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Changing controller types #146

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merged 2 commits into from
Dec 17, 2024
Merged

Changing controller types #146

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013cc14
added ugly swapability
XiaoHan2491 Dec 5, 2024
e52bc45
fire commit, everything works, fixed bindings to match ps4 controller…
2491NoMythic Dec 13, 2024
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165 changes: 122 additions & 43 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -73,6 +73,7 @@
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.button.Trigger;
import edu.wpi.first.wpilibj.Preferences;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import edu.wpi.first.wpilibj.PowerDistribution.ModuleType;
import edu.wpi.first.math.MathUtil;
Expand All @@ -95,8 +96,7 @@
*/
public class RobotContainer {
// The robot's subsystems and commands are defined here...

// preferences are information saved on the Rio. They are initialized once, then gotten every time we run the code.
// preferences are information saved on the Rio. They are initialized once, then gotten every time we run the code.
private final boolean intakeExists = Preferences.getBoolean("Intake", true);
private final boolean shooterExists = Preferences.getBoolean("Shooter", true);
private final boolean angleShooterExists = Preferences.getBoolean("AngleShooter", true);
Expand All @@ -106,6 +106,7 @@ public class RobotContainer {
private final boolean sideWheelsExists = Preferences.getBoolean("IntakeSideWheels", true);
//private final boolean autosExist = Preferences.getBoolean("Autos", true);
private final boolean useDetectorLimelight = Preferences.getBoolean("Detector Limelight", true);
private final boolean useXboxController = Preferences.getBoolean("Xbox Controller", true);

private DrivetrainSubsystem driveTrain;
private IntakeSubsystem intake;
Expand All @@ -114,8 +115,10 @@ public class RobotContainer {
private Drive defaultDriveCommand;
private Climber climber;
private Lights lights;
private PS4Controller driverController;
private PS4Controller operatorController;
private XboxController driverControllerXbox;
private XboxController operatorControllerXbox;
private PS4Controller driverControllerPS4;
private PS4Controller operatorControllerPS4;
//private PS4Controller operatorController;
private Limelight limelight;
private IndexCommand defaulNoteHandlingCommand;
Expand Down Expand Up @@ -170,6 +173,7 @@ public RobotContainer() {
Preferences.initBoolean("Detector Limelight", false);
Preferences.initBoolean("Use Limelight", true);
Preferences.initBoolean("Use 2 Limelights", true);
Preferences.initBoolean("Xbox Controller", true);
Preferences.initDouble("wait # of seconds", 0);

DataLogManager.start(); //Start logging
Expand All @@ -179,35 +183,68 @@ public RobotContainer() {
// URCL.start();
// SignalLogger.setPath("/media/sda1/ctre-logs/");
// SignalLogger.start();
driverController = new PS4Controller(DRIVE_CONTROLLER_ID);
operatorController = new PS4Controller(OPERATOR_CONTROLLER_ID);
//operatorController = new PS4Controller(OPERATOs_CONTROLLER_ID);
PDP = new PowerDistribution(1, ModuleType.kRev);

ZeroGyroSup = driverController::getPSButton;
ForceVisionSup = driverController::getOptionsButton;

AimWhileMovingSup = driverController::getL2Button;
HumanPlaySup = driverController::getR1Button;
AmpAngleSup = ()->driverController.getPOV() == 90||driverController.getPOV() == 45||driverController.getPOV() == 135;;
ManualShootSup = driverController::getR2Button;
ClimberDownSup = operatorController::getPSButton;
GroundIntakeSup = driverController::getL1Button;
OperatorRevToZero = ()->operatorController.getPOV() != -1;
SubwooferAngleSup =()-> driverController.getCrossButton()||operatorController.getCrossButton();
StageAngleSup = ()->operatorController.getTriangleButton()||driverController.getTriangleButton();;
FarStageAngleSup = ()->operatorController.getSquareButton()||driverController.getSquareButton();
OppositeStageShotSup = ()->operatorController.getCircleButton()||driverController.getCircleButton();
OverStagePassSup = operatorController::getL1Button;
CenterAmpPassSup = operatorController::getL2Button;
AutoPickupSup = ()->operatorController.getTouchpad()||driverController.getTouchpad();
zeroSup = ()->0;
falseSup = ()->false;
//discontinued buttons:
intakeReverse = ()->false;
ShooterUpManualSup = ()->false;
ForceVisionSup = ()->false;
ShootIfReadySup = ()->false;

if(useXboxController){
driverControllerXbox = new XboxController(DRIVE_CONTROLLER_ID);
operatorControllerXbox = new XboxController(OPERATOR_CONTROLLER_ID);
//operatorController = new PS4Controller(OPERATOs_CONTROLLER_ID);
PDP = new PowerDistribution(1, ModuleType.kRev);

ZeroGyroSup = driverControllerXbox::getStartButton;
ForceVisionSup = driverControllerXbox::getRightStickButton;

AimWhileMovingSup = ()-> driverControllerXbox.getLeftTriggerAxis() >= 0.5;
HumanPlaySup = driverControllerXbox::getRightBumper;
AmpAngleSup = ()-> driverControllerXbox.getPOV() == 90 || driverControllerXbox.getPOV() ==45 || driverControllerXbox.getPOV() == 135 ;
ManualShootSup = ()-> driverControllerXbox.getRightTriggerAxis() >= 0.5;
ClimberDownSup = operatorControllerXbox::getStartButton;
GroundIntakeSup = driverControllerXbox::getLeftBumper;
OperatorRevToZero = ()->operatorControllerXbox.getPOV() != -1;
SubwooferAngleSup =()-> driverControllerXbox.getAButton()||operatorControllerXbox.getAButton();
StageAngleSup = ()->driverControllerXbox.getYButton()||operatorControllerXbox.getYButton();
FarStageAngleSup = ()->driverControllerXbox.getXButton()||operatorControllerXbox.getXButton();
OppositeStageShotSup = ()->driverControllerXbox.getBButton()||operatorControllerXbox.getBButton();
OverStagePassSup = ()-> operatorControllerXbox.getLeftBumper();
CenterAmpPassSup =()-> operatorControllerXbox.getLeftTriggerAxis() >= 0.5;
AutoPickupSup = ()->driverControllerXbox.getLeftStickButton()||operatorControllerXbox.getLeftStickButton();
zeroSup = ()->0;
falseSup = ()->false;
//discontinued buttons:
intakeReverse = ()->false;
ShooterUpManualSup = ()->false;
ForceVisionSup = ()->false;
ShootIfReadySup = ()->false;
} else{
driverControllerPS4 = new PS4Controller(DRIVE_CONTROLLER_ID);
operatorControllerPS4 = new PS4Controller(OPERATOR_CONTROLLER_ID);
//operatorController = new PS4Controller(OPERATOs_CONTROLLER_ID);
PDP = new PowerDistribution(1, ModuleType.kRev);

ZeroGyroSup = driverControllerPS4::getPSButton;
ForceVisionSup = driverControllerPS4::getOptionsButton;

AimWhileMovingSup = driverControllerPS4::getL2Button;
HumanPlaySup = driverControllerPS4::getR1Button;
AmpAngleSup = ()->driverControllerPS4.getPOV() == 90||driverControllerPS4.getPOV() == 45||driverControllerPS4.getPOV() == 135;;
ManualShootSup = driverControllerPS4::getR2Button;
ClimberDownSup = operatorControllerPS4::getPSButton;
GroundIntakeSup = driverControllerPS4::getL1Button;
OperatorRevToZero = ()->operatorControllerPS4.getPOV() != -1;
SubwooferAngleSup =()-> driverControllerPS4.getCrossButton()||operatorControllerPS4.getCrossButton();
StageAngleSup = ()->operatorControllerPS4.getTriangleButton()||driverControllerPS4.getTriangleButton();;
FarStageAngleSup = ()->operatorControllerPS4.getSquareButton()||driverControllerPS4.getSquareButton();
OppositeStageShotSup = ()->operatorControllerPS4.getCircleButton()||driverControllerPS4.getCircleButton();
OverStagePassSup = operatorControllerPS4::getL1Button;
CenterAmpPassSup = operatorControllerPS4::getL2Button;
AutoPickupSup = ()->operatorControllerPS4.getTouchpad()||driverControllerPS4.getTouchpad();
zeroSup = ()->0;
falseSup = ()->false;
//discontinued buttons:
intakeReverse = ()->false;
ShooterUpManualSup = ()->false;
ForceVisionSup = ()->false;
ShootIfReadySup = ()->false;
}

// = new PathPlannerPath(null, DEFAUL_PATH_CONSTRAINTS, null, climberExists);
limelightInit();
Expand Down Expand Up @@ -244,13 +281,24 @@ private void climbSpotChooserInit() {
}
private void driveTrainInst() {
driveTrain = new DrivetrainSubsystem();
if(useXboxController){
defaultDriveCommand = new Drive(
driveTrain,
() -> false,
() -> modifyAxis(-driverControllerXbox.getRawAxis(Y_AXIS), DEADBAND_NORMAL),
() -> modifyAxis(-driverControllerXbox.getRawAxis(X_AXIS), DEADBAND_NORMAL),
() -> modifyAxis(-driverControllerXbox.getRawAxis(Z_AXIS), DEADBAND_NORMAL));
driveTrain.setDefaultCommand(defaultDriveCommand);
}
else{
defaultDriveCommand = new Drive(
driveTrain,
() -> false,
() -> modifyAxis(-driverController.getRawAxis(Y_AXIS), DEADBAND_NORMAL),
() -> modifyAxis(-driverController.getRawAxis(X_AXIS), DEADBAND_NORMAL),
() -> modifyAxis(-driverController.getRawAxis(Z_AXIS), DEADBAND_NORMAL));
() -> modifyAxis(-driverControllerPS4.getRawAxis(Y_AXIS), DEADBAND_NORMAL),
() -> modifyAxis(-driverControllerPS4.getRawAxis(X_AXIS), DEADBAND_NORMAL),
() -> modifyAxis(-driverControllerPS4.getRawAxis(Z_AXIS), DEADBAND_NORMAL));
driveTrain.setDefaultCommand(defaultDriveCommand);
}
}
private void shooterInst() {
shooter = new ShooterSubsystem(ShooterConstants.SHOOTER_MOTOR_POWER);
Expand All @@ -265,12 +313,21 @@ private void intakeInst() {
}
private void climberInst() {
climber = new Climber();
if(useXboxController){
climber.setDefaultCommand(new ClimberCommand(
climber,
()-> modifyAxis(operatorControllerXbox.getLeftY(), DEADBAND_NORMAL),
()-> modifyAxis(operatorControllerXbox.getRightY(), DEADBAND_NORMAL),
ClimberDownSup));
}
else{
climber.setDefaultCommand(new ClimberCommand(
climber,
()-> modifyAxis(operatorController.getLeftY(), DEADBAND_NORMAL),
()-> modifyAxis(operatorController.getRightY(), DEADBAND_NORMAL),
()-> modifyAxis(operatorControllerPS4.getLeftY(), DEADBAND_NORMAL),
()-> modifyAxis(operatorControllerPS4.getRightY(), DEADBAND_NORMAL),
ClimberDownSup));
}
}
private void indexInit() {
indexer = new IndexerSubsystem(intakeExists ? RobotState.getInstance()::isNoteSeen : () -> false);
}
Expand Down Expand Up @@ -314,19 +371,36 @@ public boolean runsWhenDisabled() {
// new Trigger(driverController::getCrossButton).onTrue(new autoAimParallel(driveTrain/*, shooter*/));
new Trigger(ZeroGyroSup).onTrue(new InstantCommand(driveTrain::zeroGyroscope));
// new Trigger(driverController::getCircleButton).whileTrue(new GoToAmp(driveTrain)); unused becuase we dont pickup from amp with a path anymore
if(useXboxController){
new Trigger(AimWhileMovingSup).whileTrue(new AimRobotMoving(
driveTrain,
() -> modifyAxis(-driverControllerXbox.getRawAxis(Z_AXIS), DEADBAND_NORMAL),
() -> modifyAxis(-driverControllerXbox.getRawAxis(Y_AXIS), DEADBAND_NORMAL),
() -> modifyAxis(-driverControllerXbox.getRawAxis(X_AXIS), DEADBAND_NORMAL),
()->driverControllerXbox.getLeftTriggerAxis() >= 0.5,
StageAngleSup,
FarStageAngleSup,
SubwooferAngleSup,
OverStagePassSup,
OppositeStageShotSup,
falseSup
));
}
else{
new Trigger(AimWhileMovingSup).whileTrue(new AimRobotMoving(
driveTrain,
() -> modifyAxis(-driverController.getRawAxis(Z_AXIS), DEADBAND_NORMAL),
() -> modifyAxis(-driverController.getRawAxis(Y_AXIS), DEADBAND_NORMAL),
() -> modifyAxis(-driverController.getRawAxis(X_AXIS), DEADBAND_NORMAL),
driverController::getL2Button,
() -> modifyAxis(-driverControllerPS4.getRawAxis(Z_AXIS), DEADBAND_NORMAL),
() -> modifyAxis(-driverControllerPS4.getRawAxis(Y_AXIS), DEADBAND_NORMAL),
() -> modifyAxis(-driverControllerPS4.getRawAxis(X_AXIS), DEADBAND_NORMAL),
driverControllerPS4::getL2Button,
StageAngleSup,
FarStageAngleSup,
SubwooferAngleSup,
OverStagePassSup,
OppositeStageShotSup,
falseSup
));
}
// new Trigger(()->driverController.getL3Button()&&driverController.getR3Button()).onTrue(
// new SequentialCommandGroup(
// new InstantCommand(()->angleShooterSubsystem.setDesiredShooterAngle(22.5), angleShooterSubsystem),
Expand Down Expand Up @@ -376,7 +450,12 @@ public boolean runsWhenDisabled() {
SmartDashboard.putData("Manual Angle Shooter Up", new AngleShooter(angleShooterSubsystem, ()->ShooterConstants.PRAC_MAXIMUM_SHOOTER_ANGLE));
}
if(indexerExists) {
new Trigger(ManualShootSup).whileTrue(new ManualShoot(indexer, driverController::getPOV, intake));
if(useXboxController){
new Trigger(ManualShootSup).whileTrue(new ManualShoot(indexer, driverControllerXbox::getPOV, intake));
}
else{
new Trigger(ManualShootSup).whileTrue(new ManualShoot(indexer, driverControllerPS4::getPOV, intake));
}
}
if(climberExists) {
}
Expand Down
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