver controller
// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
// .whileTrue(new JoystickRecorder(m_robotSwerveDrive,
// () -> getDeadbandedDriverController().getLeftX(),
// () -> getDeadbandedDriverController().getLeftY(),
// () -> getDeadbandedDriverController().getRightX(),
// () -> getDeadbandedDriverController().getRightY(),
// "Blue1Path.txt"))
// .onFalse(new InstantCommand());

// new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
// .onTrue(new JoystickPlayback(m_robotSwerveDrive, "Blue1Path.txt"))
// .onFalse(new InstantCommand());

/* Operator Buttons */
// activates "Lit Mode"
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91 changes: 91 additions & 0 deletions src/main/java/frc4388/robot/commands/Autos/PlaybackChooser.java
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package frc4388.robot.commands.Autos;

import java.io.File;
import java.util.ArrayList;
import java.util.HashMap;

import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
import edu.wpi.first.wpilibj.shuffleboard.ComplexWidget;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import frc4388.robot.commands.Swerve.JoystickPlayback;
import frc4388.robot.subsystems.SwerveDrive;

public class PlaybackChooser {
private final ArrayList<SendableChooser<Command>> m_choosers = new ArrayList<>();
private SendableChooser<Command> m_playback = null;
private final ArrayList<ComplexWidget> m_widgets = new ArrayList<>();
private final HashMap<String, Command> m_commandPool = new HashMap<>();

private final File m_dir = new File("/home/lvuser/autos/");
private int m_cmdNum = 0;
private final SwerveDrive m_swerve;

// commands
private Command m_noAuto = new InstantCommand();

public PlaybackChooser(SwerveDrive swerve, Object... pool) {
m_swerve = swerve;
}

public PlaybackChooser addOption(String name, Command option) {
m_commandPool.put(name, option);
return this;
}

public PlaybackChooser buildDisplay() {
for (int i = 0; i < 10; i++) {
appendCommand();
}
m_playback = m_choosers.get(0);
nextChooser();

Shuffleboard.getTab("Auto Chooser")
.add("Add Sequence", new InstantCommand(() -> nextChooser()))
.withPosition(4, 0);
return this;
}

// This will be bound to a button for the time being
public void appendCommand() {
var chooser = new SendableChooser<Command>();
chooser.setDefaultOption("No Auto", m_noAuto);

m_choosers.add(chooser);
ComplexWidget widget = Shuffleboard.getTab("Auto Chooser")
.add("Command: " + m_choosers.size(), chooser)
.withSize(4, 1)
.withPosition(0, m_choosers.size() - 1)
.withWidget(BuiltInWidgets.kSplitButtonChooser);

m_widgets.add(widget);
}

public void nextChooser() {
SendableChooser<Command> chooser = m_choosers.get(m_cmdNum++);

for (String auto : m_dir.list()) {
chooser.addOption(auto, new JoystickPlayback(m_swerve, auto));
}
for (var cmd_name : m_commandPool.keySet()) {
chooser.addOption(cmd_name, m_commandPool.get(cmd_name));
}
}

public Command getCommand() {
Command command = m_playback.getSelected();
command = command == null ? m_noAuto : command.asProxy();

Command[] commands = new Command[m_cmdNum - 1];
for (int i = 0; i < m_cmdNum - 1; i++) {
Command command2 = m_choosers.get(i + 1).getSelected();
command2 = command2 == null ? m_noAuto : command2.asProxy();

commands[i] = command2.asProxy();
}

return command.andThen(commands);
}
}
225 changes: 225 additions & 0 deletions src/main/java/frc4388/robot/commands/Autos/Taxi.txt
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