Shuffleboard #3
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… auto periodic now
kkleiven
reviewed
Feb 8, 2023
src/main/java/frc/robot/OI.java
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| // public double intakeOn, intakeOff; | ||
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| public static final XboxController m_controller = new XboxController(0);//buttons/co-driver controller | ||
| public static final XboxController m_controller_two = new XboxController(1);//main driver/driving controller | ||
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| //public static Button armExtended = Button.kY;//button to fully extend to 90 degrees | ||
| //public static Button armControl = Button.kLeftStick;//stick to control arm length (any length from fully retracted to extended) | ||
| 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 armExtended = Button.kY;//button to fully extend to 90 degrees | ||
| // //public static Button armControl = Button.kLeftStick;//stick to control arm length (any length from fully retracted to extended) | ||
| // 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.; | ||
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| 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 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 | ||
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| public static Button outtake = Button.kA; | ||
| // public static Button outtake = Button.kA; |
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why are these commented out? do we still need them?
src/main/java/frc/robot/OI.java
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| // intakeOn = triggerThreshold (m_controller.getLeftTriggerAxis()); | ||
| // intakeOff = triggerThreshold (m_controller.getRightTriggerAxis()); | ||
| // } | ||
| // /*two total xbox controllers, one for driver, one for co-driver. 4 buttons on each, 2 joysticks, 2 triggers, 2 bumbers, 2 additional buttons at the back of the contoller, and possibly 4 directional arrow keys. All can be programmed for different settings as desired. | ||
| // * buttons/joysticks to be coded: | ||
| // * - make joystick for driving robot | ||
| // * - outtake button | ||
| // */ | ||
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| // public static double triggerThreshold(double tValue) { | ||
| // if (Math.abs(tValue) < 0.1) { //change this value to be more specific if wanted | ||
| // return 0; | ||
| // } else { | ||
| // return 1 * tValue; | ||
| // } | ||
| // //trigger axis is bound by the range [0,1] not [-1,1] | ||
| // } | ||
| } |
src/main/java/frc/robot/Robot.java
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| autonomousBasePD.init(); | ||
| /* | ||
| m_autoSelected = m_chooser.getSelected(); | ||
| m_autoSelected = SmartDashboard.getString("Auto Selector", kDefaultAuto); | ||
| System.out.println("Auto selected: " + m_autoSelected); | ||
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| */ | ||
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| m_autoSelected = m_chooser.getSelected(); | ||
| m_autoSelected.init(); | ||
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| } | ||
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| /** This function is called periodically during autonomous. */ | ||
| @Override | ||
| public void autonomousPeriodic() { | ||
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| /* | ||
| switch (m_autoSelected) { | ||
| case kCustomAuto: | ||
| // Put custom auto code here | ||
| break; | ||
| case kDefaultAuto: | ||
| default: | ||
| // Put default auto code here | ||
| break; | ||
| } |
src/main/java/frc/robot/Robot.java
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| //following code via https://docs.wpilib.org/en/stable/docs/software/dashboards/shuffleboard/layouts-with-code/organizing-widgets.html | ||
| ShuffleboardLayout turnPID = pidTab.getLayout("Turn PID", BuiltInLayouts.kList)//change this layout to support input | ||
| .withSize(2, 2); | ||
| turnPID.add(new ElevatorDownCommand());//what should we put here instead of the commands? i think this is where we should write the info and ask user for input? | ||
| turnPID.add(new ElevatorUpCommand()); | ||
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| ShuffleboardLayout drivePID = pidTab.getLayout("Drive PID", BuiltInLayouts.kList)//change this layout to support input | ||
| .withSize(2, 2); | ||
| drivePID.add(new ElevatorDownCommand());//what should we put here instead of the commands? i think this is where we should write the info and ask user for input? | ||
| drivePID.add(new ElevatorUpCommand()); | ||
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| ShuffleboardLayout pitchPID = pidTab.getLayout("Pitch PID", BuiltInLayouts.kList)//change this layout to support input | ||
| .withSize(2, 2);riodic | ||
| pitchPID.add(new ElevatorDownCommand());//what should we put here instead of the commands? i think this is where we should write the info and ask user for input? | ||
| pitchPID.add(new ElevatorUpCommand()); | ||
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| ShuffleboardLayout veloPID = pidTab.getLayout("Velocity PID", BuiltInLayouts.kList)//change this layout to support input | ||
| .withSize(2, 2); | ||
| pitchPID.add(new ElevatorDownCommand());//what should we put here instead of the commands? i think this is where we should write the info and ask user for input? | ||
| pitchPID.add(new ElevatorUpCommand()); | ||
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| //following code via https://docs.wpilib.org/en/stable/docs/software/dashboards/shuffleboard/advanced-usage/shuffleboard-tuning-pid.html | ||
| //NetworkTableEntry turnWidget = pidTab.add("Turn PID", 1).getEntry();//NOTE: i think this is an alternative way to create a widget as opposed to what's shown above | ||
| */ |
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| /* | ||
| @Override | ||
| public void initSendable(SendableBuilder builder){ //via https://docs.wpilib.org/en/stable/docs/software/telemetry/writing-sendable-classes.html | ||
| builder.addDoubleProperty("turnPIDk", this::getSetpoint, this::setSetpoint);//TODO finish adding these, and verify that this works | ||
| } | ||
| */ |
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This branch contains code for the pitch PD.