Button official #1

katyzhen · 2023-02-08T01:48:54Z

button official contains all of the buttons and triggers for the xbox controller.

src/main/java/frc/robot/OI.java

kkleiven · 2023-02-08T02:19:36Z

src/main/java/frc/robot/OI.java

+    //public static Button pitchPD = Button.kLeftBumper;//pitch pd for charge station
+    //public static Button stop = Button.kRightBumper;//stop drive bumper
    //public static Trigger leftTrigger = Trigger.;

-    public static Button lowShelf = Button.kX; // low shelf height combo of elevator and arm angle
+    /*public static Button lowShelf = Button.kX; // low shelf height combo of elevator and arm angle
    public static Button midShelf = Button.kA; // mid shelf
    public static Button highShelf = Button.kB; // high shelf
-    public static Button turnNorth = Button.kY;//button to turn to true north
-
+    public static Button turnNorth = Button.kY;//button to turn to true north*/


Are we sure we want to comment all of these out?

yes we changed the button code so it's different now

kkleiven · 2023-02-08T02:20:22Z

src/main/java/frc/robot/Robot.java

+//import frc.robot.autonomous.AutonomousBase.Paths;
+//import frc.robot.Constants;
+//import edu.wpi.first.math.controller.PIDController;
+//import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
-import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
+//import edu.wpi.first.math.trajectory.Trajectory;
+//import edu.wpi.first.math.geometry.Rotation2d;
+//import edu.wpi.first.math.geometry.Translation2d;
+//import edu.wpi.first.math.kinematics.ChassisSpeeds;
+//import frc.robot.OI;


These should either be uncommented out or deleted

kkleiven · 2023-02-08T02:20:52Z

src/main/java/frc/robot/Robot.java

-  private AutonomousBasePD noGo = new AutonomousBasePD(new Pose2d(0, 0, new Rotation2d(0)), new Pose2d(0, 0, new Rotation2d(0)), new Pose2d(0, 0, new Rotation2d(0)), new Pose2d(0,0, new Rotation2d(0)), new Pose2d(0, 0, new Rotation2d(0)), new Pose2d(0,0, new Rotation2d(0)), new Pose2d(0,0, new Rotation2d(0)));
-  private AutonomousBasePD placeNLeave = new AutonomousBasePD(new Pose2d(0, 0, new Rotation2d(0)), new Pose2d(160.0, 0, new Rotation2d(0)), new Pose2d(160.0, 0, new Rotation2d(0)), new Pose2d(160.0, 0, new Rotation2d(0)), new Pose2d(160.0, 0, new Rotation2d(0)), new Pose2d(160.0, 0, new Rotation2d(0)), new Pose2d(160.0, 0, new Rotation2d(0)));
-  private AutonomousBasePD antiCharge = new AutonomousBasePD(new Pose2d(86.840, -45.282, new Rotation2d(0)), new Pose2d(221.978, 19.463, new Rotation2d(0)), new Pose2d(135.091, -19.421, new Rotation2d(0)), new Pose2d(0, -22.277, new Rotation2d(0)), new Pose2d(222.491, -28.492, new Rotation2d(0)), new Pose2d(0, -43.502, new Rotation2d(0)), new Pose2d(0, -43.502, new Rotation2d(0)));
-  private AutonomousBasePD antiChargeOpposite = new AutonomousBasePD(new Pose2d(86.840, 45.282, new Rotation2d(0)), new Pose2d(221.978, -19.463, new Rotation2d(0)), new Pose2d(135.091, 19.421, new Rotation2d(0)), new Pose2d(0, 22.277, new Rotation2d(0)), new Pose2d(222.491, 28.492, new Rotation2d(0)), new Pose2d(0, 43.502, new Rotation2d(0)), new Pose2d(0, 43.502, new Rotation2d(0)));
-  private AutonomousBasePD engageCharge = new AutonomousBasePD(new Pose2d(97.759, 0, new Rotation2d(0)), new Pose2d(97.759, 0, new Rotation2d(0)), new Pose2d(97.759, 0, new Rotation2d(0)), new Pose2d(97.759, 0, new Rotation2d(0)), new Pose2d(97.759, 0, new Rotation2d(0)), new Pose2d(97.759, 0, new Rotation2d(0)), new Pose2d(97.759, 0, new Rotation2d(0)));
-  private AutonomousBasePD placeTwoEngage = new AutonomousBasePD(new Pose2d(223.014, 16.468, new Rotation2d(0)), new Pose2d(0, 22.683, new Rotation2d(0)), new Pose2d(135.615, 25.539, new Rotation2d(0)), new Pose2d(222.191, 64.230, new Rotation2d(0)), new Pose2d(97.711, 64.230, new Rotation2d(0)), new Pose2d(97.711, 64.230, new Rotation2d(0)), new Pose2d(97.711, 64.230, new Rotation2d(0)));
-  private AutonomousBaseTimed timedPath = new AutonomousBaseTimed();
-  private AutonomousBasePD testPath = new AutonomousBasePD(new Pose2d(0, 20, new Rotation2d(0)), new Pose2d(0, 20, new Rotation2d(0)), new Pose2d(0, 20, new Rotation2d(0)), new Pose2d(0, 20, new Rotation2d(0)), new Pose2d(0, 20, new Rotation2d(0)), new Pose2d(0, 20, new Rotation2d(0)), new Pose2d(0, 20, new Rotation2d(0)));
-  private AutonomousBaseMP motionProfiling = new AutonomousBaseMP(Trajectories.uno, Trajectories.dos, Trajectories.tres);
-
-  //above coordinates didn't work
-  private AutonomousBasePD leave = new AutonomousBasePD(new Pose2d(56.069, 17.332, new Rotation2d(0)), new Pose2d(219.915, 17.332, new Rotation2d(0)), new Pose2d(219.915, 17.332, new Rotation2d(0)), new Pose2d(219.915, 17.332, new Rotation2d(0)), new Pose2d(219.915, 17.332, new Rotation2d(0)), new Pose2d(219.915, 17.332, new Rotation2d(0)), new Pose2d(219.915, 17.332, new Rotation2d(0)));
-  private AutonomousBasePD placeTwoEngageReal = new AutonomousBasePD(new Pose2d(56.069, 17.332, new Rotation2d(0)), new Pose2d(278.999, 37.193, new Rotation2d(0)), new Pose2d(257.650, 64.004, new Rotation2d(0)), new Pose2d(156.859, 83.368, new Rotation2d(0)), new Pose2d(156.859, 83.368, new Rotation2d(0)), new Pose2d(156.859, 83.368, new Rotation2d(0)), new Pose2d(156.859, 83.368, new Rotation2d(0)));


Are we sure we want to delete all of these?

kkleiven · 2023-02-08T02:21:01Z

src/main/java/frc/robot/Robot.java

+  // private AutonomousBasePD blueCharge = new AutonomousBasePD(new Translation2d(221.353, 23.720), new Translation2d(0, 21.574), new Translation2d(96.902, 21.574), new Translation2d(96.902, 21.574), new Translation2d(96.902, 21.574), new Translation2d(96.902, 21.574));
+  // private AutonomousBasePD redCharge = new AutonomousBasePD(new Translation2d(222.624, 15.665), new Translation2d(0, 21.886), new Translation2d(221.671, 67.260), new Translation2d(97.188, 67.260), new Translation2d(97.188, 67.260), new Translation2d(97.188, 67.260));
+  // private AutonomousBasePD antiCharge = new AutonomousBasePD(new Translation2d(86.840, -45.282), new Translation2d(221.978, 19.463), new Translation2d(135.091, -19.421), new Translation2d(0, -22.277), new Translation2d(222.491, -28.492), new Translation2d(0, -43.502));
+  // private AutonomousBasePD mScore = new AutonomousBasePD(new Translation2d(222.037, 0), new Translation2d(135.091, -41.307), new Translation2d(0, -44.163), new Translation2d(222.894, -50.377), new Translation2d(0, -65.388), new Translation2d(0, -65.388));
+  // private AutonomousBaseTimed timedPath = new AutonomousBaseTimed();
+  // private AutonomousBasePD testPath = new AutonomousBasePD(new Translation2d(0, 20), new Translation2d(0, 20), new Translation2d(0, 20), new Translation2d(0, 20), new Translation2d(0, 20), new Translation2d(0, 20));
+  //private AutonomousBaseMP motionProfiling = new AutonomousBaseMP(Trajectories.uno, Trajectories.dos, Trajectories.tres);


why are these commented out?

kkleiven · 2023-02-08T02:22:42Z

src/main/java/frc/robot/subsystems/ArmTelescopingSubsystem.java

+    //public void armPID(double armLengthSetpoint){
+       // armLengthController.setSetpoint(armLengthSetpoint);
+        //double output = armLengthController.calculate(getArmLength(), armLengthSetpoint);
+        //System.out.println("output: " + output);
+        //armMotor.set(ControlMode.PercentOutput, output);//written as _talon.set(TalonFXControlMode.PercentOutput, leftYstick); in documentation. leftystick is joy.gety
+    //}
+
+     // if (Math.abs(leftYstick) < 0.10/*this number should be changed through testing*/) {
+    //     /* Within 10% of zero */
+    //     leftYstick = 0;//left joystick y axis in documentation. assign later
+    // }
+


do we still need this or can we delete it?

kkleiven · 2023-02-08T02:23:41Z

src/main/java/frc/robot/subsystems/ElevatorSubsystem.java

+    /*public void init(){
+        System.out.println("elevator init!!!!");
+        elevatorMotor.setInverted(true);
+        elevatorMotor.setNeutralMode(NeutralMode.Brake);
+
+        //configuring deadband
+        elevatorMotor.configAllowableClosedloopError(0, Constants.kPIDLoopIdx, Constants.kTimeoutMs);
+		/* Config Position Closed Loop gains in slot0, typically kF stays zero. */
+		/*elevatorMotor.config_kP(Constants.kPIDLoopIdx, elevatorGains.kP, Constants.kTimeoutMs);
+		elevatorMotor.config_kI(Constants.kPIDLoopIdx, elevatorGains.kI, Constants.kTimeoutMs);
+		elevatorMotor.config_kD(Constants.kPIDLoopIdx, elevatorGains.kD, Constants.kTimeoutMs);
+    }*/
+
+   /* public void periodic(){//still need to scale down the values or figure out why it is overshooting
+        System.out.println("periodic!!!!!!!");
+        if (elevatorState == ElevatorStates.STOP){ //emergency stop
+            elevatorMotor.set(ControlMode.PercentOutput, 0);
+        }else if (elevatorState == ElevatorStates.ZERO){ //facing forward, turning clockwise = going down
+            elevatorMotor.set(ControlMode.Position, 0);
+        } else if (elevatorState == ElevatorStates.LOW_ELEVATOR_HEIGHT){
+            elevatorMotor.set(ControlMode.Position, (5/scaleDown) * Constants.TICKS_PER_INCH); //change value once we know robot dimensions
+        } else if (elevatorState == ElevatorStates.MID_ELEVATOR_HEIGHT){
+            elevatorMotor.set(ControlMode.Position, (24.5/scaleDown) * Constants.TICKS_PER_INCH); //change value once we know robot dimensions
+        } else {
+            elevatorMotor.set(ControlMode.Position, 20 / scaleDown); //change value once we know robot dimensions
+        }
+
+        if(top_limit_switch.get() || bottom_limit_switch.get()){
+            setState(ElevatorStates.STOP);
+            System.out.println("Top/bottom limit switch triggered");
+        }
+    }*/


why is all of this commented out?

…o be static anymore

…o do triggers.

…werve_iterative-2023-3.0 into buttonOfficial

kkleiven · 2023-03-01T05:41:24Z

src/main/java/frc/robot/Constants.java

@@ -56,6 +56,9 @@ public final class Constants {
    public static final int BACK_RIGHT_MODULE_DRIVE_MOTOR = 22; 
    public static final int BACK_RIGHT_MODULE_STEER_MOTOR = 23; 
    public static final int BACK_RIGHT_MODULE_STEER_ENCODER = 3; 
+
+    //public static final double BACK_RIGHT_MODULE_STEER_OFFSET = -Math.toRadians(267.45); // FIXME Measure and set back right steer offset


Is this needed still or can we delete it?

kkleiven · 2023-03-01T05:42:18Z

src/main/java/frc/robot/Constants.java

+    public static final int ELEVATOR_CAN_ID = 9;
+
+    public static final double TELESCOPING_ARM_GEAR_RATIO = 36.0;
+    public static final double FIRST_WHEEL_DIAMETER= 1.13;//0.9; //0.75 inches - rough estimate by sara 2/2


Why do both of these say 0.75 inches?

kkleiven · 2023-03-01T05:48:05Z

src/main/java/frc/robot/subsystems/ArmTelescopingSubsystem.java

+public class ArmTelescopingSubsystem {
+
+    //PIDController armLengthController = new PIDController(armLengthKP, armLengthKI, armLengthKD);
+    public static TelescopingStates tState = TelescopingStates.RETRACTED;//should this be retracted or mid? what is the equivalent to off?


Does this need to be public static? Can it be private?

kkleiven · 2023-03-01T05:48:59Z

src/main/java/frc/robot/subsystems/ArmTelescopingSubsystem.java

+    public int _kIzone = 0;
+    public double _kPeakOutput = 1.0;


Do these need to be public? Usually when a variable has _ in front of it, it means it's private.

kkleiven · 2023-03-01T05:51:24Z

src/main/java/frc/robot/subsystems/ArmTelescopingSubsystem.java

+        }
+    }
+
+    public void determineRightTicks(){


This function would be a bit cleaner if it returned desiredTicks instead of setting a class variable. That way above it would be

desiredTicks = determineRightTicks();

And then it's more obvious where desiredTicks comes from.

kkleiven · 2023-03-01T05:54:34Z

src/main/java/frc/robot/subsystems/ArmTelescopingSubsystem.java

+        double milliTime = time * 1000;
+        System.out.println("milli time: " + milliTime);
+        if(forwards == true){
+            while(System.currentTimeMillis() - startTime <= milliTime){


In general while loops are scary for robot code. When you're waiting in this while loop the rest of the robot will be paused and the repeated calling of periodic won't happen at the frequency it's supposed to.

kkleiven · 2023-03-01T05:55:04Z

src/main/java/frc/robot/subsystems/DrivetrainSubsystem.java

+  public static double pitchKP = 0.025;
+  public static double pitchKI = 0.0;
+  public static double pitchKD = 0.001;
+  public static double MINOUTPUT = 0.1;


kkleiven · 2023-03-01T05:55:29Z

src/main/java/frc/robot/subsystems/DrivetrainSubsystem.java

+  public static double pitchKP = 0.025;
+  public static double pitchKI = 0.0;
+  public static double pitchKD = 0.001;


Do these need to be public static?

kkleiven · 2023-03-01T05:57:40Z

src/main/java/frc/robot/subsystems/DrivetrainSubsystem.java

+  public void scoreLow(){
+        ArmTelescopingSubsystem.setTState(TelescopingStates.LOW_ARM_LENGTH);
+  }
+
+  public void scoreHigh(){
+        ArmTelescopingSubsystem.setTState(TelescopingStates.HIGH_ARM_LENGTH);
+  }
+
+  public void scoreMid(){
+        ArmTelescopingSubsystem.setTState(TelescopingStates.MID_ARM_LENGTH);
+  }
+
+  public void substation(){
+        ArmTelescopingSubsystem.setTState(TelescopingStates.SHELF_ARM_LENGTH);
+  }
+
+  public void intake(){
+        PneumaticIntakeSubsystem.setState(PneumaticIntakeStates.ACTUATING);
+  }
+
+  public void outtake(){
+        PneumaticIntakeSubsystem.setState(PneumaticIntakeStates.RETRACTING);
+  }


Do these really belong in DrivetrainSubsystem? They don't seem to have anything to do with the drivetrain.

kkleiven · 2023-03-01T06:00:09Z

src/main/java/frc/robot/subsystems/PneumaticIntakeSubsystem.java

-
-        boolean purpleNotRedThreshold = (Math.abs(detectedColor.red-kPurpleTarget.red)>COLOR_THRESHOLD);
-        boolean purpleNotGreenThreshold = (Math.abs(detectedColor.green-kPurpleTarget.green)>COLOR_THRESHOLD);
-        boolean purpleNotBlueThreshold = (Math.abs(detectedColor.blue-kPurpleTarget.blue)>COLOR_THRESHOLD);
-
-        boolean yellowNotRedThreshold = (Math.abs(detectedColor.red-kYellowTarget.red)>COLOR_THRESHOLD);
-        boolean yellowNotGreenThreshold = (Math.abs(detectedColor.green-kYellowTarget.green)>COLOR_THRESHOLD);
-        boolean yellowNotBlueThreshold = (Math.abs(detectedColor.blue-kYellowTarget.blue)>COLOR_THRESHOLD);

-        if((purpleNotRedThreshold && purpleNotGreenThreshold) || (purpleNotRedThreshold &&purpleNotBlueThreshold) || (purpleNotGreenThreshold && purpleNotBlueThreshold)){
-           // System.out.println("diff w/ purple red: " + (detectedColor.red-kPurpleTarget.red));
-           // System.out.println("diff w/ purple green: " + (detectedColor.green-kPurpleTarget.green));
-           // System.out.println("diff w/ purple blue: " + (detectedColor.blue-kPurpleTarget.blue));
+        if((Math.abs(detectedColor.red-kPurpleTarget.red)>colorThreshold && Math.abs(detectedColor.green-kPurpleTarget.green)>colorThreshold) || (Math.abs(detectedColor.red-kPurpleTarget.red)>colorThreshold && Math.abs(detectedColor.blue-kPurpleTarget.blue)>colorThreshold) || (Math.abs(detectedColor.green-kPurpleTarget.green)>colorThreshold && Math.abs(detectedColor.blue-kPurpleTarget.blue)>colorThreshold)){


Looks like a bad merge - we lost the changes we made before with the separate booleans.

…eop works now

Kaylin Yip and others added 12 commits January 23, 2023 19:27

added true north method and called it

7577fd9

added buttons for intake, true north, and arm control

0168756

fixed merged conflicts

12ff149

added notes for xbox controller buttons and triggers

faa1af1

added xbox buttons for various objectives

196889e

called true north method in robot.java

b9ea183

called true north button in robot.java and commented out errors

86af340

working on trigger code calls in robot.java

e474d6b

added triggers for intakeOn and intakeOff

94ae0a3

started consolidating buttons to robot.java

7bc6271

consolidated buttons all into robot.java

08283b2

Merge branch 'main' into buttonOfficial

a9fb250

kkleiven reviewed Feb 8, 2023

View reviewed changes

MsBarnum-is-awesome and others added 11 commits February 7, 2023 19:38

moved intakeOff and intakeOn to IntakeSubsystems so they don't have t…

b23c540

…o be static anymore

started pull request for buttonOfficial

8395269

added substation, scoremid, scorehigh, scorelow buttons. still need t…

9264742

…o do triggers.

...

883e097

deleted IntakeSubsystem

b46cf47

beautified robot.java

9902c37

added trigger code

cb6ee01

added trigger code

147e6e0

Merge branch 'buttonOfficial' of https://github.com/gatorbotics1700/s…

af89000

…werve_iterative-2023-3.0 into buttonOfficial

Merge branch 'main' into buttonOfficial

dd39737

changed buttons

0ea63d8

kkleiven reviewed Mar 1, 2023

View reviewed changes

janetmeng added 5 commits March 1, 2023 17:44

added buttons for pneumatic intake

04e5271

cleaned code for static/non static & deleted true north button bc tel…

4dc68ee

…eop works now

commented out current trigger intake code b/c it's a duplicate

bb70b37

gosh

8f4f799

testing dpad buttons

6b84a47

gatorbotics and others added 2 commits March 2, 2023 18:40

added DPAD buttons

2882fc7

created a stopAllMech button

c245e13

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Button official #1

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katyzhen commented Feb 8, 2023

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Button official #1

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Button official #1

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katyzhen commented Feb 8, 2023

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