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New joystick command #80

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a8105cc
add guess of blue and red pass zone translations and add to align tar…
aidnem Oct 21, 2024
42337c3
move pov down to pass rather than endgame
aidnem Oct 21, 2024
09d4a70
add align to scoring
aidnem Oct 21, 2024
433f751
add pass states to scoring subsystem
linglejack06 Oct 22, 2024
be25c3f
add more constants
linglejack06 Oct 22, 2024
833acd7
fix build error
linglejack06 Oct 22, 2024
43b2ea5
fix errors related to importing
linglejack06 Nov 14, 2024
c858ce1
add override for setGoalSpeeds
linglejack06 Nov 14, 2024
c8451bb
update joysticks parameters command
minhlpnguyen Nov 18, 2024
bb2fb07
update random
minhlpnguyen Nov 19, 2024
67422ab
move back to main coppercore
linglejack06 Nov 19, 2024
4be4d86
Merge branch 'main' into new-joystick-command
linglejack06 Nov 19, 2024
89d3bb1
format changes
linglejack06 Nov 19, 2024
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14 changes: 11 additions & 3 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
package frc.robot;

import com.pathplanner.lib.auto.NamedCommands;
import coppercore.wpilib_interface.DriveWithJoysticks;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
Expand All @@ -13,8 +14,8 @@
import edu.wpi.first.wpilibj2.command.button.CommandJoystick;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction;
import frc.robot.commands.DriveWithJoysticks;
import frc.robot.commands.ShootWithGamepad;
import frc.robot.constants.DriverConstants;
import frc.robot.constants.FeatureFlags;
import frc.robot.constants.ModeConstants;
import frc.robot.constants.PhoenixDriveConstants;
Expand Down Expand Up @@ -303,7 +304,7 @@ private void configureSuppliers() {
private void configureBindings() {
if (drive != null) {
drive.registerTelemetry(logger::telemeterize);
drive.setDefaultCommand(new DriveWithJoysticks(drive, leftJoystick, rightJoystick));
setUpDriveWithJoysticks();
}
if (DriverStation.isTest()) {
// SYS ID
Expand Down Expand Up @@ -761,7 +762,14 @@ public void testInit() {

private void setUpDriveWithJoysticks() {
if (FeatureFlags.runDrive) {
drive.setDefaultCommand(new DriveWithJoysticks(drive, leftJoystick, rightJoystick));
drive.setDefaultCommand(
new DriveWithJoysticks(
drive,
leftJoystick,
rightJoystick,
PhoenixDriveConstants.maxSpeedMetPerSec,
PhoenixDriveConstants.MaxAngularRateRadPerSec,
DriverConstants.leftJoystickDeadband));
}
}
}
5 changes: 3 additions & 2 deletions src/main/java/frc/robot/subsystems/drive/PhoenixDrive.java
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@
import com.pathplanner.lib.util.HolonomicPathFollowerConfig;
import com.pathplanner.lib.util.PIDConstants;
import com.pathplanner.lib.util.ReplanningConfig;
import coppercore.wpilib_interface.DriveTemplate;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
Expand All @@ -29,15 +30,14 @@
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.Subsystem;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
import frc.robot.constants.FieldConstants;
import frc.robot.constants.PhoenixDriveConstants;
import frc.robot.constants.PhoenixDriveConstants.AlignTarget;
import java.util.Optional;
import org.littletonrobotics.junction.Logger;

public class PhoenixDrive extends SwerveDrivetrain implements Subsystem {
public class PhoenixDrive extends SwerveDrivetrain implements DriveTemplate {
public enum SysIdRoutineType {
Translation,
Rotation,
Expand Down Expand Up @@ -205,6 +205,7 @@ public ChassisSpeeds getCurrentSpeeds() {
return m_kinematics.toChassisSpeeds(getState().ModuleStates);
}

@Override
public void setGoalSpeeds(ChassisSpeeds goalSpeeds, boolean fieldCentric) {
this.goalSpeeds = goalSpeeds;
this.fieldCentric = fieldCentric;
Expand Down