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Merged
dracco1993 merged 1 commit into from
Jan 28, 2025
Merged

Big clean up #15

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32 changes: 0 additions & 32 deletions src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -119,39 +119,8 @@ public static class Intake {
public static final double k_feedShooterSpeed = -0.5;
}

// PCM
public static final int kPCMId = 0;
public static final int kIntakeSolenoidForwardId = 2;

// DIO

// Shooter
public static final int kShooterLeftMotorId = 12;
public static final int kShooterRightMotorId = 13;

public static final double kShooterP = 0.00005;
public static final double kShooterI = 0.0;
public static final double kShooterD = 0.0;
public static final double kShooterFF = 0.0002;

public static final double kShooterMinOutput = 0;
public static final double kShooterMaxOutput = 1;

// Climber
public static final int kClimberLeftMotorId = 14;
public static final int kClimberRightMotorId = 15;
public static final double kClimberClimbSpeed = 600.0; // RPM
public static final double kClimberReleaseSpeed = -600.0; // RPM

public static final double kClimberGearRatio = 1.0 / 12.0;

public static final double kClimberP = 0.001;
public static final double kClimberI = 0.0;
public static final double kClimberD = 0.0;
public static final double kClimberMinOutput = -0.5;

public static final double kClimberMaxOutput = 0.5;

// Drivetrain
public static class Drive {
public static final double kP = 0.0; // 0.00085;
Expand All @@ -172,7 +141,6 @@ public static class Field {
public static final double k_width = Units.feetToMeters(54.0);
public static final double k_length = Units.feetToMeters(27.0);

// TODO: Add left and right subwoofer starting poses
public static final Pose2d redCenterPose2d = new Pose2d(15.19, 5.50, new Rotation2d(Units.degreesToRadians(180.0)));
public static final Pose2d blueCenterPose2d = new Pose2d(1.27, 5.50, new Rotation2d(0));
}
Expand Down
100 changes: 2 additions & 98 deletions src/main/java/frc/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,6 @@
import edu.wpi.first.wpilibj.PowerDistribution;
import edu.wpi.first.wpilibj.PowerDistribution.ModuleType;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.util.Color;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
import frc.robot.autonomous.AutoRunner;
Expand All @@ -26,7 +25,6 @@
import frc.robot.controls.controllers.OperatorController;
import frc.robot.simulation.Field;
import frc.robot.subsystems.Algae;
import frc.robot.subsystems.Compressor;
import frc.robot.subsystems.Coral;
import frc.robot.subsystems.Drivetrain;
import frc.robot.subsystems.Elevator;
Expand All @@ -53,12 +51,9 @@ public class Robot extends LoggedRobot {

// Robot subsystems
private List<Subsystem> m_allSubsystems = new ArrayList<>();
// private final Intake m_intake = Intake.getInstance();
private final Compressor m_compressor = Compressor.getInstance();
private final Drivetrain m_drive = Drivetrain.getInstance();
private final Coral m_coral = Coral.getInstance();
private final Algae m_algae = Algae.getInstance();
// private final Shooter m_shooter = Shooter.getInstance();
private final Elevator m_elevator = Elevator.getInstance();

public final LEDs m_leds = LEDs.getInstance();
Expand Down Expand Up @@ -145,16 +140,9 @@ public void teleopInit() {

@Override
public void teleopPeriodic() {
// Get the x speed. We are inverting this because Xbox controllers return
// negative values when we push forward.
double maxSpeed = m_driverController.getWantsSpeedMode() ? Drivetrain.kMaxBoostSpeed : Drivetrain.kMaxSpeed;
double xSpeed = m_speedLimiter.calculate(m_driverController.getForwardAxis() * maxSpeed);

// Get the rate of angular rotation. We are inverting this because we want a
// positive value when we pull to the left (remember, CCW is positive in
// mathematics). Xbox controllers return positive values when you pull to
// the right by default.

// m_drive.slowMode(m_driverController.getWantsSlowMode());
// m_drive.speedMode(m_driverController.getWantsSpeedMode());
double rot = m_rotLimiter.calculate(m_driverController.getTurnAxis() * Drivetrain.kMaxAngularSpeed);
Expand Down Expand Up @@ -199,92 +187,16 @@ public void teleopPeriodic() {
m_elevator.goToElevatorStow();
}

// ALGAE
// if (m_driverController.getWantsAlgaeStow()) {
// m_algae.stow();
// } else if (m_driverController.getWantsAlgaeGrab()) {
// m_algae.grabAlgae();
// } else if (m_driverController.getWantsAlgaeScore()) {
// m_algae.score();
// } else if (m_driverController.getWantsAlgaeGroundIntake()) {
// m_algae.groundIntake();
// }

// ELEVATOR
// m_elevator.setElevatorPower(m_operatorController.getElevatorAxis());
// if (m_operatorController.getWantsElevatorStow()) {
// m_elevator.goToElevatorStow();
// } else if (m_operatorController.getWantsElevatorL2()) {
// m_elevator.goToElevatorL2();
// } else if (m_operatorController.getWantsElevatorL3()) {
// m_elevator.goToElevatorL3();
// } else if (m_operatorController.getWantsElevatorL4()) {
// m_elevator.goToElevatorL4();
// }

// CORAL
// if (m_operatorController.getWantsCoralIntake()) {
// m_coral.intake();
// } else if (m_operatorController.getWantsCoralReverse()) {
// m_coral.reverse();
// } else if (m_operatorController.getWantsCoralIndex()) {
// m_coral.index();
// } else if (m_operatorController.getWantsCoralL1()) {
// m_coral.scoreL1();
// } else if (m_operatorController.getWantsCoralL24()) {
// m_coral.scoreL24();
// } else {
// m_coral.stopCoral();
// }

if (m_operatorController.getWantsElevatorReset() || m_driverController.getWantsElevatorReset()) {
RobotTelemetry.print("Resetting elevator");
m_elevator.reset();
}

// // Intake
// if (m_driverController.getWantsFullIntake()) {
// m_intake.goToGround();
// } else if (m_driverController.getWantsIntake()) {
// if (m_intake.getIntakeHasNote()) {
// m_intake.pulse();
// } else {
// m_intake.intake();
// }
// } else if (m_driverController.getWantsEject()) {
// m_intake.eject();
// } else if (m_driverController.getWantsSource()) {
// m_intake.goToSource();
// } else if (m_driverController.getWantsStow()) {
// m_intake.goToStow();
// } else if (m_intake.getIntakeState() != IntakeState.INTAKE) {
// m_intake.stopIntake();
// }

// // Climber
// if (m_operatorController.getWantsClimberClimb()) {
// m_climber.climb();
// } else if (m_operatorController.getWantsClimberRelease()) {
// m_climber.release();
// } else if (m_operatorController.getWantsClimberTiltLeft()) {
// m_climber.tiltLeft();
// } else if (m_operatorController.getWantsClimberTiltRight()) {
// m_climber.tiltRight();
// } else {
// m_climber.stopClimber();
// }

// if (m_operatorController.getWantsBrakeMode()) {
// m_climber.setBrakeMode();
// } else if (m_operatorController.getWantsCoastMode()) {
// m_climber.setCoastMode();
// }
}

@Override
public void disabledInit() {
// m_leds.rainbow();
m_leds.setColor(Color.kRed);
m_leds.rainbow();
// m_leds.setColor(Color.kRed);

speed = 0;
m_allSubsystems.forEach(subsystem -> subsystem.stop());
Expand Down Expand Up @@ -349,14 +261,6 @@ private void setupLogging() {
Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables
new PowerDistribution(1, ModuleType.kCTRE); // Enables power distribution logging
}
// else {
// setUseTiming(false); // Run as fast as possible
// String logPath = LogFileUtil.findReplayLog(); // Pull the replay log from
// AdvantageScope (or prompt the user)
// Logger.setReplaySource(new WPILOGReader(logPath)); // Read replay log
// Logger.addDataReceiver(new WPILOGWriter(LogFileUtil.addPathSuffix(logPath,
// "_sim"))); // Save outputs to a new log
// }

Logger.start();
}
Expand Down
27 changes: 11 additions & 16 deletions src/main/java/frc/robot/autonomous/tasks/DriveTrajectoryTask.java
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Original file line number Diff line number Diff line change
@@ -1,13 +1,9 @@
package frc.robot.autonomous.tasks;

import static edu.wpi.first.units.Units.Kilogram;
import static edu.wpi.first.units.Units.MetersPerSecond;

import java.nio.file.Path;

import org.littletonrobotics.junction.Logger;

import com.pathplanner.lib.config.RobotConfig;
import com.pathplanner.lib.controllers.PPLTVController;
import com.pathplanner.lib.path.PathPlannerPath;
import com.pathplanner.lib.trajectory.PathPlannerTrajectory;
Expand All @@ -17,9 +13,6 @@
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.units.measure.LinearVelocity;
import edu.wpi.first.units.measure.Mass;
import edu.wpi.first.units.measure.Velocity;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import edu.wpi.first.wpilibj.Filesystem;
Expand Down Expand Up @@ -70,15 +63,15 @@ public DriveTrajectoryTask(String pathName) {
m_autoPath,
new ChassisSpeeds(),
m_drive.getPose().getRotation(),
m_drive.getRobotConfig()
);
m_drive.getRobotConfig());

if (m_autoPath.isReversed()) {
RobotTelemetry.print("===== PATH IS REVERSED =====");
}

double rotationErrorTolerance = Math.pow(m_autoPath.getGlobalConstraints().maxVelocityMPS(), 1.25) * 0.25;
// double translationErrorTolerance = m_autoPath.getGlobalConstraints().getMaxVelocityMps() * 0.0625;
// double translationErrorTolerance =
// m_autoPath.getGlobalConstraints().getMaxVelocityMps() * 0.0625;

m_driveController = new PPLTVController(
VecBuilder.fill(0.25, 0.25, 1.0),
Expand Down Expand Up @@ -126,13 +119,15 @@ public void start() {

// DEBUG Trajectory //////////////////////////////////////////////
// Trajectory adjustedTrajectory = TrajectoryGenerator.generateTrajectory(
// m_autoPath.getPathPoses(),
// new TrajectoryConfig(
// m_autoPath.getGlobalConstraints().getMaxVelocityMps(),
// m_autoPath.getGlobalConstraints().getMaxAccelerationMpsSq()));
// Logger.recordOutput("Auto/DriveTrajectory/TargetTrajectory", adjustedTrajectory);
// m_autoPath.getPathPoses(),
// new TrajectoryConfig(
// m_autoPath.getGlobalConstraints().getMaxVelocityMps(),
// m_autoPath.getGlobalConstraints().getMaxAccelerationMpsSq()));
// Logger.recordOutput("Auto/DriveTrajectory/TargetTrajectory",
// adjustedTrajectory);
// if (shouldReplan) {
// Logger.recordOutput("Auto/DriveTrajectory/ReplannedTrajectory", adjustedTrajectory);
// Logger.recordOutput("Auto/DriveTrajectory/ReplannedTrajectory",
// adjustedTrajectory);
// }
/////////////////////////////////////////////////////////////////

Expand Down
32 changes: 0 additions & 32 deletions src/main/java/frc/robot/autonomous/tasks/IntakeTask.java
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27 changes: 0 additions & 27 deletions src/main/java/frc/robot/autonomous/tasks/ShooterTask.java
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