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outreach speed limit #2

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2 changes: 1 addition & 1 deletion src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,7 @@ public static final class DrivetrainConstants {
public static final int DEVICE_ID_LEFT_FOLLOWER = 9;
public static final int DEVICE_ID_RIGHT_LEADER = 3;
public static final int DEVICE_ID_RIGHT_FOLLOWER = 4;

public static final double SPEED_LIMIT = 0.4;//will be 0.5
}

public static final class IntakeConstants {
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3 changes: 2 additions & 1 deletion src/main/java/frc/robot/Robot.java
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Expand Up @@ -34,11 +34,12 @@ public void disabledExit() {}

@Override
public void autonomousInit() {
/*
m_autonomousCommand = m_robotContainer.getAutonomousCommand();

if (m_autonomousCommand != null) {
m_autonomousCommand.schedule();
}
} */
}

@Override
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46 changes: 34 additions & 12 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,8 @@
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.CommandJoystick;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import frc.robot.subsystems.ClimbSubsystem;
import frc.robot.subsystems.DrivetrainSubsystem;
import frc.robot.subsystems.FlywheelSubsystem;
Expand All @@ -28,31 +30,51 @@ public class RobotContainer {
private final CommandJoystick driverRightJoystick = new CommandJoystick(PORT_NUMBER_DRIVER_RIGHT_JOYSTICK);
private final CommandJoystick operatorJoystick = new CommandJoystick(PORT_NUMBER_OPERATOR_JOYSTICK);

//private boolean outreachMode = true;
//private double limit = 0.4;

public RobotContainer() {
/*SmartDashboard.putBoolean("outreachMode", outreachMode);
SmartDashboard.putNumber("Speed_Limit", limit);

outreachMode = SmartDashboard.getBoolean("outreachMode", outreachMode);
limit = SmartDashboard.getNumber("Speed_Limit", limit);*/

drivetrainSubsystem.setDefaultCommand(Commands.run(
() -> this.drivetrainSubsystem.arcadeDrive(driverLeftJoystick.getY(), driverRightJoystick.getX(), true),
() -> this.drivetrainSubsystem.arcadeDrive(driverLeftJoystick.getY(),driverLeftJoystick.getX()),
this.drivetrainSubsystem));
intakeSubsystem.setDefaultCommand(Commands.run(this.intakeSubsystem::stop, this.intakeSubsystem));
flywheelSubsystem.setDefaultCommand(Commands.run(this.flywheelSubsystem::stop, this.flywheelSubsystem));
climbSubsystem.setDefaultCommand(
Commands.run(() -> this.climbSubsystem.set(this.operatorJoystick.getY()), this.climbSubsystem));

/*if(!outreachMode){
//everything but drive taken out
intakeSubsystem.setDefaultCommand(Commands.run(this.intakeSubsystem::stop, this.intakeSubsystem));
flywheelSubsystem.setDefaultCommand(Commands.run(this.flywheelSubsystem::stop, this.flywheelSubsystem));
climbSubsystem.setDefaultCommand(
Commands.run(() -> this.climbSubsystem.set(this.operatorJoystick.getY()), this.climbSubsystem));
}*/
configureBindings();
}

private void configureBindings() {
driverLeftJoystick.button(BUTTON_ID_TRIGGER)
.whileTrue(Commands.run(this.intakeSubsystem::intake, this.intakeSubsystem));
driverRightJoystick.button(BUTTON_ID_TRIGGER).whileTrue(Commands.run(() -> {
this.flywheelSubsystem.spinUp((-this.driverRightJoystick.getThrottle() + 1.0) / 2.0);
this.intakeSubsystem.shoot();
}, this.flywheelSubsystem, this.intakeSubsystem));
/*
SmartDashboard.putBoolean("outreachMode", true);
SmartDashboard.putNumber("Speed_Limit", limit);
if(!outreachMode){
driverLeftJoystick.button(BUTTON_ID_TRIGGER)
.whileTrue(Commands.run(this.intakeSubsystem::intake, this.intakeSubsystem));
driverRightJoystick.button(BUTTON_ID_TRIGGER).whileTrue(Commands.run(() -> {
this.flywheelSubsystem.spinUp((-this.driverRightJoystick.getThrottle() + 1.0) / 2.0);
this.intakeSubsystem.shoot();
}, this.flywheelSubsystem, this.intakeSubsystem));
}
*/
}

/*
public Command getAutonomousCommand() {
return Commands.run(() -> {
this.flywheelSubsystem.spinUp(1.0);
this.intakeSubsystem.shoot();
}, this.flywheelSubsystem, this.intakeSubsystem).withTimeout(2).andThen(Commands.run(() -> drivetrainSubsystem.arcadeDrive(-0.25, 0, false), drivetrainSubsystem).withTimeout(3.0));

}
*/
}
34 changes: 30 additions & 4 deletions src/main/java/frc/robot/subsystems/DrivetrainSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -3,25 +3,37 @@
import static frc.robot.Constants.DrivetrainConstants.DEVICE_ID_LEFT_LEADER;
import static frc.robot.Constants.DrivetrainConstants.DEVICE_ID_LEFT_FOLLOWER;
import static frc.robot.Constants.DrivetrainConstants.DEVICE_ID_RIGHT_LEADER;
import static frc.robot.Constants.DrivetrainConstants.SPEED_LIMIT;
import static frc.robot.Constants.DrivetrainConstants.DEVICE_ID_RIGHT_FOLLOWER;

import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkBase.IdleMode;
import com.revrobotics.CANSparkLowLevel.MotorType;

import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;

import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

public class DrivetrainSubsystem extends SubsystemBase {

private final DifferentialDrive differentialDrive;

private double newSpeed;
private double limit = 0.4;
private boolean outreachMode = true;

public DrivetrainSubsystem() {
CANSparkMax leftLeader = new CANSparkMax(DEVICE_ID_LEFT_LEADER, MotorType.kBrushless);
CANSparkMax leftFollower = new CANSparkMax(DEVICE_ID_LEFT_FOLLOWER, MotorType.kBrushless);
CANSparkMax rightLeader = new CANSparkMax(DEVICE_ID_RIGHT_LEADER, MotorType.kBrushless);
CANSparkMax rightFollower = new CANSparkMax(DEVICE_ID_RIGHT_FOLLOWER, MotorType.kBrushless);

//caution: in future year migrate to elastic or a different software to Smartdashboard because of code crashes in this test version
SmartDashboard.putBoolean("outreachMode", outreachMode);
SmartDashboard.putNumber("Speed_Limit", limit);

leftLeader.restoreFactoryDefaults();
leftFollower.restoreFactoryDefaults();
rightLeader.restoreFactoryDefaults();
Expand All @@ -39,16 +51,30 @@ public DrivetrainSubsystem() {

leftFollower.follow(leftLeader);
rightFollower.follow(rightLeader);

this.differentialDrive = new DifferentialDrive(leftLeader, rightLeader);
}

public void arcadeDrive(double speed, double rotation) {
this.arcadeDrive(speed, rotation, false);
outreachMode = SmartDashboard.getBoolean("outreachMode", outreachMode);
limit = SmartDashboard.getNumber("Speed_Limit", limit);
if(outreachMode == true){
newSpeed = speed*limit;
rotation = 0;
} else {
newSpeed = speed*limit;
}

this.arcadeDrive(newSpeed, rotation, false);
}

public void arcadeDrive(double speed, double rotation, boolean squareInputs) {
this.differentialDrive.arcadeDrive(speed, rotation, squareInputs);
if(outreachMode == true){
newSpeed = speed*limit;
rotation = 0;
} else {
newSpeed = speed*limit;
}
this.differentialDrive.arcadeDrive(newSpeed, rotation, squareInputs);
}

public void tankDrive(double leftSpeed, double rightSpeed) {
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