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Merged
merged 3 commits into from
Sep 27, 2025
Merged

Remove Unused Code #22

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354a367
Update ReefChooser.java
ShmayaR Sep 27, 2025
7284106
update l1 state
ShmayaR Sep 27, 2025
4678043
removed unused part of scoring level enum
ShmayaR Sep 27, 2025
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20 changes: 1 addition & 19 deletions src/main/java/frc/trigon/robot/commands/commandfactories/CoralPlacingCommands.java
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Original file line number Diff line number Diff line change
Expand Up @@ -155,25 +155,7 @@ public enum ScoringLevel {
this.rotationTransform = rotationTransform;
this.armElevatorState = determineArmElevatorState();
}

/**
* Calculates the target placing position using the clock position and the target reef side.
* The reef side transform will be flipped depending on operator input.
* To make it more intuitive for the operator to input the reef side,
* left will always correspond to the physical left side in the driver station,
* as opposed to "reef relative" left.
*
* @param reefClockPosition the desired clock position of the reef
* @param reefSide the desired side of the reef, left or right (as seen from the driver station)
* @return the target placing position
*/
public FlippablePose2d calculateTargetPlacingPosition(FieldConstants.ReefClockPosition reefClockPosition, FieldConstants.ReefSide reefSide) {
final Pose2d reefCenterPose = new Pose2d(FieldConstants.BLUE_REEF_CENTER_TRANSLATION, reefClockPosition.clockAngle);
final double yTransform = reefSide.shouldFlipYTransform(reefClockPosition) ? -positiveYTransformMeters : positiveYTransformMeters;
final Transform2d transform = new Transform2d(xTransformMeters, yTransform, rotationTransform);

return new FlippablePose2d(reefCenterPose.plus(transform), true);
}


private ArmElevatorConstants.ArmElevatorState determineArmElevatorState() {
return switch (level) {
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51 changes: 2 additions & 49 deletions src/main/java/frc/trigon/robot/misc/ReefChooser.java
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Expand Up @@ -8,13 +8,11 @@
import frc.trigon.robot.constants.FieldConstants;
import frc.trigon.robot.constants.OperatorConstants;
import frc.trigon.robot.subsystems.arm.ArmElevatorConstants;
import lib.utilities.flippable.FlippablePose2d;

import java.util.function.Supplier;

public class ReefChooser {
private final CommandGenericHID hid;
private FieldConstants.ReefClockPosition clockPosition = FieldConstants.ReefClockPosition.REEF_6_OCLOCK;
private CoralPlacingCommands.ScoringLevel scoringLevel = CoralPlacingCommands.ScoringLevel.L4;
private FieldConstants.ReefSide reefSide = FieldConstants.ReefSide.LEFT;

Expand All @@ -28,21 +26,6 @@ public CoralPlacingCommands.ScoringLevel getScoringLevel() {
return scoringLevel;
}

public void switchReefSide() {
reefSide = reefSide == FieldConstants.ReefSide.LEFT ? FieldConstants.ReefSide.RIGHT : FieldConstants.ReefSide.LEFT;
}

public FieldConstants.ReefClockPosition getClockPosition() {
return clockPosition;
}

public FieldConstants.ReefSide getReefSide() {
return reefSide;
}

public FlippablePose2d calculateTargetScoringPose() {
return scoringLevel.calculateTargetPlacingPosition(clockPosition, reefSide);
}

public ArmElevatorConstants.ArmElevatorState getArmElevatorState() {
return scoringLevel.armElevatorState;
Expand Down Expand Up @@ -74,52 +57,22 @@ private void configureReefHIDBindings() {

private Command getSetFaceFromIndexCommand(int index) {
return new InstantCommand(
() -> setFaceFromIndex(index)
() -> setFaceSideFromIndex(index)
).ignoringDisable(true);
}

private void setFaceFromIndex(int index) {
clockPosition = FieldConstants.ReefClockPosition.values()[index / 2];
private void setFaceSideFromIndex(int index) {
reefSide = FieldConstants.ReefSide.values()[index % 2];
}

private void configureFallbackBindings() {
OperatorConstants.SET_TARGET_SCORING_REEF_CLOCK_POSITION_2_OCLOCK_TRIGGER.onTrue(getSetTargetClockPositionCommand(FieldConstants.ReefClockPosition.REEF_2_OCLOCK));
OperatorConstants.SET_TARGET_SCORING_REEF_CLOCK_POSITION_4_OCLOCK_TRIGGER.onTrue(getSetTargetClockPositionCommand(FieldConstants.ReefClockPosition.REEF_4_OCLOCK));
OperatorConstants.SET_TARGET_SCORING_REEF_CLOCK_POSITION_6_OCLOCK_TRIGGER.onTrue(getSetTargetClockPositionCommand(FieldConstants.ReefClockPosition.REEF_6_OCLOCK));
OperatorConstants.SET_TARGET_SCORING_REEF_CLOCK_POSITION_8_OCLOCK_TRIGGER.onTrue(getSetTargetClockPositionCommand(FieldConstants.ReefClockPosition.REEF_8_OCLOCK));
OperatorConstants.SET_TARGET_SCORING_REEF_CLOCK_POSITION_10_OCLOCK_TRIGGER.onTrue(getSetTargetClockPositionCommand(FieldConstants.ReefClockPosition.REEF_10_OCLOCK));
OperatorConstants.SET_TARGET_SCORING_REEF_CLOCK_POSITION_12_OCLOCK_TRIGGER.onTrue(getSetTargetClockPositionCommand(FieldConstants.ReefClockPosition.REEF_12_OCLOCK));

OperatorConstants.SET_TARGET_REEF_SCORING_SIDE_LEFT_TRIGGER.onTrue(getSetTargetReefSideCommand(FieldConstants.ReefSide.LEFT));
OperatorConstants.SET_TARGET_REEF_SCORING_SIDE_RIGHT_TRIGGER.onTrue(getSetTargetReefSideCommand(FieldConstants.ReefSide.RIGHT));
}

private Command getSetTargetClockPositionCommand(FieldConstants.ReefClockPosition clockPosition) {
return new InstantCommand(
() -> this.clockPosition = clockPosition
).ignoringDisable(true);
}

private Command getSetTargetReefSideCommand(FieldConstants.ReefSide reefSide) {
return new InstantCommand(
() -> this.reefSide = reefSide
).ignoringDisable(true);
}

private CoralPlacingCommands.ScoringLevel getIncrementedScoringLevel() {
return switch (scoringLevel) {
case L2 -> CoralPlacingCommands.ScoringLevel.L3;
case L1 -> CoralPlacingCommands.ScoringLevel.L2;
default -> CoralPlacingCommands.ScoringLevel.L4;
};
}

private CoralPlacingCommands.ScoringLevel getDecrementedScoringLevel() {
return switch (scoringLevel) {
case L4 -> CoralPlacingCommands.ScoringLevel.L3;
case L3 -> CoralPlacingCommands.ScoringLevel.L2;
default -> CoralPlacingCommands.ScoringLevel.L1;
};
}
}
2 changes: 1 addition & 1 deletion src/main/java/frc/trigon/robot/subsystems/arm/ArmElevatorConstants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -336,7 +336,7 @@ public enum ArmElevatorState {
REST_FOR_CLIMB(Rotation2d.fromDegrees(0), 0.603, null, false, 0.7),
LOAD_CORAL(Rotation2d.fromDegrees(0), 0.5519, REST, true, 0.7),
EJECT(Rotation2d.fromDegrees(60), 0.603, null, false, 0.7),
SCORE_L1(Rotation2d.fromDegrees(45), 0.603, null, false, 1),
SCORE_L1(Rotation2d.fromDegrees(70), 0.4, null, false, 1),
SCORE_L2(Rotation2d.fromDegrees(90), 0.3, PREPARE_SCORE_L2, false, 1),
SCORE_L3(Rotation2d.fromDegrees(90), 0.7, PREPARE_SCORE_L3, false, 1),
SCORE_L4(Rotation2d.fromDegrees(100), 1.2, PREPARE_SCORE_L4, false, 1),
Expand Down
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