Merge pull request #23 from Team5430/auton-working

Auton working

.github/workflows/Build.yml

@@ -23,40 +23,25 @@ jobs:
 
     steps:
     - uses: actions/checkout@v3
-    - name: Set up JDK 11
+    - name: Set up JDK 17
       uses: actions/setup-java@v3
       with:
-        java-version: '11'
+        java-version: '17'
         distribution: 'temurin'
     - name: Build with Gradle
       uses: gradle/gradle-build-action@67421db6bd0bf253fb4bd25b31ebb98943c375e1
       with:
         arguments: build
-  macOs Intel: 
+  macOs: 
 
     runs-on: macos-latest
 
     steps:
     - uses: actions/checkout@v3
-    - name: Set up JDK 11
+    - name: Set up JDK 17
       uses: actions/setup-java@v3
       with:
-        java-version: '11'
-        distribution: 'temurin'
-    - name: Build with Gradle
-      uses: gradle/gradle-build-action@67421db6bd0bf253fb4bd25b31ebb98943c375e1
-      with:
-        arguments: build
-    macOs Silicon:
-
-      runs-on: macos-latest-xlarge
-
-      steps:
-    - uses: actions/checkout@v3
-    - name: Set up JDK 11
-      uses: actions/setup-java@v3
-      with:
-        java-version: '11'
+        java-version: '17'
         distribution: 'temurin'
     - name: Build with Gradle
       uses: gradle/gradle-build-action@67421db6bd0bf253fb4bd25b31ebb98943c375e1
@@ -68,13 +53,13 @@ jobs:
 
     steps:
     - uses: actions/checkout@v3
-    - name: Set up JDK 11
+    - name: Set up JDK 17
       uses: actions/setup-java@v3
       with:
-        java-version: '11'
+        java-version: '17'
         distribution: 'temurin'
     - name: Build with Gradle
       uses: gradle/gradle-build-action@67421db6bd0bf253fb4bd25b31ebb98943c375e1
       with:
         arguments: build
-
+

.gitignore

@@ -1,6 +1,7 @@
 # This gitignore has been specially created by the WPILib team.
 # If you remove items from this file, intellisense might break.
 
+.idea
 ### C++ ###
 # Prerequisites
 *.d

.glass/glass.json

@@ -0,0 +1 @@
+{}

.sysid/sysid.json

@@ -0,0 +1,5 @@
+{
+  "SysId": {
+    "Analysis Type": "General Mechanism"
+  }
+}

build.gradle

@@ -4,8 +4,8 @@ plugins {
     id("maven-publish")
 }
 
-sourceCompatibility = JavaVersion.VERSION_11
-targetCompatibility = JavaVersion.VERSION_11
+sourceCompatibility = JavaVersion.VERSION_17
+targetCompatibility = JavaVersion.VERSION_17
 
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
@@ -49,6 +49,9 @@ def includeDesktopSupport = false
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 5.
 dependencies {
+
+    implementation("com.google.guava:guava:31.1-jre")
+
     implementation wpi.java.deps.wpilib()
     implementation wpi.java.vendor.java()
 
@@ -98,28 +101,3 @@ wpi.java.configureTestTasks(test)
 tasks.withType(JavaCompile) {
     options.compilerArgs.add '-XDstringConcat=inline'
 }
-group='Team5430'
- subprojects {
- apply plugin: 'java'
- apply plugin: "edu.wpi.first.GradleRIO" version "2023.4.3"
-                  group='Team5430'
-}
-
-//publish config for github packages
-publishing {
-    repositories {
-        maven {
-            name = "5430_uss_austin"
-            url = uri("https://maven.pkg.github.com/team5430/command-based-startoff")
-            credentials {
-                username = project.findProperty("gpr.user") ?: System.getenv("led-esma")
-                password = project.findProperty("gpr.key") ?: System.getenv("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")
-            } 
-        }
-    }
-    publications {
-        gpr(MavenPublication) {
-            from(components.java)
-        }
-    }
-}

src/main/java/frc/robot/Robot.java

@@ -14,8 +14,7 @@
 import frc.robot.subsystems.extendSub;
 import frc.robot.subsystems.gripperSub;
 import frc.robot.subsystems.rotationSub;
-import frc.robot.commands.Auto_one;
-import frc.robot.commands.Auto_two;
+
 
 
 
@@ -30,8 +29,9 @@ public class Robot extends TimedRobot {
   //making drivetrain as function for m_chooser
   private final driveTrain mdrivetrain = new driveTrain();
 
-  private SequentialCommandGroup Auto_one;
-  private SequentialCommandGroup Auto_two; 
+
+  private Command m_autonomousCommand;
+
   private RobotContainer m_robotContainer;
 
   public String m_autoselected;
@@ -67,10 +67,9 @@ public void robotInit() {
 
    SmartDashboard.putData("Auton Choice", m_chooser);
 
-   m_chooser.addOption("Goal only", KGOALONLY);
 
 
-  /**
+  /*
    * This function is called every 20 ms, no matter the mode. Use this for items like diagnostics
    * that you want ran during disabled, autonomous, teleoperated and test.
    *
@@ -99,6 +98,12 @@ public void disabledPeriodic() {}
   @Override
   public void autonomousInit() {
     autoStatus = 0;
+    m_autonomousCommand = m_robotContainer.getAuton();
+
+    if(m_autonomousCommand != null){
+      m_autonomousCommand.schedule();
+    }
+
 
 
   }
@@ -107,35 +112,20 @@ public void autonomousInit() {
   @Override
   public void autonomousPeriodic() {
 
-    m_autoselected = m_chooser.getSelected();
-
-    switch (m_autoselected){
-//runs and autonmous regardless if a choice isn't set as to 
-      default:
-      Auto_one.schedule();
-      break;
-
-      case KGOALONLY:
-      Auto_two.schedule();
-      break;
-
     }
 
-  }
+
 
   @Override
   public void teleopInit() {
     // This makes sure that the autonomous stops running when
-    // teleop starts running. If you want the autonomous to
-    // continue until interrupted by another command, remove
-    // this line or comment it out.
-  if(Auto_one != null){
-    Auto_one.cancel();
-  }
+    // teleop starts running. 
+    if(m_autonomousCommand != null){
+      m_autonomousCommand.cancel();
+    }
+
+
 
-  if(Auto_two != null){
-    Auto_two.cancel();
-  }
   }
 
   /** This function is called periodically during operator control. */

src/main/java/frc/robot/RobotContainer.java

@@ -5,11 +5,12 @@
 package frc.robot;
 
 import frc.robot.Constants.OperatorConstants;
-import frc.robot.commands.Auto_one;
+import frc.robot.commands.Autos;
 import frc.robot.subsystems.rotationSub;
 import frc.robot.subsystems.driveTrain;
 import frc.robot.subsystems.extendSub;
 import frc.robot.subsystems.gripperSub;
+import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.RunCommand;
@@ -48,7 +49,7 @@ public RobotContainer() {
       new RunCommand(() -> m_DriveTrain.Drive(m_JoystickLeft.getY(), m_JoystickRight.getY()),m_DriveTrain));
       //rotate arm
     m_armSub.setDefaultCommand(
-      new RunCommand(() -> m_armSub.rotating(m_Controller0.getRawAxis(0)), m_armSub));
+      new RunCommand(() -> m_armSub.rotating(m_Controller0.getRawAxis(1)), m_armSub));
       //gripper control
     m_gripperSub.setDefaultCommand(
       new RunCommand(() -> m_gripperSub.gripping(RobotContainer.m_Controller0.getRawAxis(2) - RobotContainer.m_Controller0.getRawAxis(3)), m_gripperSub));
@@ -79,6 +80,9 @@ private void configureBindings(){
     zeroYaw.onTrue(new InstantCommand(m_DriveTrain:: gyro0Yaw)); 
   }
 
+public Command getAuton(){
+  return Autos.defaultAutonomous(m_DriveTrain);
+}   
 
 }
 

src/main/java/frc/robot/commands/Autos.java

@@ -0,0 +1,20 @@
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import edu.wpi.first.wpilibj2.command.Commands;
+import frc.robot.subsystems.driveTrain;
+import frc.robot.subsystems.extendSub;
+import frc.robot.subsystems.gripperSub;
+import frc.robot.subsystems.rotationSub;
+
+public class Autos {
+
+  public static CommandBase defaultAutonomous(driveTrain drive){
+    return Commands.sequence(rotationSub.C_rotateinTime(5,.3), extendSub.C_extendTime(2.5,.3), gripperSub.C_gripinTime(1,.3),
+    extendSub.C_extendTime(5, -.3), gripperSub.C_gripinTime(1, -.3), rotationSub.C_rotateinTime(5, -.3)); 
+}
+  private Autos(){
+    throw new UnsupportedOperationException("This is where we contain our autos!");
+  }
+}
+