From d677eda45420e5efe9f3fafe646d7bebf01d5fd8 Mon Sep 17 00:00:00 2001 From: Zach R Date: Thu, 3 Oct 2024 17:45:34 -0700 Subject: [PATCH 1/3] Update at 'Thu Oct 03 17:45:34 PDT 2024' --- .../robot2024/commands/drivetrain/SwerveDriveCommand.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/org/team1540/robot2024/commands/drivetrain/SwerveDriveCommand.java b/src/main/java/org/team1540/robot2024/commands/drivetrain/SwerveDriveCommand.java index f725e7d2..0960e13a 100644 --- a/src/main/java/org/team1540/robot2024/commands/drivetrain/SwerveDriveCommand.java +++ b/src/main/java/org/team1540/robot2024/commands/drivetrain/SwerveDriveCommand.java @@ -31,7 +31,7 @@ public void execute() { Rotation2d linearDirection = new Rotation2d(xPercent, yPercent); double rotPercent = JoystickUtils.smartDeadzone(-controller.getRightX(), deadzone) * (Constants.IS_COMPETITION_ROBOT ? 1 : -1); - drivetrain.drivePercent(linearMagnitude, linearDirection, rotPercent, true); + drivetrain.drivePercent(linearMagnitude*linearMagnitude, linearDirection, rotPercent, true); } @Override From e08d4eb13ad5b51b70c7f25fbeb695cb28e9b66d Mon Sep 17 00:00:00 2001 From: Zach R Date: Fri, 4 Oct 2024 12:04:55 -0700 Subject: [PATCH 2/3] Update at 'Fri Oct 04 12:04:55 PDT 2024' --- .../robot2024/commands/drivetrain/SwerveDriveCommand.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/org/team1540/robot2024/commands/drivetrain/SwerveDriveCommand.java b/src/main/java/org/team1540/robot2024/commands/drivetrain/SwerveDriveCommand.java index 0960e13a..f725e7d2 100644 --- a/src/main/java/org/team1540/robot2024/commands/drivetrain/SwerveDriveCommand.java +++ b/src/main/java/org/team1540/robot2024/commands/drivetrain/SwerveDriveCommand.java @@ -31,7 +31,7 @@ public void execute() { Rotation2d linearDirection = new Rotation2d(xPercent, yPercent); double rotPercent = JoystickUtils.smartDeadzone(-controller.getRightX(), deadzone) * (Constants.IS_COMPETITION_ROBOT ? 1 : -1); - drivetrain.drivePercent(linearMagnitude*linearMagnitude, linearDirection, rotPercent, true); + drivetrain.drivePercent(linearMagnitude, linearDirection, rotPercent, true); } @Override From 6a76eb123935ebaa537d8f5f4ab4e028774f0c74 Mon Sep 17 00:00:00 2001 From: Zach R Date: Sat, 5 Oct 2024 15:23:00 -0700 Subject: [PATCH 3/3] docs: add bindings diagram --- 2024orgg.pdf | Bin 0 -> 129076 bytes .../team1540/robot2024/RobotContainer.java | 105 ++++++++++-------- 2 files changed, 59 insertions(+), 46 deletions(-) create mode 100644 2024orgg.pdf diff --git a/2024orgg.pdf b/2024orgg.pdf new file mode 100644 index 0000000000000000000000000000000000000000..8fda50e43200366e7b8e138671702d8872babf12 GIT binary patch literal 129076 zcmYg%b95x_6Yj>w#?FQt+qRR9ZQHh!jcsmh+Z%IY+t$Rq`Sy43IropLIj5(po~NFw zKHYE6+hp=0Vzi8OtgvKF7uBz@EI$~2*cn>F^6>nimoc$5b2k6M`gKSV_Q#JO^kNp) z&L)mu-_{1sCL$(AcE%>Ke0;D@&WTcZPA1(W{H$1iMxNdP2yz;AAvoeB)p$?n~%dw{7avo 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-154,11 +160,14 @@ private void configureButtonBindings() { ampLock.cancel(); counterShuffleDrive.cancel(); }); + //coop:button(X,Shoot,pilot) driver.x() .whileTrue(IntakeAndFeed.withDefaults(indexer)) .onFalse(cancelAlignment); + // coop:button(RBumper,[TOGGLE] Align Shoot,pilot) driver.rightBumper().toggleOnTrue(targetDrive); + // coop:button(LBumper,[TOGGLE] Align Shuffle,pilot) driver.leftBumper().toggleOnTrue(overstageTargetDrive); // TODO remove this @@ -186,74 +195,76 @@ private void configureButtonBindings() { // driver.povDown().and(() -> !DriverStation.isFMSAttached()).onTrue(Commands.runOnce(() -> drivetrain.setPose(new Pose2d(Units.inchesToMeters(260), Units.inchesToMeters(161.62), Rotation2d.fromRadians(0)))).ignoringDisable(true)); + // coop:button(RTrigger,Countershuffle,pilot) driver.leftTrigger(0.95).toggleOnTrue(counterShuffleDrive); driver.rightStick().onTrue(cancelAlignment); - driver.povLeft().whileTrue( - new DriveWithTargetingCommand(drivetrain, driver.getHID(), - ()->drivetrain.getPose().plus( - new Transform2d( - new Translation2d( 1, - ((DriverStation.getAlliance().orElse(null) == DriverStation.Alliance.Blue) - ? AprilTagsCrescendo.getInstance().getTag(AprilTagsCrescendo.Tags.CLIMB_AMP) - : AprilTagsCrescendo.getInstance().getTag(AprilTagsCrescendo.Tags.CLIMB_SOURCE).rotateBy(new Rotation3d(0, 0, Math.PI))) - .getRotation().toRotation2d() - ), new Rotation2d() - ) - ) - ) - ); - driver.povRight().whileTrue( - new DriveWithTargetingCommand(drivetrain, driver.getHID(), - ()->drivetrain.getPose().plus( - new Transform2d( - new Translation2d( 1, - ((DriverStation.getAlliance().orElse(null) == DriverStation.Alliance.Blue) - ? AprilTagsCrescendo.getInstance().getTag(AprilTagsCrescendo.Tags.CLIMB_SOURCE) - : AprilTagsCrescendo.getInstance().getTag(AprilTagsCrescendo.Tags.CLIMB_AMP).rotateBy(new Rotation3d(0, 0, Math.PI))) - .getRotation().toRotation2d() - ), new Rotation2d() - ) - ) - ) - ); - driver.povUp().whileTrue( - new DriveWithTargetingCommand(drivetrain, driver.getHID(), - ()->drivetrain.getPose().plus( - new Transform2d( - new Translation2d(1, - FlipUtil.flipIfRed(AprilTagsCrescendo.getInstance().getTag(AprilTagsCrescendo.Tags.CLIMB_FAR).getRotation().toRotation2d()) - ), new Rotation2d() - ) - ) - ) - ); - +// driver.povLeft().whileTrue( +// new DriveWithTargetingCommand(drivetrain, driver.getHID(), +// ()->drivetrain.getPose().plus( +// new Transform2d( +// new Translation2d( 1, +// ((DriverStation.getAlliance().orElse(null) == DriverStation.Alliance.Blue) +// ? AprilTagsCrescendo.getInstance().getTag(AprilTagsCrescendo.Tags.CLIMB_AMP) +// : AprilTagsCrescendo.getInstance().getTag(AprilTagsCrescendo.Tags.CLIMB_SOURCE).rotateBy(new Rotation3d(0, 0, Math.PI))) +// .getRotation().toRotation2d() +// ), new Rotation2d() +// ) +// ) +// ) +// ); +// driver.povRight().whileTrue( +// new DriveWithTargetingCommand(drivetrain, driver.getHID(), +// ()->drivetrain.getPose().plus( +// new Transform2d( +// new Translation2d( 1, +// ((DriverStation.getAlliance().orElse(null) == DriverStation.Alliance.Blue) +// ? AprilTagsCrescendo.getInstance().getTag(AprilTagsCrescendo.Tags.CLIMB_SOURCE) +// : AprilTagsCrescendo.getInstance().getTag(AprilTagsCrescendo.Tags.CLIMB_AMP).rotateBy(new Rotation3d(0, 0, Math.PI))) +// .getRotation().toRotation2d() +// ), new Rotation2d() +// ) +// ) +// ) +// ); +// driver.povUp().whileTrue( +// new DriveWithTargetingCommand(drivetrain, driver.getHID(), +// ()->drivetrain.getPose().plus( +// new Transform2d( +// new Translation2d(1, +// FlipUtil.flipIfRed(AprilTagsCrescendo.getInstance().getTag(AprilTagsCrescendo.Tags.CLIMB_FAR).getRotation().toRotation2d()) +// ), new Rotation2d() +// ) +// ) +// ) +// ); + + // coop:button(Back,Zero Shooter,copilot) copilot.back().onTrue(Commands.runOnce(shooter::zeroPivotToCancoder)); + // coop:button(LBumper,Score Amp,copilot) copilot.leftBumper().whileTrue(new AmpScoreSequence(tramp, indexer, elevator)); Command intakeCommand = new ContinuousIntakeCommand(indexer, 1) .deadlineWith(CommandUtils.rumbleCommand(driver, 0.5), CommandUtils.rumbleCommand(copilot, 0.5)); + // coop:button(RBumper,Intake,copilot) copilot.rightBumper().whileTrue(intakeCommand); copilot.povDown().whileTrue(indexer.commandRunIntake(-1)); copilot.povUp().whileTrue(indexer.commandRunIntake(1)); copilot.povRight().whileTrue(IntakeAndFeed.withDefaults(indexer)).onFalse(cancelAlignment); copilot.povLeft().onTrue(Commands.runOnce(()->elevator.setFlipper(true))).onFalse(Commands.runOnce(()->elevator.setFlipper(false))); -// copilot.povDown().whileTrue(new ElevatorSetpointCommand(elevator, Constants.Elevator.ElevatorState.BOTTOM)); -// copilot.povUp().whileTrue(new ElevatorSetpointCommand(elevator, Constants.Elevator.ElevatorState.TOP)); -// copilot.povRight().whileTrue(new ElevatorSetpointCommand(elevator, Constants.Elevator.ElevatorState.CLIMB)); -// copilot.povLeft().whileTrue(new ElevatorSetpointCommand(elevator, Constants.Elevator.ElevatorState.AMP)); - + // coop:button(RTrigger,Run Tramp,copilot) copilot.rightTrigger(0.95).whileTrue(tramp.commandRun(1)); - copilot.leftTrigger(0.95).whileTrue(new ClimbAlignment(drivetrain, elevator, tramp, indexer)); +// copilot.leftTrigger(0.95).whileTrue(new ClimbAlignment(drivetrain, elevator, tramp, indexer)); copilot.x().whileTrue(new ShootSequence(shooter, indexer)); + // coop:button(A,[HOLD] PreAmp,copilot) copilot.a().whileTrue(new AmpScoreStageSequence(indexer, tramp, elevator).alongWith(ampLock)); + // coop:button(B,[HOLD] SHOOT,copilot) copilot.b() .and(shooter::areFlywheelsSpunUp) .and(() -> targetDrive.isScheduled() @@ -261,6 +272,7 @@ private void configureButtonBindings() { || counterShuffleDrive.isScheduled()) .whileTrue(IntakeAndFeed.withDefaults(indexer)) .onFalse(cancelAlignment); + // coop:button(Y,[HOLD] Stage Tramp,copilot) copilot.y().whileTrue(new StageTrampCommand(tramp, indexer)); // copilot.leftTrigger(0.5).whileTrue(new ElevatorSetpointCommand(elevator, ElevatorState.CLIMB)); @@ -297,6 +309,7 @@ private void configureButtonBindings() { new Trigger(tramp::isNoteStaged).debounce(0.1) .onTrue(brakeModeCommand); + driver.start().onTrue(brakeModeCommand); copilot.start().onTrue(brakeModeCommand);