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dabeycorndabeycorn
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testing
Signed-off-by: Dasun Abeykoon <[email protected]>
1 parent 187a3ae commit bb60472

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13 files changed

+431
-113
lines changed

13 files changed

+431
-113
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=2562,50 Size=625,1737 Selected=0x19DC5F98",
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"DockNode ID=0x00000002 Pos=626,101 Size=1875,888 Selected=0x2D9B9756"
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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/GlobalVisualizer": {
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"Collapsed": "0",
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"DockId": "0x00000001,1",
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"Pos": "2562,50",
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"Size": "625,1737"
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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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"DockId": "0x00000002,2",
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"Pos": "626,101",
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"Size": "1875,888"
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},
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"###NetworkTables": {
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"Collapsed": "0",
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"DockId": "0x00000002,0",
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"Pos": "626,101",
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"Size": "1875,888"
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},
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"###NetworkTables Info": {
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"Collapsed": "0",
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"DockId": "0x00000002,1",
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"Pos": "626,101",
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"Size": "1875,888"
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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": "2562,50",
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"Size": "625,1737"
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},
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"###Plot <0>": {
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"Collapsed": "0",
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"Pos": "625,1064",
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"Size": "1858,876"
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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": "12,375",
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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": "23,48",
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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/GlobalVisualizer": "Mechanism2d",
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"/SmartDashboard/ProfiledPIDController[2]": "ProfiledPIDController"
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},
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"windows": {
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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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"Telemetry": {
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"arm": {
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"Arm 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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"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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"Tunables": {
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"arm": {
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"open": true
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},
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"elevator": {
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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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"Plot": {
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"Plot <0>": {
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"plots": [
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{
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"axis": [
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{
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"label": "elevator"
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},
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{
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"label": "arm",
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"lockMax": true,
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"lockMin": true,
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"max": -1.6,
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"min": 1.6
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}
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],
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"backgroundColor": [
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0.0,
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0.0,
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0.0,
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0.8500000238418579
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],
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"height": 778,
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"series": [
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{
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"color": [
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1.0,
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0.0,
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0.0,
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1.0
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],
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"id": "NT:Telemetry/elevator/Elevator Hardware Loggables/Parent Motor Position (Meters)"
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},
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{
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"color": [
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0.13432836532592773,
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1.0,
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0.0,
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1.0
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],
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"id": "NT:Telemetry/elevator/Elevator Hardware Loggables/Parent and Child Motors Setpoint Position (Meters)"
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},
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{
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"color": [
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0.0,
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0.34328365325927734,
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1.0,
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1.0
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],
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"id": "NT:Telemetry/elevator/Elevator Hardware Loggables/Parent and Child Motors Velocity (Meters Per Second)"
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},
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{
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"color": [
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1.0,
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0.0,
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0.03389883041381836,
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1.0
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],
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"id": "NT:Telemetry/arm/Arm Hardware Loggables/Pivot Motor Angle (Radians)",
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"yAxis": 1
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},
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{
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"color": [
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0.13333334028720856,
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1.0,
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0.0,
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1.0
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],
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"id": "NT:Telemetry/arm/Arm Hardware Loggables/Pivot Motor Setpoint Angle (Radians)",
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"yAxis": 1
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},
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{
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"color": [
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0.0,
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0.3450980484485626,
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1.0,
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1.0
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],
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"id": "NT:Telemetry/arm/Arm Hardware Loggables/Pivot Motor Velocity (Radians Per Second)",
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"yAxis": 1
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}
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],
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"yaxis2": true
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}
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]
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}
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}
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}

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

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@Deprecated public static final boolean debugMode = false;
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/** When true, tunable entries will be added to NT for subsystems Should be false by default */
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public static final boolean TUNE_MODE = false;
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public static final boolean TUNE_MODE = true;
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}
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/** Constants representing port IDs that devices are connected to */

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

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import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
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import org.frc6423.lib.drivers.CommandRobot;
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import org.frc6423.robot.Constants.Flags;
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import org.frc6423.robot.subsystems.superstructure.arm.Arm;
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import org.frc6423.robot.subsystems.superstructure.arm.Arm.ArmAngle;
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/**
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* Declares the structure of the robot program (subsystems, commands, triggers, etc.).
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private final CommandXboxController operatorController = new CommandXboxController(1);
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// * SUBSYSTEM INIT
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/** Init subsytems here */
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private final Arm arm = Arm.create();
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// * ALERT INIT
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private final Alert batteryBrownout = new Alert("Battery voltage output low", AlertType.kWarning);
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// Update drive dashboard periodically
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addPeriodic(this::updateDashboard, 0.02);
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configureGameBehavior();
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configureBindings();
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}
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}
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/** Configure behavior during different match sections */
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private void configureGameBehavior() {}
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private void configureGameBehavior() {
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arm.setDefaultCommand(arm.runAngle(ArmAngle.STOWED));
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}
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/** Configure all Driver & Operator controller bindings */
117-
private void configureBindings() {}
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private void configureBindings() {
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driverController.a().whileTrue(arm.runAngle(ArmAngle.L4));
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driverController.b().whileTrue(arm.runAngle(ArmAngle.L3));
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}
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@Override
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protected Command getAutonCommand() {

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