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dabeycorndabeycorn
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quick dirty
Signed-off-by: Dasun Abeykoon <[email protected]>
1 parent 38bc9d7 commit a3f2bee

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8 files changed

+450
-8
lines changed

8 files changed

+450
-8
lines changed

‎networktables.json‎

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[]

‎simgui-ds.json‎

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{
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"keyboardJoysticks": [
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{
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"axisConfig": [
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{
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"decKey": 65,
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"incKey": 68
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},
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{
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"decKey": 87,
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"incKey": 83
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},
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{
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"decKey": 69,
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"decayRate": 0.0,
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"incKey": 82,
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"keyRate": 0.009999999776482582
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}
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],
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"axisCount": 3,
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"buttonCount": 4,
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"buttonKeys": [
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90,
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88,
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67,
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86
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],
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"povConfig": [
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{
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"key0": 328,
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"key135": 323,
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"key180": 322,
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"key225": 321,
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"key270": 324,
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"key315": 327,
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"key45": 329,
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"key90": 326
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}
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],
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"povCount": 1
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},
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{
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"axisConfig": [
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{
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"decKey": 74,
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"incKey": 76
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},
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{
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"decKey": 73,
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"incKey": 75
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}
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],
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"axisCount": 2,
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"buttonCount": 4,
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"buttonKeys": [
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77,
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44,
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46,
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47
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],
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"povCount": 0
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},
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{
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"axisConfig": [
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{
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"decKey": 263,
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"incKey": 262
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},
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{
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"decKey": 265,
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"incKey": 264
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}
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],
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"axisCount": 2,
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"buttonCount": 6,
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"buttonKeys": [
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260,
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268,
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266,
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261,
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269,
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267
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],
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"povCount": 0
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},
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{
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"axisCount": 0,
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"buttonCount": 0,
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"povCount": 0
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}
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],
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"robotJoysticks": [
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{
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"guid": "Keyboard0"
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}
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]
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}

‎simgui-window.json‎

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{
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"Docking": {
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"Data": [
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"DockNode ID=0x00000001 Pos=2512,50 Size=599,1808 Selected=0x19DC5F98"
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]
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},
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"MainWindow": {
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"GLOBAL": {
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"font": "Proggy Dotted",
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"fps": "120",
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"height": "1984",
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"maximized": "1",
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"style": "0",
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"userScale": "2",
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"width": "3840",
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"xpos": "0",
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"ypos": "56"
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}
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},
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"Window": {
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"###/SmartDashboard/Alerts": {
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"Collapsed": "0",
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"Pos": "479,53",
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"Size": "462,150"
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},
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"###/SmartDashboard/Elevator Visualizer": {
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"Collapsed": "0",
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"Pos": "661,127",
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"Size": "656,1586"
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},
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"###/SmartDashboard/GlobalVisualizer": {
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"Collapsed": "0",
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"DockId": "0x00000001,1",
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"Pos": "2512,50",
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"Size": "599,1808"
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},
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"###FMS": {
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"Collapsed": "0",
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"Pos": "12,1350",
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"Size": "368,364"
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},
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"###Joysticks": {
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"Collapsed": "0",
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"Pos": "627,1432",
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"Size": "1876,296"
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},
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"###NetworkTables": {
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"Collapsed": "0",
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"Pos": "634,692",
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"Size": "1875,655"
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},
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"###NetworkTables Info": {
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"Collapsed": "0",
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"Pos": "625,325",
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"Size": "1875,362"
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},
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"###Other Devices": {
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"Collapsed": "0",
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"DockId": "0x00000001,0",
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"Pos": "2512,50",
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"Size": "599,1808"
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},
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"###System Joysticks": {
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"Collapsed": "0",
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"Pos": "12,875",
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"Size": "435,434"
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},
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"###Timing": {
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"Collapsed": "0",
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"Pos": "2103,-161",
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"Size": "294,217"
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},
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"Debug##Default": {
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"Collapsed": "0",
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"Pos": "60,60",
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"Size": "400,400"
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},
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"Robot State": {
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"Collapsed": "0",
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"Pos": "39,70",
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"Size": "213,224"
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}
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}
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}

‎simgui.json‎

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{
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"NTProvider": {
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"types": {
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"/FMSInfo": "FMSInfo",
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"/SmartDashboard/Alerts": "Alerts",
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"/SmartDashboard/Elevator Visualizer": "Mechanism2d",
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"/SmartDashboard/GlobalVisualizer": "Mechanism2d",
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"/SmartDashboard/ProfiledPIDController[1]": "ProfiledPIDController",
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"/SmartDashboard/ProfiledPIDController[2]": "ProfiledPIDController"
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},
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"windows": {
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"/SmartDashboard/Alerts": {
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"window": {
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"visible": true
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}
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},
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"/SmartDashboard/GlobalVisualizer": {
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"window": {
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"visible": true
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}
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}
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}
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},
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"NetworkTables": {
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"transitory": {
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"SmartDashboard": {
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"ProfiledPIDController[2]": {
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"open": true
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},
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"open": true
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},
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"Telemetry": {
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"elevator": {
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"Elevator Hardware Loggables": {
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"open": true
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},
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"open": true
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},
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"open": true
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}
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}
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},
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"NetworkTables Info": {
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"visible": true
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}
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}

‎src/main/java/org/frc6423/robot/Robot.java‎

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package org.frc6423.robot;
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import static edu.wpi.first.units.Units.Centimeters;
910
import static edu.wpi.first.units.Units.Seconds;
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1112
import edu.wpi.first.epilogue.Epilogue;
1213
import edu.wpi.first.epilogue.Logged;
14+
import edu.wpi.first.epilogue.Logged.Importance;
1315
import edu.wpi.first.epilogue.logging.LazyBackend;
1416
import edu.wpi.first.epilogue.logging.NTEpilogueBackend;
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import edu.wpi.first.epilogue.logging.errors.ErrorHandler;
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2527
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
2628
import org.frc6423.lib.drivers.CommandRobot;
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import org.frc6423.robot.Constants.Flags;
30+
import org.frc6423.robot.subsystems.superstructure.Visualizer;
31+
import org.frc6423.robot.subsystems.superstructure.arm.Arm;
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import org.frc6423.robot.subsystems.superstructure.arm.Arm.ArmAngle;
33+
import org.frc6423.robot.subsystems.superstructure.elevator.Elevator;
34+
import org.frc6423.robot.subsystems.superstructure.elevator.Elevator.ElevatorExtension;
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/**
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* Declares the structure of the robot program (subsystems, commands, triggers, etc.).
@@ -39,7 +46,12 @@ public class Robot extends CommandRobot {
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private final CommandXboxController operatorController = new CommandXboxController(1);
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4148
// * SUBSYSTEM INIT
42-
/** Init subsytems here */
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private final Visualizer visualizer = Visualizer.getInstance();
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@Logged(importance = Importance.INFO)
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private final Elevator elevator = Elevator.create();
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private final Arm arm = Arm.create();
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// * ALERT INIT
4557
private final Alert batteryBrownout = new Alert("Battery voltage output low", AlertType.kWarning);
@@ -92,6 +104,15 @@ public Robot() {
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// Update drive dashboard periodically
93105
addPeriodic(this::updateDashboard, 0.02);
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107+
addPeriodic(
108+
() -> {
109+
/** Set visualizer poses */
110+
visualizer.setCarriageHeight(elevator.getCarriageHeight().in(Centimeters));
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visualizer.setStageHeight(elevator.getStageHeight().in(Centimeters));
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visualizer.setArmAngle(arm.getRotation2d());
113+
},
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0.02);
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95116
configureGameBehavior();
96117
configureBindings();
97118
}
@@ -111,10 +132,24 @@ private void updateDashboard() {
111132
}
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113134
/** Configure behavior during different match sections */
114-
private void configureGameBehavior() {}
135+
private void configureGameBehavior() {
136+
elevator.setDefaultCommand(elevator.runExtension(ElevatorExtension.STOWED));
137+
arm.setDefaultCommand(arm.runAngle(ArmAngle.STOWED));
138+
}
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116140
/** Configure all Driver & Operator controller bindings */
117-
private void configureBindings() {}
141+
private void configureBindings() {
142+
driverController
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.b()
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.whileTrue(
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elevator
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.runExtension(ElevatorExtension.INTAKING)
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.alongWith(arm.runAngle(ArmAngle.INTAKING)));
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driverController
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.a()
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.whileTrue(
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elevator.runExtension(ElevatorExtension.L4).alongWith(arm.runAngle(ArmAngle.L4)));
152+
}
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119154
@Override
120155
protected Command getAutonCommand() {

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