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Allow state transitions directly from reef scoring to reef algae inta… #67

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Merged
Lyssia-Seiden merged 2 commits into from
Mar 6, 2025
Merged

Allow state transitions directly from reef scoring to reef algae inta… #67

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156ec21
Allow state transitions directly from reef scoring to reef algae inta…
SCool62 Mar 6, 2025
bbe6bf5
Rewrite with less repitition
SCool62 Mar 6, 2025
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3 changes: 2 additions & 1 deletion .vscode/settings.json
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Original file line number Diff line number Diff line change
Expand Up @@ -57,5 +57,6 @@
"edu.wpi.first.math.**.proto.*",
"edu.wpi.first.math.**.struct.*",
],
"java.compile.nullAnalysis.mode": "automatic"
"java.compile.nullAnalysis.mode": "automatic",
"java.debug.settings.onBuildFailureProceed": true
}
7 changes: 3 additions & 4 deletions src/main/java/frc/robot/Robot.java
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Expand Up @@ -112,7 +112,7 @@ private RobotHardware(SwerveConstants swerveConstants) {
}
}

public static final RobotType ROBOT_TYPE = Robot.isReal() ? RobotType.REAL : RobotType.REPLAY;
public static final RobotType ROBOT_TYPE = Robot.isReal() ? RobotType.REAL : RobotType.SIM;
// For replay to work properly this should match the hardware used in the log
public static final RobotHardware ROBOT_HARDWARE = RobotHardware.KELPIE;

Expand Down Expand Up @@ -685,12 +685,11 @@ public Robot() {
driver
.povUp()
.and(() -> ROBOT_TYPE == RobotType.SIM)
.onTrue(Commands.runOnce(() -> manipulator.setSecondBeambreak(true)).ignoringDisable(true));
.onTrue(Commands.runOnce(() -> manipulator.setFirstBeambreak(true)).ignoringDisable(true));
driver
.povDown()
.and(() -> ROBOT_TYPE == RobotType.SIM)
.onTrue(
Commands.runOnce(() -> manipulator.setSecondBeambreak(false)).ignoringDisable(true));
.onTrue(Commands.runOnce(() -> manipulator.setFirstBeambreak(false)).ignoringDisable(true));
driver
.povRight()
.and(() -> ROBOT_TYPE == RobotType.SIM)
Expand Down
23 changes: 17 additions & 6 deletions src/main/java/frc/robot/subsystems/Superstructure.java
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Expand Up @@ -423,18 +423,24 @@ private void configureStateTransitionCommands() {
stateTriggers
.get(SuperState.SCORE_CORAL)
.and(() -> !manipulator.getFirstBeambreak() && !manipulator.getSecondBeambreak())
.and(() -> !intakeAlgaeReq.getAsBoolean() || !intakeTargetOnReef())
// .debounce(0.15)
.whileTrue(
this.extendWithClearance(
0.0, ShoulderSubsystem.SHOULDER_HP_POS, WristSubsystem.WRIST_HP_POS))
.and(() -> elevator.isNearExtension(0))
.onTrue(this.forceState(SuperState.IDLE));
.onTrue(forceState(SuperState.IDLE));

antiJamReq
.and(stateTriggers.get(SuperState.CLIMB).negate())
.and(stateTriggers.get(SuperState.PRE_CLIMB).negate())
.onTrue(forceState(SuperState.ANTI_JAM))
.onFalse(forceState(SuperState.IDLE));
stateTriggers
.get(SuperState.SCORE_CORAL)
.and(() -> !manipulator.getFirstBeambreak() && !manipulator.getSecondBeambreak())
.and(intakeAlgaeReq)
.and(() -> intakeTargetOnReef())
.onTrue(
forceState(
algaeIntakeTarget.get() == AlgaeIntakeTarget.HIGH
? SuperState.INTAKE_ALGAE_HIGH
: SuperState.INTAKE_ALGAE_LOW));

// ANTI_JAM logic
stateTriggers
Expand Down Expand Up @@ -721,6 +727,11 @@ public boolean stateIsAlgaeAlike() {
|| this.state == SuperState.SCORE_ALGAE_PROCESSOR;
}

public boolean intakeTargetOnReef() {
return this.algaeIntakeTarget.get() == AlgaeIntakeTarget.HIGH
|| this.algaeIntakeTarget.get() == AlgaeIntakeTarget.LOW;
}

private Command forceState(SuperState nextState) {
return Commands.runOnce(
() -> {
Expand Down
3 changes: 1 addition & 2 deletions src/main/java/frc/robot/subsystems/roller/RollerIOSim.java
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Expand Up @@ -66,8 +66,7 @@ public void registerSimulationCallback(Consumer<RollerIOInputsAutoLogged> callba

@Override
public void setPosition(Rotation2d rot) {
// TODO Auto-generated method stub
throw new UnsupportedOperationException("Unimplemented method 'setPosition'");
// TODO Actually simulate
}

@Override
Expand Down