Merge remote-tracking branch 'origin/main' into advantage_kit

Team-Optix-3749 · Feb 8, 2025 · ad25c4e · ad25c4e
2 parents 8569e3e + d93df11
commit ad25c4e
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Showing 6 changed files with 107 additions and 10 deletions.
diff --git a/Team-3749-2025/simgui-ds.json b/Team-3749-2025/simgui-ds.json
@@ -91,6 +91,7 @@
   ],
   "robotJoysticks": [
     {
+
       "guid": "Keyboard0"
     }
   ]

diff --git a/Team-3749-2025/src/main/java/frc/robot/Robot.java b/Team-3749-2025/src/main/java/frc/robot/Robot.java
@@ -13,6 +13,7 @@
 import frc.robot.subsystems.elevator.Elevator;
 import frc.robot.subsystems.arm.climb.ClimbArm;
 import frc.robot.subsystems.arm.coral.CoralArm;
+
 import frc.robot.subsystems.roller.Roller;
 import frc.robot.subsystems.roller.implementations.AlgaeRoller;
 import frc.robot.subsystems.roller.implementations.CoralRoller;

diff --git a/Team-3749-2025/src/main/java/frc/robot/RobotContainer.java b/Team-3749-2025/src/main/java/frc/robot/RobotContainer.java
@@ -7,9 +7,9 @@
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.buttons.JoystickIO;
 import frc.robot.commands.auto.AutoUtils;
 import frc.robot.commands.auto.Autos;
-import frc.robot.utils.JoystickIO;
 
 public class RobotContainer {
 

diff --git a/Team-3749-2025/src/main/java/frc/robot/buttons/ButtonBoard.java b/Team-3749-2025/src/main/java/frc/robot/buttons/ButtonBoard.java
@@ -0,0 +1,59 @@
+package frc.robot.buttons;
+
+import edu.wpi.first.wpilibj.GenericHID;
+import edu.wpi.first.wpilibj2.command.button.JoystickButton;
+
+public class ButtonBoard {
+
+    public GenericHID buttonBoardPlayer1 = new GenericHID(1);
+    public GenericHID buttonBoardPlayer2 = new GenericHID(2);
+    public GenericHID buttonBoardPlayer3 = new GenericHID(3);
+
+    // coral elevator positions
+    public JoystickButton buttonl1 = new JoystickButton(buttonBoardPlayer3, 2);
+    public JoystickButton buttonl2 = new JoystickButton(buttonBoardPlayer3, 1);
+    public JoystickButton buttonl3 = new JoystickButton(buttonBoardPlayer1, 6);
+    public JoystickButton buttonl4 = new JoystickButton(buttonBoardPlayer1, 5);
+
+    // source buttons
+    public JoystickButton buttonRightSource = new JoystickButton(buttonBoardPlayer1, 4);
+    public JoystickButton buttonLeftSource = new JoystickButton(buttonBoardPlayer1, 7);
+
+    // reef positions
+    public JoystickButton buttonReefZoneA = new JoystickButton(buttonBoardPlayer3, 6);
+    public JoystickButton buttonReefZoneB = new JoystickButton(buttonBoardPlayer2, 5);
+    public JoystickButton buttonReefZoneC = new JoystickButton(buttonBoardPlayer2, 6);
+    public JoystickButton buttonReefZoneD = new JoystickButton(buttonBoardPlayer3, 3);
+    public JoystickButton buttonReefZoneE = new JoystickButton(buttonBoardPlayer3, 4);
+    public JoystickButton buttonReefZoneF = new JoystickButton(buttonBoardPlayer2, 8);
+    public JoystickButton buttonReefZoneG = new JoystickButton(buttonBoardPlayer2, 7);
+    public JoystickButton buttonReefZoneH = new JoystickButton(buttonBoardPlayer2, 4);
+    public JoystickButton buttonReefZoneI = new JoystickButton(buttonBoardPlayer2, 3);
+    public JoystickButton buttonReefZoneJ = new JoystickButton(buttonBoardPlayer2, 2);
+    public JoystickButton buttonReefZoneK = new JoystickButton(buttonBoardPlayer2, 1);
+    public JoystickButton buttonReefZoneL = new JoystickButton(buttonBoardPlayer3, 5);
+
+    // miscellaneous buttons
+    public JoystickButton buttonAlgaeKnockoff = new JoystickButton(buttonBoardPlayer1, 3);
+    public JoystickButton buttonUtilityA = new JoystickButton(buttonBoardPlayer1, 1);
+    public JoystickButton buttonUtilityB = new JoystickButton(buttonBoardPlayer1, 2);
+    public JoystickButton buttonPlayer1Start = new JoystickButton(buttonBoardPlayer1, 8);
+
+    public ButtonBoard() {
+    }
+
+    private ScoringMode scoringMode;
+
+    public enum ScoringMode {
+        L1,
+        L2,
+        L3,
+        L4,
+        ALGAE;
+    }
+
+    public ScoringMode getScoringMode() {
+        return scoringMode;
+    }
+
+}
diff --git a/...main/java/frc/robot/utils/JoystickIO.java → ...in/java/frc/robot/buttons/JoystickIO.java b/...main/java/frc/robot/utils/JoystickIO.java → ...in/java/frc/robot/buttons/JoystickIO.java
@@ -1,13 +1,14 @@
-package frc.robot.utils;
+package frc.robot.buttons;
 
 import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import frc.robot.Robot;
 
 
-import frc.robot.commands.swerve.DriveStraight;
 import frc.robot.commands.swerve.SwerveDefaultCommand;
 
 /**
@@ -16,11 +17,12 @@
  * @author Rohin Sood
  * @author Noah Simon
  */
+@SuppressWarnings("unused")
 public class JoystickIO {
 
     private static final CommandXboxController pilot = new CommandXboxController(0);
     private static final CommandXboxController operator = new CommandXboxController(1);
-    private static final Command DriveStraight = new DriveStraight();
+    private static final ButtonBoard buttonBoard = new ButtonBoard();
 
     public JoystickIO() {
     }
@@ -53,6 +55,35 @@ public static void getButtonBindings() {
     public static void pilotAndOperatorBindings() {
         // gyro reset
         pilot.start().onTrue(Commands.runOnce(() -> Robot.swerve.resetGyro()));
+
+        // Example binding
+        // operator.a().whileTrue(new ExampleSubsystemCommand());
+        buttonBoard.buttonl1.onTrue(Commands.runOnce(() -> System.out.println("1, 5")));
+        buttonBoard.buttonl2.onTrue(Commands.runOnce(() -> System.out.println("1, 6")));
+        buttonBoard.buttonl3.onTrue(Commands.runOnce(() -> System.out.println("3, 1")));
+        buttonBoard.buttonl4.onTrue(Commands.runOnce(() -> System.out.println("3, 2")));
+
+        buttonBoard.buttonRightSource.onTrue(Commands.runOnce(() -> System.out.println("1, 4")));
+        buttonBoard.buttonLeftSource.onTrue(Commands.runOnce(() -> System.out.println("1, 7")));
+
+        buttonBoard.buttonReefZoneA.onTrue(Commands.runOnce(() -> System.out.println("3, 6")));
+        buttonBoard.buttonReefZoneB.onTrue(Commands.runOnce(() -> System.out.println("2, 5")));
+        buttonBoard.buttonReefZoneC.onTrue(Commands.runOnce(() -> System.out.println("2, 6")));
+        buttonBoard.buttonReefZoneD.onTrue(Commands.runOnce(() -> System.out.println("3, 3")));
+        buttonBoard.buttonReefZoneE.onTrue(Commands.runOnce(() -> System.out.println("3, 4")));
+        buttonBoard.buttonReefZoneF.onTrue(Commands.runOnce(() -> System.out.println("2, 8")));
+        buttonBoard.buttonReefZoneG.onTrue(Commands.runOnce(() -> System.out.println("2, 7")));
+        buttonBoard.buttonReefZoneH.onTrue(Commands.runOnce(() -> System.out.println("2, 4")));
+        buttonBoard.buttonReefZoneI.onTrue(Commands.runOnce(() -> System.out.println("2, 3")));
+        buttonBoard.buttonReefZoneJ.onTrue(Commands.runOnce(() -> System.out.println("2, 2")));
+        buttonBoard.buttonReefZoneK.onTrue(Commands.runOnce(() -> System.out.println("2, 1")));
+        buttonBoard.buttonReefZoneL.onTrue(Commands.runOnce(() -> System.out.println("3, 5")));
+
+        buttonBoard.buttonAlgaeKnockoff.onTrue(Commands.runOnce(() -> System.out.println("1, 3")));
+        buttonBoard.buttonUtilityA.onTrue(Commands.runOnce(() -> System.out.println("1, 1")));
+        buttonBoard.buttonUtilityB.onTrue(Commands.runOnce(() -> System.out.println("1, 2")));
+        buttonBoard.buttonPlayer1Start.onTrue(Commands.runOnce(() -> System.out.println("1, 8")));
+
 
     }
 

diff --git a/Team-3749-2025/src/main/java/frc/robot/subsystems/elevator/Elevator.java b/Team-3749-2025/src/main/java/frc/robot/subsystems/elevator/Elevator.java
@@ -123,6 +123,12 @@ public boolean getIsStableState() {
             case L4:
                 return UtilityFunctions.withinMargin(0.01, data.positionMeters,
                         ElevatorConstants.StateHeights.l4Height);
+            case MAX:
+                return UtilityFunctions.withinMargin(0.01, data.positionMeters,
+                    ElevatorConstants.ElevatorSpecs.maxHeightMeters);
+            case STOW:
+                return UtilityFunctions.withinMargin(0.01, data.positionMeters,
+                    ElevatorConstants.ElevatorSpecs.baseHeight);
             default:
                 return false;
         }
@@ -136,7 +142,7 @@ public void setState(ElevatorStates state) {
         this.state = state;
         switch (state) {
             case STOP:
-                runStateStop();
+                stop();
                 break;
             case L1:
                 setGoal(ElevatorConstants.StateHeights.l1Height);
@@ -151,9 +157,11 @@ public void setState(ElevatorStates state) {
                 setGoal(ElevatorConstants.StateHeights.l4Height);
                 break;
             case MAX:
-                setGoal(6);
+                setGoal(ElevatorConstants.ElevatorSpecs.maxHeightMeters);
                 break;
             case STOW:
+                setGoal(ElevatorConstants.ElevatorSpecs.baseHeight);
+                break;
             default:
                 setGoal(0);
                 break;
@@ -167,7 +175,7 @@ public void setGoal(double height) {
     private void runState() {
         switch (state) {
             case STOP:
-                runStateStop();
+                stop();
                 break;
             default:
                 moveToGoal();
@@ -185,9 +193,6 @@ private void moveToGoal() {
         elevatorio.setPosition(firstState.position, ffVoltage);
     }
 
-    private void runStateStop() {
-        stop();
-    }
 
     public void stop() {
         elevatorio.setVoltage(0);
-Original file line number
+Diff line change
@@ Expand Up / @@ -91,6 +91,7 @@ @@
       ],
       "robotJoysticks": [
         {
           "guid": "Keyboard0"
         }
       ]
@@ Expand Down @@