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10/14/23 [Telemetry] - Made it as a class #4

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68fb231
Fixed Pigeon kP, set driver mode for limelight
brennaren Sep 23, 2023
918573e
operator controls
brennaren Sep 24, 2023
821681f
9/30 driver training
brennaren Oct 1, 2023
7e75053
fixed claw
Oct 4, 2023
8f2c7cd
Driver pratice tuning
Oct 5, 2023
c38ce1a
Increase debouncer time to 0.13
Oct 5, 2023
a65422f
CalGames Improvements [Added new Auton Path, tuned values; added chan…
brennaren Oct 14, 2023
7f01e46
Fully implemented telemetry as a class
brennaren Oct 14, 2023
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107 changes: 13 additions & 94 deletions .Glass/glass.json
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,29 +1,23 @@
{
"NetworkTables": {
"Persistent Values": {
"open": false
},
"Retained Values": {
"open": false
},
"Transitory Values": {
"open": false
},
"retained": {
"SmartDashboard": {
"Rotation PID": {
"Auton Chooser": {
"open": true
},
"open": true
}
},
"transitory": {
"LiveWindow": {
"AngledElevator": {
"open": true
},
"Drivetrain": {
"open": true
},
"Ungrouped": {
"open": true
},
"open": true
},
"Shuffleboard": {
"open": true
},
"SmartDashboard": {
"Auton Chooser": {
"open": true
Expand All @@ -33,89 +27,14 @@
},
"types": {
"/FMSInfo": "FMSInfo",
"/LiveWindow/AngledElevator": "Subsystem",
"/LiveWindow/Claw": "Subsystem",
"/LiveWindow/Drivetrain": "Subsystem",
"/LiveWindow/Ungrouped/DigitalInput[0]": "Digital Input",
"/LiveWindow/Ungrouped/PIDController[1]": "PIDController",
"/LiveWindow/Ungrouped/PIDController[2]": "PIDController",
"/LiveWindow/Ungrouped/PIDController[3]": "PIDController",
"/LiveWindow/Ungrouped/PIDController[4]": "PIDController",
"/LiveWindow/Ungrouped/PIDController[5]": "PIDController",
"/LiveWindow/Ungrouped/PIDController[6]": "PIDController",
"/LiveWindow/Ungrouped/Scheduler": "Scheduler",
"/SmartDashboard/AngledElevator": "Subsystem",
"/SmartDashboard/Auton Chooser": "String Chooser",
"/SmartDashboard/Rotation PID": "String Chooser",
"/SmartDashboard/test controller": "PIDController"
},
"windows": {
"/LiveWindow/AngledElevator": {
"window": {
"visible": true
}
},
"/LiveWindow/Claw": {
"window": {
"visible": true
}
},
"/LiveWindow/Drivetrain": {
"window": {
"visible": true
}
},
"/SmartDashboard/AngledElevator": {
"window": {
"visible": true
}
},
"/SmartDashboard/Auton Chooser": {
"window": {
"visible": true
}
}
"/SmartDashboard/Auton Chooser": "String Chooser"
}
},
"NetworkTables Settings": {
"mode": "Client (NT4)",
"serverTeam": "10.10.72.2"
},
"Plots": {
"Plot <0>": {
"plots": [
{
"height": 786,
"series": [
{
"color": [
0.2980392277240753,
0.44705885648727417,
0.6901960968971252,
1.0
],
"id": "NT:/SmartDashboard/test controller/p"
},
{
"color": [
0.8666667342185974,
0.5176470875740051,
0.32156863808631897,
1.0
],
"id": "NT:/SmartDashboard/kP"
}
]
}
]
},
"Plot <1>": {
"plots": [
{
"height": 772
}
]
}
},
"enterKey": 345
"serverTeam": "1072"
}
}
26 changes: 15 additions & 11 deletions src/main/java/frc/robot/OI.java
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
package frc.robot;

import edu.wpi.first.math.filter.Debouncer.DebounceType;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import frc.robot.commands.claw.ToggleClaw;
import frc.robot.commands.drivetrain.AlignPitch;
Expand Down Expand Up @@ -39,30 +40,33 @@ public XboxGamepad getOperator() {

private void initBindings() {
// set Right DPad Button to toggle claw
driver.getRightDPadButton().onTrue(new ToggleClaw());
// driver.getRightDPadButton().onTrue(new ToggleClaw());

// X = HP, Y = High, B = Middle, A = Lo
driver.getButtonX().whileTrue(new MoveToPosition(RobotMap.AngledElevator.POSITIONS[3]));
driver.getButtonY().whileTrue(new MoveToPosition(RobotMap.AngledElevator
// driver.getButtonX().whileTrue(new MoveToPosition(RobotMap.AngledElevator.POSITIONS[3]));
// driver.getButtonY().whileTrue(new MoveToPosition(RobotMap.AngledElevator

.POSITIONS[2]));
driver.getButtonB().whileTrue(new MoveToPosition(RobotMap.AngledElevator.POSITIONS[1]));
driver.getButtonA().whileTrue(new MoveToPosition(RobotMap.AngledElevator.POSITIONS[0]));
// .POSITIONS[2]));
// driver.getButtonB().whileTrue(new MoveToPosition(RobotMap.AngledElevator.POSITIONS[1]));
// driver.getButtonA().whileTrue(new MoveToPosition(RobotMap.AngledElevator.POSITIONS[0]));

// set LeftBumper Button to Align Pitch
driver.getLeftBumper().whileTrue(new AlignPitch());

// set Start Button to Align Yaw (Reset Yaw)
driver.getButtonStart().onTrue(new InstantCommand(() -> {
driver.getRightBumper().onTrue(new InstantCommand(() -> {
Drivetrain.getInstance().setYaw(0);
}));

// set Select Button to Zero Elevator
driver.getButtonSelect().onTrue(new ZeroElevator());

// set X button on OPERATOR controller to Zero Elevator
operator.getButtonX().onTrue(new ZeroElevator());
// driver.getButtonSelect().onTrue(new ZeroElevator());
//operator.getRightDPadButton().debounce(0.13, DebounceType.kRising).onTrue(new ToggleClaw());
operator.getRightDPadButton().onTrue(new ToggleClaw());
operator.getRightBumper().onTrue(new ZeroElevator());
// set A button on OPERATOR controller to set Elevator to POSITION LOW
operator.getButtonX().whileTrue(new MoveToPosition(RobotMap.AngledElevator.POSITIONS[3]));
operator.getButtonY().whileTrue(new MoveToPosition(RobotMap.AngledElevator.POSITIONS[2]));
operator.getButtonB().whileTrue(new MoveToPosition(RobotMap.AngledElevator.POSITIONS[1]));
operator.getButtonA().whileTrue(new MoveToPosition(RobotMap.AngledElevator.POSITIONS[0]));
}

Expand Down
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