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Arm catapult check #64

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Arm catapult check #64

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0829186
rotem's changes
Yoavpeles Sep 30, 2023
56cc3ee
working catapult auto sequence!!
Yoavpeles Oct 3, 2023
7fdeb6d
corrected catapult daly and removed commented out lines
Yoavpeles Oct 3, 2023
accb00b
added a catapult-engage path and a catapult-mobility-engage path
Yoavpeles Oct 3, 2023
21e6fc6
removed the lowering of the arm from catapult sequence
Yoavpeles Oct 3, 2023
7e8738e
added teleop catapult
Yoavpeles Oct 3, 2023
9c84a10
changed back the povDown botton
Yoavpeles Oct 4, 2023
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1 change: 1 addition & 0 deletions networktables.json
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Original file line number Diff line number Diff line change
@@ -0,0 +1 @@
[]
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This file can be removed

42 changes: 37 additions & 5 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -95,6 +95,8 @@ public RobotContainer() {
setCubeInternalState();

m_PDH.setSwitchableChannel(false);

SmartDashboard.putNumber("cataAngle", SmartDashboard.getNumber("cataAngle", 0));
Comment on lines +98 to +99
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We don't use this value anywhere here

}

/**
Expand Down Expand Up @@ -153,7 +155,7 @@ private void configureBindings() {

// Go to collect state sequence
_operatorController.povDown().onTrue(
m_ArmFunnelSuperStructure.getSetStateCommand(ArmState.COLLECT, FunnelState.CLOSED)
m_ArmFunnelSuperStructure.getSetStateCommand(ArmState.COLLECT, FunnelState.CLOSED)
.andThen(m_manipulator.setManipulatorStateCommand(ManipulatorState.OPEN)));

_driverController.circle().whileTrue(
Expand All @@ -176,10 +178,23 @@ private void configureBindings() {
new WaitCommand(0.5),
m_ArmFunnelSuperStructure.getSetStateCommand(ArmState.COLLECT, FunnelState.CLOSED),
m_manipulator.setManipulatorStateCommand(ManipulatorState.HOLD)));

_operatorController.cross()
.onTrue(m_ArmFunnelSuperStructure.getSetStateCommand(ArmState.REJECT, FunnelState.OPEN)
.andThen(this.getCollectSequence()));
// catapult
_operatorController.povLeft()
.onTrue(
m_ArmFunnelSuperStructure.generateSetStateCommand(ArmState.MID_CUBE, FunnelState.COLLECT)
.andThen(
m_ArmFunnelSuperStructure.getSetStateCommand(ArmState.COLLECT,
FunnelState.CLOSED)));

// catapult collect
_operatorController.triangle()
.onTrue(
m_manipulator.setManipulatorStateCommand(ManipulatorState.HOLD).andThen(
m_ArmFunnelSuperStructure.getSetStateCommand(ArmState.COLLECT, FunnelState.OPEN)));
Comment on lines +189 to +193
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Why do we need atapult collect? Can't we collect normally and when we want to score call catapult collect followed by catapult


// close funnle without opening manipulator
_operatorController.povRight().onTrue(
m_ArmFunnelSuperStructure.getSetStateCommand(ArmState.COLLECT, FunnelState.CLOSED));
Comment on lines +181 to +197
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We already use almost every button on the controller, more buttons mean more chances for error. Did we practice this?

Comment on lines +195 to +197
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how is this used in the sequence?


}

Expand Down Expand Up @@ -209,6 +224,8 @@ private void addToChooser(String pathName) {

private void initChooser() {
SmartDashboard.putData("autonomous", this.chooser);
this.chooser.addOption("catapult", getCatapultSequence()
.andThen(m_ArmFunnelSuperStructure.generateSetStateCommand(ArmState.COLLECT, FunnelState.CLOSED)));
// addToChooser("engage");
// addToChooser("1-gp-engage");
addToChooser("1-gp-leaveCommunity");
Expand All @@ -228,8 +245,13 @@ private void initChooser() {
this.chooser.addOption("cube-engage-gyro", getAutoCubeSequence().andThen(getEngageSequence()));
// only engage
this.chooser.addOption("engage-gyro", getEngageSequence());

this.chooser.addOption("cube-mobility-engage", getAutoCubeSequence().andThen(getMobilityEngageSequence()));

this.chooser.addOption("catapult-mobility-engage", getCatapultSequence().andThen(getMobilityEngageSequence()));

this.chooser.addOption("catapult-engage", getCatapultSequence().andThen(getEngageSequence()));

// taxi
this.chooser.addOption("taxi", _autoFactory.createAuto("engage-gyro"));

Expand Down Expand Up @@ -258,6 +280,16 @@ public void updateTelemetry() {
m_drivetrain.updateTelemetry();
}

private CommandBase getCatapultSequence() {
return Commands.sequence(
m_manipulator.setManipulatorStateCommand(ManipulatorState.HOLD),
m_ArmFunnelSuperStructure.getSetStateCommand(ArmState.COLLECT, FunnelState.COLLECT),
new WaitCommand(0.3),
m_ArmFunnelSuperStructure.generateSetStateCommand(ArmState.MID_CUBE, FunnelState.COLLECT)

);
}

private CommandBase getEngageSequence() {
return Commands.sequence(
_autoFactory.createAuto("engage-gyro"),
Expand Down
4 changes: 4 additions & 0 deletions src/main/java/frc/robot/subsystems/ArmFunnelSuperStructure.java
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Expand Up @@ -100,4 +100,8 @@ public CommandBase overrideCommand() {
m_arm.getSetStateCommand(ArmState.MID_CONE, ArmTrapProfile.FAST),
m_funnel.setFunnelStateCommand(FunnelState.CLOSED));
}

public double getArmAngle() {
return m_arm.getAngle();
}
Comment on lines +103 to +106
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This function is not used anywhere here

}