started state machine #15

Alenguye582 · 2024-08-09T18:57:34Z

8/9 Status

Add Intake Floor Implementation
Add Baseline State Machine logic (RobotContainer)
Add Baseline Eject Implementation (May need to change based on how the amp/elevator/drainpipe works)
Updated Drive command to match how we tested it on 8/9
- Includes full (?!) implementation for DT snapping based on state

TODOS: (Should probably be seperate issues)

Finish logic to automatically prep shuffle
Add logic to automatically prep amp

… ground intake command🦟™️

…ut for transfer

also created methods for changing/getting the robot state

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

src/main/java/frc/robot/RobotMap.java

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

ACat701 · 2024-08-09T23:59:40Z

Closes #7
Closes #12

ACat701 · 2024-08-10T00:36:31Z

Drivetrain implementation with states was tested in sim and it was good stuff 😋
As for the rest- I honestly just went "get as much of the state machine as you can get done today" and Alena just ran with it (shes the 🐐). I'm not sure how we should separate the rest of the parts issue-wise/pr-wise but I think the start is to get this in main

src/main/java/frc/robot/RobotContainer.java

TaylerUva · 2024-08-12T01:28:59Z

Code looks great so far! Keep up the great work!

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

Alenguye582 · 2024-08-12T16:06:53Z

Code looks great so far! Keep up the great work!

Yay! And also question: how much do we want to get done in this PR before merging because it's getting pretty chonky 🐹 at the moment

TaylerUva · 2024-08-12T16:34:19Z

Code looks great so far! Keep up the great work!

Yay! And also question: how much do we want to get done in this PR before merging because it's getting pretty chonky 🐹 at the moment

Good question. Lets address the requested changes and then we can merge this in and finish adding the remaining states in another PR.

TaylerUva

Code looks really good and most of my suggestions are just nitpicking. We can write the remaining states in another PR. Can we create a new issues for each of the states that remain?

src/main/java/frc/robot/commands/States/Eject.java

- moved enum states to subsystem - renamed commands to match states - made things more organized✨ - also deleted sensor in transfer cuz alice already coded one in main :3

TaylerUva · 2024-08-12T19:53:54Z

We can also test the state transitions in sim using our print outs

src/main/java/frc/robot/commands/States/NoneState.java

src/main/java/frc/robot/commands/States/StoreFeeder.java

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

- added lambda and deferredProxy when calling tryState() - added some more valid states to PREP states (to switch between prep states)

…tement

overruled :)

BrodyKarr and others added 3 commits July 27, 2024 17:03

started making a state machine by using enums and started to make the…

978570c

… ground intake command🦟™️

made the feeder have a neutral output and tried to define digital inp…

5af0ab8

…ut for transfer

finished intake command

dd13c34

also created methods for changing/getting the robot state

Alenguye582 requested a review from a team as a code owner August 9, 2024 18:57

Alenguye582 linked an issue Aug 9, 2024 that may be closed by this pull request

Create Intake Command #12

Closed

merge conflicts ✨

3617677

ACat701 previously requested changes Aug 9, 2024

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Alenguye582 added 3 commits August 9, 2024 15:11

created eject

bec4a27

changed speed methods to require a Measure instead of double

a0a697d

faewjr igwh

2997eb7

ACat701 added the Untested label Aug 9, 2024

ACat701 enabled auto-merge (squash) August 9, 2024 23:59

ACat701 added 2 commits August 9, 2024 17:11

Update drivetrain implementation to match testing findings

61ee7e5

Complete drivetrain implementation with State Machine :)

d2906b1

ACat701 and others added 2 commits August 9, 2024 17:39

Merge branch 'main' into State-machine

fdb9232

removed commands

5bf7287

TaylerUva marked this pull request as draft August 10, 2024 20:01

auto-merge was automatically disabled August 10, 2024 20:01
Pull request was converted to draft

Alenguye582 added 2 commits August 10, 2024 17:03

aaaaaaaaaaaaaaaaaaaaaaaaaaaaaahhhhhhhhhhhhhhhhhh

6149814

removed null command whoopsie

fdb9633

TaylerUva requested changes Aug 12, 2024

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src/main/java/frc/robot/RobotContainer.java Outdated Show resolved Hide resolved

TaylerUva requested changes Aug 12, 2024

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src/main/java/frc/robot/subsystems/StateMachine.java Show resolved Hide resolved

TaylerUva requested changes Aug 12, 2024

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src/main/java/frc/robot/commands/States/Eject.java Outdated Show resolved Hide resolved

src/main/java/frc/robot/commands/States/Eject.java Outdated Show resolved Hide resolved

Alenguye582 added 2 commits August 12, 2024 12:41

addressing review comments

d90a310

- moved enum states to subsystem - renamed commands to match states - made things more organized✨ - also deleted sensor in transfer cuz alice already coded one in main :3

merge conflicts x2 ✨

098ddac

changed game piece detection method to Alice's new method

ad593d0

TaylerUva reviewed Aug 17, 2024

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src/main/java/frc/robot/commands/States/NoneState.java Outdated Show resolved Hide resolved

MOREE buttons :3

6af56c5

TaylerUva reviewed Aug 17, 2024

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src/main/java/frc/robot/commands/States/StoreFeeder.java Outdated Show resolved Hide resolved

TaylerUva and others added 3 commits August 17, 2024 13:12

set sim

34a18ef

moved setting targetState to a button press instead of command

5645e1c

merge conflicts (sim edition)

661690f

Alenguye582 changed the title ~~started state machine and created intake command~~ started state machine Aug 18, 2024

Alenguye582 commented Aug 18, 2024

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Alenguye582 added 2 commits August 31, 2024 11:42

it does the thing!!

15d31c0

- added lambda and deferredProxy when calling tryState() - added some more valid states to PREP states (to switch between prep states)

replaced 0's with zero() and moved default command outside switch sta…

2e3b5dd

…tement

Alenguye582 marked this pull request as ready for review August 31, 2024 19:06

Alenguye582 enabled auto-merge (squash) August 31, 2024 19:06

TaylerUva added Tested in Simulation and removed Untested labels Aug 31, 2024

Merge branch 'main' into State-machine

0daead0

TaylerUva approved these changes Aug 31, 2024

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Alenguye582 merged commit 8ae6ed7 into main Aug 31, 2024
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Alenguye582 deleted the State-machine branch August 31, 2024 20:24

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started state machine #15

started state machine #15

Alenguye582 commented Aug 9, 2024 •

edited by ACat701

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started state machine #15

started state machine #15

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Alenguye582 commented Aug 9, 2024 •

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