generated from Team5430/CommandBasedTemplate
-
Notifications
You must be signed in to change notification settings - Fork 0
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Merge pull request #11 from Team5430/dev
Updating Master Code with Dev Changes
- Loading branch information
Showing
11 changed files
with
577 additions
and
390 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,31 +1,46 @@ | ||
| package frc.robot; | ||
|
|
||
| public class Constants { | ||
|
|
||
| public static double multiplier = 0; | ||
| //multiplier must not be 0 | ||
| public static double multiplier = .5; | ||
|
|
||
| // | ||
| public static double gyroPos = 0; | ||
| //represents the amount of rotations the motor needs in order to make one full gear rotation | ||
| public static double ratio = 10.71; | ||
| //represents an increase or decrease in the number that the related software gives. | ||
| public static double encoderTicks = 2048; | ||
| //represents the total length of the wheel | ||
| public static double circumferenceInInches = 6 * Math.PI; | ||
| //represents number of inches in a foot | ||
| public static double inches = 12; | ||
|
|
||
|
|
||
| // ratio of the intake | ||
| public static double Iratio = 12/56; | ||
| // represents the amount of gear ratio * rotations needed for 1 degree of pivot rotation | ||
| public static double degree = 1.0891/90; | ||
|
|
||
| public static class CANid { | ||
| // Talons CANid | ||
| public static int backLeftMotor = 2; | ||
| public static int L_hangmotor = 2; | ||
| public static int R_hangmotor = 1; | ||
| //public static final int shooterMotor = 15; | ||
|
|
||
| // Talon CANid's | ||
| public static int backLeftMotor = 5; | ||
| public static int frontLeftMotor = 4; | ||
| public static int backRightMotor = 3; | ||
| public static int frontRightMotor = 5; | ||
| public static int shooterMotor; | ||
| public static int pivotMotor; | ||
| public static int intakeMotor; | ||
| public static int hang_motor; | ||
| public static int frontRightMotor = 6; | ||
| public static int shooterMotor = 15; | ||
| public static int pivotMotor = 7; | ||
| public static int intakeMotor = 8; | ||
| public static int transversalMotor = 9; | ||
| } | ||
|
|
||
| public static class OperatorC { | ||
| //Sets the controller in USB order from driver station | ||
| public static int CO_Con = 0; | ||
| //sets the left stick in USB order from driver station | ||
| public static int L_Joy = 1; | ||
| //sets the right stick in USB order from driver station | ||
| public static int R_Joy = 2; | ||
| } | ||
| } |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,119 @@ | ||
| package frc.robot.commands; | ||
|
|
||
| import edu.wpi.first.wpilibj2.command.Command; | ||
| import edu.wpi.first.wpilibj2.command.Commands; | ||
| import edu.wpi.first.wpilibj2.command.WaitCommand; | ||
| import frc.robot.subsystems.driveTrain; | ||
| import frc.robot.subsystems.intakeSub; | ||
|
|
||
| public class Autos { | ||
|
|
||
|
|
||
| /*By March 3, 2024, all shooters command lines are commented due to absence of shooter, | ||
| we will not use the shooter by the time of arizona trip | ||
| */ | ||
|
|
||
| public static Command autoRight(driveTrain drive, intakeSub intake) { | ||
| return Commands.sequence( | ||
| //shoot.C_ShooterOut(),//gets the shooter ready to shoot | ||
| intake.C_intake(),//makes sure the note is correctly in place | ||
| new WaitCommand(1),//gives the shooter time to shoot | ||
| intake.C_outtake(),//moves the note into the shooter which then flings it out | ||
| new WaitCommand(.5),//lets the note fling out | ||
| intake.C_stopIntake(),//turns off the intake motor | ||
| //shoot.C_ShooterStop(),//turns off the shooter motor | ||
| drive.C_driveinInches(-11.046),//moves backwards 11.046 inches | ||
| drive.C_turntoAngle(-60.02),//turns left 60.02 degrees | ||
| intake.C_extendnintake(),//moves intake to floor position and turns the intake on | ||
| drive.C_driveinInches(-55.5),//moves backwards 55.5 inches | ||
| // intake.C_setPos("Shooter"),//sets the intake to shooter position | ||
| intake.C_stopIntake(),//turns off the intake motor | ||
| drive.C_driveinInches(55.5),//goes forward 55.5 inches | ||
| drive.C_turntoAngle(60.02),//turns right 60.02 degrees | ||
| drive.C_driveinInches(11.046),//goes forward 11.046 inches | ||
| //shoot.C_ShooterOut(),//turns on shooter motor | ||
| new WaitCommand(1),//lets the shooter motor warm up | ||
| intake.C_outtake(),//moves the note into the shooter to then be flung | ||
| new WaitCommand(1),//gives time for the note to be flung out | ||
| // shoot.C_ShooterStop(),//turns off the shooter motor | ||
| intake.C_stopIntake(),//turns off intake motor | ||
| drive.C_driveinInches(-11.046),//moves backwards 11.046 inches | ||
| drive.C_turntoAngle(-60.02),//turns left 60.02 degrees | ||
| drive.C_driveinInches(-55.5),//moves backwards 55.5 inches | ||
| intake.C_resetPos(),//resets the intake pivot position | ||
| drive.C_driveinInches(-18.95), //drive.C_driveinInches(-18.95),//No idea how this got here, leaving this here just in case | ||
| drive.C_turntoAngle(73.78)//drive.C_turntoAngle(73.78)//somebody needed it | ||
| ); | ||
|
|
||
| } | ||
|
|
||
| public static Command autoLeft(driveTrain drive, intakeSub intake) { | ||
| return Commands.sequence( | ||
|
|
||
|
|
||
| //shoot.C_ShooterOut(),//turns on the shooter motor | ||
| intake.C_intake(),//makes sure the note is properly secure | ||
| new WaitCommand(1),//lets the shooter warm up to be at speed | ||
| intake.C_outtake(),//moves the note into the shooter to then be flung | ||
| new WaitCommand(1.0),//lets the note be flung out with time | ||
| intake.C_stopIntake(),//turns off the intake motor | ||
| //shoot.C_ShooterStop(),//turns off the shooter motor | ||
| drive.C_driveinInches(11.046),//moves backwards 11.046 inches | ||
| drive.C_turntoAngle(60.02),//turns the robot 60.02 degrees right | ||
| intake.C_extendnintake(),//moves the intake to the floor pivot positionand turns on the intake motor | ||
| drive.C_driveinInches(-55.5),//moves backwards 55.5 inches, picking up the note in a sweep | ||
| intakeSub.C_setShoot(),//moves the intake to the shooter position | ||
| intake.C_stopIntake(),//turns off the intake motor | ||
| drive.C_driveinInches(55.5),//moves forward 55.5 inches | ||
| drive.C_turntoAngle(-60.02),//turns left 60.02 degrees | ||
| drive.C_driveinInches(11.046),//moves forward 11.046 inches | ||
| //shoot.C_ShooterOut(),//turns on the shooter motor | ||
| new WaitCommand(1),//lets the shooter warm up | ||
| intake.C_outtake(),//makes the intake push the note into the shooter | ||
| new WaitCommand(.5),//lets the note be flung by the shooter into the speaker | ||
| //shoot.C_ShooterStop(),//turns off the shooter motor | ||
| intake.C_stopIntake(),//turns off the intake motor | ||
| drive.C_driveinInches(-11.046),//drives backwards 11.046 inches | ||
| drive.C_turntoAngle(60.02),//turns the robot 60.02 degrees right | ||
| drive.C_driveinInches(-55.5),//moves backwards 55.5 inches | ||
| intake.C_resetPos()//moves the intake into the shooter position | ||
|
|
||
|
|
||
|
|
||
|
|
||
| ); | ||
| } | ||
| public static Command autoCenter(driveTrain drive, intakeSub intake) { | ||
| return Commands.sequence( | ||
|
|
||
| //shoot.C_ShooterOut(), //shootes out the note | ||
| new WaitCommand(1),//lets shooter speed up | ||
| intake.C_outtake(), //outtakes the intake | ||
| intake.C_extendnintake(),//extends the intake | ||
| new WaitCommand(1), | ||
| intake.C_stopIntake(), | ||
| //shoot.C_ShooterOut(), //shootes out the note | ||
| drive.C_driveinInches(-36), | ||
| //intake.C_setPos("Shooter"),// Set the intake to a shooter position | ||
| intake.C_stopIntake(), //Stop the intake | ||
| new WaitCommand(5), | ||
| drive.C_driveinInches(36), | ||
| intake.C_outtake(), //outtakes the intake | ||
| //shoot.C_ShooterOut(), //Shoots out the note | ||
| //shoot.C_ShooterStop(), //Stops the shooter from shooting | ||
| intake.C_stopIntake() //Stops the intake from shooting | ||
| ); | ||
|
|
||
| } | ||
| public static Command autoTest(driveTrain drive, intakeSub intake) { | ||
| return Commands.sequence( | ||
| drive.C_driveinInches(2), | ||
| drive.C_turntoAngle(180), | ||
| drive.C_driveinInches(-2), | ||
| drive.C_turntoAngle(-180) | ||
| ); | ||
|
|
||
| } | ||
| } | ||
|
|
||
|
|
This file was deleted.
Oops, something went wrong.
Oops, something went wrong.