Merge branch 'led'

Team-3749-2025/simgui-ds.json

@@ -91,7 +91,6 @@
   ],
   "robotJoysticks": [
     {
-
       "guid": "Keyboard0"
     }
   ]

Team-3749-2025/src/main/java/frc/robot/BuildConstants.java

@@ -0,0 +1,19 @@
+package frc.robot;
+
+/**
+ * Automatically generated file containing build version information.
+ */
+public final class BuildConstants {
+    public static final String MAVEN_GROUP = "";
+    public static final String MAVEN_NAME = "Team-3749-2025";
+    public static final String VERSION = "unspecified";
+    public static final int GIT_REVISION = 160;
+    public static final String GIT_SHA = "036d8e339f0832bf1e0a3fe05cee0f4b0c16d30f";
+    public static final String GIT_DATE = "2025-01-25 01:05:41 GMT";
+    public static final String GIT_BRANCH = "advantage_kit";
+    public static final String BUILD_DATE = "2025-01-25 01:13:53 GMT";
+    public static final long BUILD_UNIX_TIME = 1737767633951L;
+    public static final int DIRTY = 0;
+
+    private BuildConstants(){}
+}

Team-3749-2025/src/main/java/frc/robot/Robot.java

@@ -10,7 +10,7 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import frc.robot.subsystems.elevator.Elevator;
-
+import frc.robot.subsystems.led.LED;
 import frc.robot.subsystems.arm.climb.ClimbArm;
 import frc.robot.subsystems.arm.coral.CoralArm;
 
@@ -33,13 +33,13 @@ public class Robot extends TimedRobot {
   public static CoralArm coralArm = new CoralArm();
   public static ClimbArm climbArm = new ClimbArm();
 
+  public static LED leds = new LED(1);
 
   private RobotContainer m_robotContainer;
 
   @Override
   public void robotInit() {
     m_robotContainer = new RobotContainer();
-
   }
 
   @Override

Team-3749-2025/src/main/java/frc/robot/buttons/JoystickIO.java

@@ -8,8 +8,26 @@
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import frc.robot.Robot;
 
+<<<<<<< HEAD:Team-3749-2025/src/main/java/frc/robot/buttons/JoystickIO.java
+=======
+import frc.robot.commands.integration.Handoff;
+import frc.robot.commands.integration.IntakeFloor;
+import frc.robot.commands.integration.IntakeSource;
+import frc.robot.commands.integration.KnockAlgae;
+import frc.robot.commands.integration.OuttakeCoral;
+import frc.robot.commands.integration.ScoreL1;
+import frc.robot.commands.integration.ScoreL234;
+import frc.robot.commands.roller.MaintainCommand;
+import frc.robot.commands.roller.RunCommand;
+import frc.robot.commands.roller.StopCommand;
+>>>>>>> led:Team-3749-2025/src/main/java/frc/robot/utils/JoystickIO.java
 
 import frc.robot.commands.swerve.SwerveDefaultCommand;
+<<<<<<< HEAD:Team-3749-2025/src/main/java/frc/robot/buttons/JoystickIO.java
+=======
+import frc.robot.subsystems.arm.coral.CoralArmConstants.ArmStates;
+import frc.robot.subsystems.elevator.ElevatorConstants.ElevatorStates;
+>>>>>>> led:Team-3749-2025/src/main/java/frc/robot/utils/JoystickIO.java
 
 /**
  * Util class for button bindings
@@ -22,7 +40,29 @@ public class JoystickIO {
 
     private static final CommandXboxController pilot = new CommandXboxController(0);
     private static final CommandXboxController operator = new CommandXboxController(1);
+<<<<<<< HEAD:Team-3749-2025/src/main/java/frc/robot/buttons/JoystickIO.java
     private static final ButtonBoard buttonBoard = new ButtonBoard();
+=======
+    private static final Command DriveStraight = new DriveStraight();
+    private static final Command MaintainCommand = new MaintainCommand();
+    private static final Command RunCommand = new RunCommand();
+    private static final Command StopCommand = new StopCommand();
+
+
+    private static final SetElevatorState l1 = new SetElevatorState(ElevatorStates.L1);
+    private static final SetElevatorState l2 = new SetElevatorState(ElevatorStates.L2);
+    private static final SetElevatorState l3 = new SetElevatorState(ElevatorStates.L3);
+    private static final SetElevatorState l4 = new SetElevatorState(ElevatorStates.L4);
+    private static final SetElevatorState stow = new SetElevatorState(ElevatorStates.STOW);
+
+    private static final KnockAlgae knockAlgae = new KnockAlgae(Robot.elevator, Robot.algaeRoller, ElevatorStates.L2);
+    private static final Handoff handoff = new Handoff(Robot.chute, Robot.coralArm, Robot.elevator, Robot.coralRoller);
+    private static final IntakeFloor intakeFloor = new IntakeFloor(Robot.coralArm, Robot.coralRoller);
+    private static final IntakeSource intakeSource = new IntakeSource(Robot.scoringRoller, Robot.elevator, Robot.chute);
+    private static final OuttakeCoral outtakeCoral = new OuttakeCoral(Robot.coralArm, Robot.coralRoller);
+    private static final ScoreL1 scoreL1 = new ScoreL1(Robot.coralArm, Robot.coralRoller, ArmStates.L1);
+    private static final ScoreL234 scoreL234 = new ScoreL234 (Robot.chute, Robot.coralArm, Robot.elevator, Robot.coralRoller, Robot.scoringRoller, ElevatorStates.L4);
+>>>>>>> led:Team-3749-2025/src/main/java/frc/robot/utils/JoystickIO.java
 
     public JoystickIO() {
     }
@@ -63,6 +103,7 @@ public static void pilotAndOperatorBindings() {
         buttonBoard.buttonl3.onTrue(Commands.runOnce(() -> System.out.println("3, 1")));
         buttonBoard.buttonl4.onTrue(Commands.runOnce(() -> System.out.println("3, 2")));
 
+<<<<<<< HEAD:Team-3749-2025/src/main/java/frc/robot/buttons/JoystickIO.java
         buttonBoard.buttonRightSource.onTrue(Commands.runOnce(() -> System.out.println("1, 4")));
         buttonBoard.buttonLeftSource.onTrue(Commands.runOnce(() -> System.out.println("1, 7")));
 
@@ -85,6 +126,13 @@ public static void pilotAndOperatorBindings() {
         buttonBoard.buttonPlayer1Start.onTrue(Commands.runOnce(() -> System.out.println("1, 8")));
 
 
+=======
+        operator.a().onTrue(handoff);
+        operator.b().onTrue(scoreL1);
+        operator.x().onTrue(intakeFloor);
+        operator.y().onTrue(outtakeCoral);
+
+>>>>>>> led:Team-3749-2025/src/main/java/frc/robot/utils/JoystickIO.java
     }
 
     public static void pilotBindings() {

Team-3749-2025/src/main/java/frc/robot/commands/integration/Handoff.java

@@ -0,0 +1,58 @@
+package frc.robot.commands.integration;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.arm.coral.CoralArm;
+import frc.robot.subsystems.chute.Chute;
+import frc.robot.subsystems.elevator.Elevator;
+import frc.robot.subsystems.elevator.ElevatorConstants;
+import frc.robot.subsystems.elevator.ElevatorConstants.ElevatorStates;
+import frc.robot.subsystems.roller.RollerConstants;
+import frc.robot.subsystems.arm.coral.CoralArmConstants;
+import frc.robot.subsystems.roller.Roller;
+
+/*
+ * Handoff command for coral intake to chute
+ * 
+ * @author Dhyan Soni
+ */
+
+public class Handoff extends Command {
+    private final Chute chute;
+    private final CoralArm coralArm;
+    private final Elevator elevator;
+    private final Roller coralRoller;
+
+    public Handoff(Chute chute, CoralArm coralArm, Elevator elevator, Roller coralRoller) {
+        this.chute = chute;
+        this.coralArm = coralArm;
+        this.elevator = elevator;
+        this.coralRoller = coralRoller;
+    }
+
+    @Override
+    public void initialize() {
+        coralArm.setState(CoralArmConstants.ArmStates.HAND_OFF);
+        coralRoller.setState(RollerConstants.RollerStates.MAINTAIN);
+    }
+
+    @Override
+    public void execute() {
+        if (coralArm.getState() == CoralArmConstants.ArmStates.HAND_OFF && coralArm.getIsStableState()){
+            elevator.setState(ElevatorConstants.ElevatorStates.STOW);
+        }
+        if (elevator.getState() == ElevatorStates.STOW){ // might need to edit elevator.getIsStableState()
+            coralRoller.setState(RollerConstants.RollerStates.SCORE); // reverse spinning
+        }
+    }
+
+    @Override
+    public void end(boolean interrupted) {
+        coralArm.setState(CoralArmConstants.ArmStates.STOPPED);
+        coralRoller.setState(RollerConstants.RollerStates.STOP);
+    }
+
+    @Override
+    public boolean isFinished() {
+        return chute.hasPiece();
+    }
+}

Team-3749-2025/src/main/java/frc/robot/commands/integration/IntakeFloor.java

@@ -0,0 +1,41 @@
+package frc.robot.commands.integration;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.arm.coral.CoralArm;
+import frc.robot.subsystems.roller.RollerConstants;
+import frc.robot.subsystems.arm.coral.CoralArmConstants;
+import frc.robot.subsystems.roller.Roller;
+
+public class IntakeFloor extends Command {
+    private final CoralArm coralArm;
+    private final Roller coralRoller;
+
+    public IntakeFloor(CoralArm coralArm, Roller coralRoller) {
+        this.coralArm = coralArm;
+        this.coralRoller = coralRoller;
+    }
+
+    @Override
+    public void initialize() {
+        coralArm.setState(CoralArmConstants.ArmStates.CORAL_PICKUP);
+    }
+
+    @Override
+    public void execute() {
+        coralRoller.setState(RollerConstants.RollerStates.RUN);
+    }
+
+    @Override
+    public void end(boolean interrupted) {
+        coralArm.setState(CoralArmConstants.ArmStates.STOPPED);
+        coralRoller.setState(RollerConstants.RollerStates.MAINTAIN);
+    }
+
+    @Override
+    public boolean isFinished() {
+        if (coralArm.hasPiece()){
+            return true;
+        }
+        return false;
+    }
+}

Team-3749-2025/src/main/java/frc/robot/commands/integration/IntakeSource.java

@@ -0,0 +1,46 @@
+package frc.robot.commands.integration;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.chute.Chute;
+import frc.robot.subsystems.elevator.Elevator;
+import frc.robot.subsystems.elevator.ElevatorConstants.ElevatorStates;
+import frc.robot.subsystems.roller.Roller;
+import frc.robot.subsystems.roller.RollerConstants;
+
+public class IntakeSource extends Command {
+    private final Roller scoringRoller;
+    private final Elevator elevator;
+    private final Chute chute;
+
+    public IntakeSource(Roller scoringRoller, Elevator elevator, Chute chute) {
+        this.scoringRoller = scoringRoller;
+        this.elevator = elevator;
+        this.chute = chute;
+    }
+
+    @Override
+    public void initialize() {
+        elevator.setState(ElevatorStates.SOURCE);
+        scoringRoller.setState(RollerConstants.RollerStates.MAINTAIN);
+    }
+
+    @Override
+    public void execute() {
+        if (elevator.getState() == ElevatorStates.SOURCE && elevator.getIsStableState()) {
+            scoringRoller.setState(RollerConstants.RollerStates.RUN);
+        }
+    }
+
+    @Override
+    public void end(boolean interrupted) {
+        scoringRoller.setState(RollerConstants.RollerStates.STOP);
+    }
+
+    @Override
+    public boolean isFinished() {
+        if (scoringRoller.hasPiece()) {
+            return true;
+        }
+        return false;
+    }
+}

Team-3749-2025/src/main/java/frc/robot/commands/integration/KnockAlgae.java

@@ -0,0 +1,45 @@
+package frc.robot.commands.integration;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.elevator.Elevator;
+import frc.robot.subsystems.elevator.ElevatorConstants.ElevatorStates;
+import frc.robot.subsystems.roller.Roller;
+import frc.robot.subsystems.roller.RollerConstants;
+
+public class KnockAlgae extends Command {
+    private final Elevator elevator;
+    private final Roller algaeRoller;
+    private final ElevatorStates state;
+
+    public KnockAlgae(Elevator elevator, Roller algaeRoller, ElevatorStates state) {
+        this.elevator = elevator;
+        this.algaeRoller = algaeRoller;
+        this.state = state;
+    }
+
+    @Override
+    public void initialize() {
+        algaeRoller.setState(RollerConstants.RollerStates.MAINTAIN);
+    }
+
+    @Override
+    public void execute() {
+        algaeRoller.setState(RollerConstants.RollerStates.RUN);
+        elevator.setState(state);
+        System.out.println(elevator.getState());
+    }
+
+    @Override
+    public void end(boolean interrupted) {
+        elevator.setState(ElevatorStates.STOW);
+        algaeRoller.setState(RollerConstants.RollerStates.STOP);
+    }
+
+    @Override
+    public boolean isFinished() {
+        if (elevator.getState() == state && elevator.getIsStableState()) {
+            return true;
+        }
+        return false; // change later to isAlgaeRemoved()
+    }
+}

Team-3749-2025/src/main/java/frc/robot/commands/integration/OuttakeCoral.java

@@ -0,0 +1,35 @@
+package frc.robot.commands.integration;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.arm.coral.CoralArm;
+import frc.robot.subsystems.roller.RollerConstants;
+import frc.robot.subsystems.roller.Roller;
+
+public class OuttakeCoral extends Command {
+    private final CoralArm coralArm;
+    private final Roller coralRoller;
+
+    public OuttakeCoral(CoralArm coralArm, Roller coralRoller) {
+        this.coralArm = coralArm;
+        this.coralRoller = coralRoller;
+    }
+
+    @Override
+    public void initialize() {
+        coralRoller.setState(RollerConstants.RollerStates.SCORE);
+    }
+
+    @Override
+    public void execute() {
+    }
+
+    @Override
+    public void end(boolean interrupted) {
+        coralRoller.setState(RollerConstants.RollerStates.STOP);
+    }
+
+    @Override
+    public boolean isFinished() {
+        return !coralArm.hasPiece();
+    }
+}