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We updated the code and wanted to save it. It should now run the elev… #8

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We updated the code and wanted to save it. It should now run the elev… #8

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d0b027e
We updated the code and wanted to save it. It should now run the elev…
BaguetteManAFK Mar 11, 2020
629840e
Beginning of the work at home. Missing a joystick.
BaguetteManAFK Mar 27, 2020
59af395
This is the code used in the video.
BaguetteManAFK Mar 31, 2020
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7 changes: 5 additions & 2 deletions 2020Robot/src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,10 @@ public final class Constants {
public static final int ElevatorId1 = 22;
public static final int CollectorPivotID = 24;
public static final int CollectorIntakeID = 23;
public static final double RaisePower = 0.4; //Percent
public static final double RaisePower = 0.45; //Percent
public static final double LowerPower = 0.2; //Percent
public static final int TouchSensorID = 30;
public static final int TouchSensorID = 0;
public static final int Climber1ID = 12;
public static final int Climber2ID = 13;
public static final double ClimberSpeed = 0.2;
}
9 changes: 3 additions & 6 deletions 2020Robot/src/main/java/frc/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -13,10 +13,7 @@
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.ParallelDeadlineGroup;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.WaitCommand;
import frc.robot.commands.Drive;


/**
* The VM is configured to automatically run this class, and to call the functions corresponding to
Expand All @@ -35,7 +32,7 @@ public class Robot extends TimedRobot {
*/
@Override
public void robotInit() {
// Instantiate our RobotContainer. This will perform all our button bindings, and put our
// Instantiate our This will perform all our button bindings, and put our
// autonomous chooser on the dashboard.
m_robotContainer = new RobotContainer();
}
Expand Down Expand Up @@ -72,7 +69,7 @@ public void disabledPeriodic() {
*/
@Override
public void autonomousInit() {
//m_autonomousCommand = m_robotContainer.getAutonomousCommand();
//m_autonomousCommand = m_getAutonomousCommand();

// schedule the autonomous command (example)
if (m_autonomousCommand != null) {
Expand Down
39 changes: 21 additions & 18 deletions 2020Robot/src/main/java/frc/robot/RobotContainer.java
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Expand Up @@ -16,16 +16,17 @@
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.ScheduleCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.WaitCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc.robot.commands.Collect123;
import frc.robot.commands.Drive;
import frc.robot.commands.Shoot;
import frc.robot.commands.collect4;
import frc.robot.commands.collect5;
import frc.robot.commands.collect;
import frc.robot.commands.lignUp;
import frc.robot.commands.stopSpin;
import frc.robot.subsystems.Chassis;
import frc.robot.subsystems.Climber;
import frc.robot.subsystems.Collector;
import frc.robot.subsystems.Elevator;
import frc.robot.subsystems.Shooter;
Expand All @@ -44,13 +45,17 @@ public class RobotContainer {
private Joystick joystickOne = new Joystick(0);
public static Elevator elevator = new Elevator(); //Defines the Elevator Subsystem.
public static Collector collector = new Collector();
public static Climber climber = new Climber();
//public static Climber climber = new Climber(); //Defines Climber

/**
* The container for the robot. Contains subsystems, OI devices, and commands.
*/
public RobotContainer() {
// set default commands
chassis.setDefaultCommand(new Drive(joystickOne));
collector.setDefaultCommand(new RunCommand(() -> collector.Raise(), collector));
//climber.setDefaultCommand(new RunCommand(() -> climber.stopClimber()));
// Configure the button bindings
configureButtonBindings();
}
Expand Down Expand Up @@ -85,21 +90,14 @@ private void configureButtonBindings() {
JoystickButton trigger = new JoystickButton(joystickOne, 1);
trigger.whenHeld(new Shoot());
JoystickButton eleven = new JoystickButton(joystickOne, 11);
JoystickButton twelve = new JoystickButton(joystickOne, 12);
eleven.whenPressed(new RunCommand(() -> collector.Raise()));
twelve.whenPressed(new RunCommand(() -> collector.Lower()));
if(collector.getBallCount() == 0 || collector.getBallCount() == 1 || collector.getBallCount() == 2 || collector.getBallCount() == 3){
new Collect123();
}
if (collector.getBallCount() == 4){
new collect4();
}
if(collector.getBallCount() == 5){
new collect5();
}
if (collector.getBallCount() == 5){
collector.Raise();
}
JoystickButton eight = new JoystickButton(joystickOne, 8);
eight.whenHeld(new RunCommand(() -> elevator.driveElevator(-0.2)));
eleven.toggleWhenActive(new collect());
eleven.whenHeld(new RunCommand(() -> collector.Lower()));
JoystickButton ten = new JoystickButton(joystickOne, 10);
JoystickButton nine = new JoystickButton(joystickOne, 9);
ten.whenHeld(new RunCommand(() -> climber.raiseClimber()));
nine.whenHeld(new RunCommand(() -> climber.lowerClimber()));
}

/**
Expand All @@ -123,3 +121,8 @@ public Command getAutonomousCommand() {
);
}
}
//////////
// //
// //////////
// // // // //
// // // // //
19 changes: 8 additions & 11 deletions 2020Robot/src/main/java/frc/robot/commands/Shoot.java
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Expand Up @@ -21,6 +21,7 @@ public class Shoot extends CommandBase {
public Shoot() {
addRequirements(RobotContainer.shooter);
addRequirements(RobotContainer.elevator);
addRequirements(RobotContainer.collector);
// Use addRequirements() here to declare subsystem dependencies.
}

Expand All @@ -36,22 +37,17 @@ public void initialize() {
public void execute() {
double timerCount = timer.getFPGATimestamp();
if (timerCount >= 1.5){
RobotContainer.elevator.driveElevator(0.3);
RobotContainer.elevator.driveElevator(0.45);
} else {
RobotContainer.elevator.driveElevator(0);
}
if (timerCount <= 0.5){
NetworkTable ty = NetworkTableInstance.getDefault().getTable("limelight");
double y = ty.getEntry("ty").getDouble(0.0);
double distance = 53 / Math.tan(Math.toRadians(31) + Math.toRadians(y));
double shooterset = distance * 0.002;
RobotContainer.shooter.shoot(-0.8, -0.1);
}
if (timerCount > 0.5){
NetworkTable ty = NetworkTableInstance.getDefault().getTable("limelight");
double y = ty.getEntry("ty").getDouble(0.0);
double distance = 53 / Math.tan(Math.toRadians(31) + Math.toRadians(y));
double distance = 57 / Math.tan(Math.toRadians(31) + Math.toRadians(y));
double shooterset = distance * 0.002;
RobotContainer.shooter.shoot(-0.8, 0.5);
} // Le Epic Gamer has died
RobotContainer.collector.spinIntake(0.2);
// Le Epic Gamer has died
}

// Called once the command ends or is interrupted.
Expand All @@ -60,6 +56,7 @@ public void end(boolean interrupted) {
RobotContainer.shooter.shoot(0, 0);
RobotContainer.elevator.driveElevator(0);
RobotContainer.collector.resetBallCount();
RobotContainer.collector.spinIntake(0);
}

// Returns true when the command should end.
Expand Down