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Fix some robot container commands #46

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merged 1 commit into from
Feb 15, 2025
Merged

Fix some robot container commands #46

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74 changes: 23 additions & 51 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -375,17 +375,10 @@ private void configureControllerBindings()


// Driver Left Trigger + Right Bumper: Algae Intake
// m_driver.leftTrigger().and(isCoralMode.negate()).whileTrue(
// Commands.sequence(
// (FieldConstants.getNearestReefBranch(m_drive.getPose(), ReefSide.RIGHT)
// .getTranslation().getX() > 0)
// ? m_profiledElevator.setStateCommand(Elevator.State.ALGAE_HIGH)
// : m_profiledElevator.setStateCommand(Elevator.State.ALGAE_LOW),
// m_clawRoller.setStateCommand(ClawRoller.State.INTAKE),
// Commands.waitUntil(m_clawRoller.stalled)
// .andThen(m_clawRoller.setStateCommand(ClawRoller.State.OFF)))
// .andThen(m_profiledElevator.setStateCommand(Elevator.State.STOW)));
// m_driver.rightTrigger().whileTrue(m_clawRoller.setStateCommand(ClawRoller.State.SCORE));
m_driver.leftTrigger().and(isCoralMode.negate()).onTrue(
(m_clawRoller.getState() == ClawRoller.State.ALGAE_INTAKE)
? m_clawRoller.setStateCommandNoEnd(ClawRoller.State.EJECT)
: m_clawRoller.setStateCommandNoEnd(ClawRoller.State.ALGAE_INTAKE));

// Driver Start Button: Climb Request (toggle)
// m_driver.start().onTrue(Commands.runOnce(() -> {
Expand Down Expand Up @@ -433,9 +426,14 @@ private void configureControllerBindings()

// Driver POV Down: Zero the Elevator (HOMING)
m_driver.povDown().whileTrue(
m_profiledElevator.setStateCommand(Elevator.State.HOMING)
.until(m_profiledElevator.getHomedTrigger())
.andThen(m_profiledElevator.zeroSensorCommand()));
Commands.sequence(
// Always move Arm to STOW position before moving Elevator
m_profiledArm.setStateCommand(Arm.State.STOW).until(() -> m_profiledArm.atPosition(0.1)),
// Move Elevator to homing position
Commands.waitUntil(() -> m_profiledArm.atPosition(0.1))
.andThen(m_profiledElevator.setStateCommand(Elevator.State.HOMING)
.until(m_profiledElevator.getHomedTrigger()))
.andThen(m_profiledElevator.zeroSensorCommand())));

// Driver Right Bumper: Toggle between Coral and Algae Modes.
// Make sure the Approach nearest reef face does not mess with this
Expand All @@ -452,38 +450,23 @@ private void registerNamedCommands()
// Go to the L1 Position
NamedCommands.registerCommand(
"L1",
Commands.parallel(
m_profiledElevator.setStateCommand(Elevator.State.LEVEL_1),
m_profiledArm.setStateCommand(Arm.State.LEVEL_1)));
m_superStruct.getTransitionCommand(Arm.State.LEVEL_1, Elevator.State.LEVEL_1));
// Go to the L2 Position
NamedCommands.registerCommand(
"L2",
Commands.parallel(
m_profiledElevator.setStateCommand(Elevator.State.LEVEL_2),
m_profiledArm.setStateCommand(Arm.State.LEVEL_2)));
m_superStruct.getTransitionCommand(Arm.State.LEVEL_2, Elevator.State.LEVEL_2));
// Go to the L3 Position
NamedCommands.registerCommand(
"L3",
Commands.parallel(
m_profiledElevator.setStateCommand(Elevator.State.LEVEL_3),
m_profiledArm.setStateCommand(Arm.State.LEVEL_3)));
m_superStruct.getTransitionCommand(Arm.State.LEVEL_3, Elevator.State.LEVEL_3));
// Go to the L4 Position
NamedCommands.registerCommand(
"L4",
Commands.parallel(
m_profiledElevator.setStateCommand(Elevator.State.LEVEL_4),
Commands.waitUntil(() -> m_profiledElevator.atPosition(1))
.andThen(m_profiledArm.setStateCommand(Arm.State.LEVEL_4))));
m_superStruct.getTransitionCommand(Arm.State.LEVEL_4, Elevator.State.LEVEL_4));
// Go to the Home Position
NamedCommands.registerCommand(
"Home",
Commands.parallel(
m_profiledElevator.setStateCommand(Elevator.State.STOW),
m_profiledArm.setStateCommand(Arm.State.STOW)));

// Wait for intake laserCAN to be triggered
NamedCommands.registerCommand("WaitForCoral",
Commands.waitUntil(m_intakeLaserCAN.triggered));
m_superStruct.getTransitionCommand(Arm.State.STOW, Elevator.State.STOW));

// Wait for intake laserCAN to be triggered
NamedCommands.registerCommand("WaitForCoral",
Expand All @@ -492,23 +475,12 @@ private void registerNamedCommands()
// Intake Coral
NamedCommands.registerCommand(
"IntakeCoral",
m_clawRoller.setStateCommand(ClawRoller.State.INTAKE)
.until(m_clawRollerLaserCAN.triggered)
.andThen(m_clawRoller.setStateCommandNoEnd(ClawRoller.State.HOLDCORAL))
.andThen(Commands.waitUntil(() -> m_clawRoller.atPosition(1))));

// Intake Algae
NamedCommands.registerCommand(
"IntakeAlgae",
Commands.sequence(
(FieldConstants.getNearestReefBranch(m_drive.getPose(), ReefSide.RIGHT)
.getTranslation().getX() > 0)
? m_profiledElevator.setStateCommand(Elevator.State.ALGAE_HIGH)
: m_profiledElevator.setStateCommand(Elevator.State.ALGAE_LOW),
m_clawRoller.setStateCommand(ClawRoller.State.INTAKE),
Commands.waitUntil(m_clawRoller.stalled)
.andThen(m_clawRoller.setStateCommand(ClawRoller.State.OFF)))
.andThen(m_profiledElevator.setStateCommand(Elevator.State.STOW)));
Commands.parallel(
m_superStruct.getTransitionCommand(Arm.State.CORAL_INTAKE, Elevator.State.CORAL_INTAKE),
m_clawRoller.setStateCommand(ClawRoller.State.INTAKE)
.until(m_clawRollerLaserCAN.triggered)
.andThen(m_clawRoller.setStateCommandNoEnd(ClawRoller.State.HOLDCORAL))
.andThen(Commands.waitUntil(() -> m_clawRoller.atPosition(1)))));

NamedCommands.registerCommand(
"Score",
Expand Down
5 changes: 3 additions & 2 deletions src/main/java/frc/robot/subsystems/Claw/ClawRoller/ClawRoller.java
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@ public class ClawRoller
// numbers

static LoggedTunableNumber holdCoralSP = new LoggedTunableNumber("ClawRoller/HoldCoralSP", 0.0);
static LoggedTunableNumber algaeIntakeSP = new LoggedTunableNumber("ClawRoller/AlgaeIntakeSP", -15.0);

@RequiredArgsConstructor
@Getter
Expand All @@ -29,8 +30,8 @@ public enum State implements TargetState {
INTAKE(() -> 2.0, ProfileType.OPEN_VOLTAGE),
EJECT(() -> 6.0, ProfileType.OPEN_VOLTAGE),
SCORE(() -> 8.0, ProfileType.OPEN_VOLTAGE),
HOLDCORAL(() -> 0.6, ProfileType.MM_POSITION), // Wheels should spin x rotations before stopping
TUNING(() -> holdCoralSP.getAsDouble(), ProfileType.MM_POSITION);
HOLDCORAL(() -> holdCoralSP.getAsDouble(), ProfileType.MM_POSITION),
ALGAE_INTAKE(() -> algaeIntakeSP.getAsDouble(), ProfileType.OPEN_CURRENT);

private final DoubleSupplier output;
private final ProfileType profileType;
Expand Down