Belleville competition #40
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| SmartDashboard.putData( | ||
| "SWITCH CONTROLLERS", | ||
| new Command() { | ||
| { | ||
| setName("Execute"); | ||
| } | ||
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| @Override | ||
| public void initialize() { | ||
| System.out.println("We have switched thy controllers"); | ||
| int driverPort = driverController.getPort(); | ||
| int coDriverPort = coDriverController.getPort(); | ||
| driverController = new XboxController(coDriverPort); | ||
| coDriverController = new XboxController(driverPort); | ||
| } | ||
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| @Override | ||
| public boolean isFinished() { | ||
| return true; | ||
| } | ||
| } | ||
| ); |
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This adds a clickable button to the SmartDashboard.
| driveLeftParent.setInverted(false); | ||
| driveRightParent.setInverted(true); |
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We realized that the xbox stick forward is actually -1, so we inversed the motors and removed all the * -1's in our code.
| InputtedCoDriverControls.setCoDriverController(coDriverController); | ||
| InputtedDriverControls.setDriverController(driverController); |
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We now get the controllers statically from the Robot class instead of our previous silly method.
| AutonRoutes.setupCorrectAutonPaths(); | ||
| ArrayDeque<AutonAction> route = new ArrayDeque<>(autonRouteChooser.getSelected()); | ||
| double delayAmount = SmartDashboard.getNumber("Auton Delay (sec)", 0.0); | ||
| if (delayAmount > 0) { | ||
| route.addFirst(new AutonWait(delayAmount)); | ||
| } |
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Adds a way for drivers to specify a wait period before auton starts in the SmartDashboard.
| if (DriverStation.getAlliance().get() == Alliance.Red) { | ||
| BACKUP_TURN_BACKUP = RED_BACKUP_TURN_BACKUP; | ||
| MESS_UP_CENTER_RINGS_FROM_AMP_SIDE = MESS_UP_CENTER_RINGS_TURN_LEFT; | ||
| MESS_UP_CENTER_RINGS_FROM_TERMINAL_SIDE = MESS_UP_CENTER_RINGS_TURN_RIGHT; | ||
| SHOOT_ROTATE_BACK_UP_FROM_TERMINAL_SIDE = SHOOT_ROTATE_BACK_UP_FROM_TERMINAL_SIDE_RED; | ||
| SHOOT_ROTATE_BACK_UP_FROM_AMP_SIDE = SHOOT_ROTATE_BACK_UP_FROM_AMP_SIDE_RED; | ||
| System.out.println("Configuring auton routes for RED team"); | ||
| } else { | ||
| BACKUP_TURN_BACKUP = BLUE_BACKUP_TURN_BACKUP; | ||
| MESS_UP_CENTER_RINGS_FROM_AMP_SIDE = MESS_UP_CENTER_RINGS_TURN_RIGHT; | ||
| MESS_UP_CENTER_RINGS_FROM_TERMINAL_SIDE = MESS_UP_CENTER_RINGS_TURN_LEFT; | ||
| SHOOT_ROTATE_BACK_UP_FROM_TERMINAL_SIDE = SHOOT_ROTATE_BACK_UP_FROM_TERMINAL_SIDE_BLUE; | ||
| SHOOT_ROTATE_BACK_UP_FROM_AMP_SIDE = SHOOT_ROTATE_BACK_UP_FROM_AMP_SIDE_BLUE; | ||
| System.out.println("Configuring auton routes for BLUE team"); | ||
| } | ||
| } |
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We need to turn different directions based on whether we are blue or red so we need to adjust the auton routes accordingly
| package frc.robot.auton; | ||
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| import frc.robot.QuickActions; | ||
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| public class MovePercentOutput extends AutonAction { | ||
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| @Override | ||
| public boolean isDone() { | ||
| return true; | ||
| } | ||
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| @Override | ||
| public void initiate() { | ||
| QuickActions.setDriveMotors(0.25); | ||
| } | ||
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| @Override | ||
| public void shutdown() {} | ||
| } |
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This probably isn't needed anymore, this was a quick and dirty way to just move backwards in auton ,without relying on PID's.
| () -> Robot.getGyroscope().getAngle() + relativeTurnDegree, | ||
| Robot.getGyroscope().getAngle() + relativeTurnDegree, |
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This was causing the setpoint to change every frame, which made this impossible to finish.
| public default CANSparkMax asCANSparkMax() { | ||
| return null; | ||
| } | ||
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Getting the CanSparkMax object is helpful for doing Spark specific things.
| @@ -171,6 +174,10 @@ public default void setPID(Gains gains) { | |||
| */ | |||
| public boolean getReverseLimit(); | |||
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| public default CANSparkMax asCANSparkMax() { | |||
| return null; | |||
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This should return null by default, as should only return something if it is a Spark Motor Controller.
# Description
look at the comments. There are too many changes to be generalized here, other than saying that they are the changes that happened during our first competition.
Checklist before marking this PR as ready for review
Once you have the PR ready for review, request reviewers from the upper-right of the screen with the cog on the reviewers section.