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changed logic for passoff and added some other controls #19

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merged 2 commits into from
Jan 20, 2025
Merged

changed logic for passoff and added some other controls #19

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c32189e
changed logic for passoff and added someother controls
elvizer Jan 20, 2025
4698338
made rumble controllers into a command
PGgit08 Jan 20, 2025
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21 changes: 19 additions & 2 deletions src/main/java/frc/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -23,10 +23,13 @@
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.DataLogManager;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.GenericHID.RumbleType;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.button.Trigger;
import frc.lib.FaultLogger;
import frc.lib.InputStream;
import frc.robot.Constants.Ports;
Expand Down Expand Up @@ -126,6 +129,8 @@ public Robot(NetworkTableInstance ntInst) {
configureDriverBindings();
configureOperatorBindings();

new Trigger(_serializer::getBackBeam).onTrue(rumbleControllers(1, 1));

SmartDashboard.putData(
"Robot Self Check",
sequence(
Expand Down Expand Up @@ -210,15 +215,27 @@ private void configureOperatorBindings() {

_operatorController
.rightBumper()
.and(() -> getSetpoint() == HOME)
.and(() -> _wristevator.atHome())
.whileTrue(Superstructure.passoff(_intake, _serializer, _manipulator));

_operatorController
.rightBumper()
.and(() -> getSetpoint() != HOME)
.and(() -> !_wristevator.atHome())
.whileTrue(Superstructure.groundIntake(_intake, _serializer));

_operatorController.leftBumper().whileTrue(Superstructure.groundOuttake(_intake, _serializer));

_operatorController.rightTrigger().whileTrue(_manipulator.setSpeed(+0));
_operatorController.leftTrigger().whileTrue(_manipulator.setSpeed(-0));
}

/** Rumble the driver and operator controllers for some amount of seconds. */
private Command rumbleControllers(double rumble, double seconds) {
return run(() -> {
_driverController.getHID().setRumble(RumbleType.kBothRumble, rumble);
_operatorController.getHID().setRumble(RumbleType.kBothRumble, rumble);
})
.withTimeout(seconds);
}

/**
Expand Down
8 changes: 8 additions & 0 deletions src/main/java/frc/robot/subsystems/Wristevator.java
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@
import edu.wpi.first.epilogue.Logged;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.Distance;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj2.command.Command;
import frc.lib.AdvancedSubsystem;
import java.util.function.Consumer;
Expand Down Expand Up @@ -44,6 +45,8 @@ public Distance getHeight() {

private final Consumer<WristevatorSetpoint> _wristevatorSetpointSetter;

private DigitalInput _elevatorSwitch;

public Wristevator(Consumer<WristevatorSetpoint> wristevatorSetpointSetter) {
_wristevatorSetpointSetter = wristevatorSetpointSetter;
}
Expand All @@ -58,6 +61,11 @@ public double getAngle() {
return 0;
}

@Logged(name = "Is at Home")
public boolean atHome() {
return _elevatorSwitch.get();
}

/** Set the wristevator to a setpoint. */
public Command setSetpoint(WristevatorSetpoint setpoint) {
return run(() -> {})
Expand Down