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James4356James4356
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Manager (#8)
merged manager with main
1 parent c556cc9 commit cdd0808

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12 files changed

+321
-4
lines changed

12 files changed

+321
-4
lines changed

‎.github/scripts/constants.py‎

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@@ -3,7 +3,7 @@
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import sys
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# List of files to excuse (constants and things we didnt make and stuff we wont use)
6-
excused_files = ["GlobalConstants.java", "IndexerConstants.java"]
6+
excused_files = ["GlobalConstants.java", "IndexerConstants.java", "ManagerConstants.java", "AdjustableHoodConstants.java", "HoodedShooterSupersystemConstants.java", "ShooterConstants.java", "IntakeConstants.java"]
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# Not really dirs becasue the full ones didnt work
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excused_dirs = [

‎simgui-ds.json‎

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{
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"keyboardJoysticks": [
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{
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"axisConfig": [
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{
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"decKey": 65,
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"incKey": 68
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},
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{
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"decKey": 87,
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"incKey": 83
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},
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{
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"decKey": 69,
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"decayRate": 0.0,
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"incKey": 82,
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"keyRate": 0.009999999776482582
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}
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],
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"axisCount": 3,
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"buttonCount": 4,
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"buttonKeys": [
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90,
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88,
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67,
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86
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],
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"povConfig": [
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{
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"key0": 328,
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"key135": 323,
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"key180": 322,
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"key225": 321,
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"key270": 324,
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"key315": 327,
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"key45": 329,
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"key90": 326
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}
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],
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"povCount": 1
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},
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{
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"axisConfig": [
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{
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"decKey": 74,
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"incKey": 76
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},
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{
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"decKey": 73,
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"incKey": 75
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}
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],
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"axisCount": 2,
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"buttonCount": 4,
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"buttonKeys": [
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44,
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47
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],
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"povCount": 0
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},
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{
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"axisConfig": [
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{
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"decKey": 263,
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"incKey": 262
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},
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{
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"decKey": 265,
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"incKey": 264
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}
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],
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"axisCount": 2,
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"buttonCount": 6,
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"buttonKeys": [
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260,
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268,
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261,
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269,
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267
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],
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"povCount": 0
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},
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{
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"axisCount": 0,
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"buttonCount": 0,
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"povCount": 0
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}
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]
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}

src/main/deploy/swerve/modules/phyicalproperties.json renamed to src/main/deploy/swerve/modules/physicalproperties.json

File renamed without changes.

‎src/main/java/frc/robot/GlobalConstants.java‎

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Original file line numberDiff line numberDiff line change
@@ -18,5 +18,6 @@ public enum RobotMode {
1818
public static class Controllers {
1919

2020
public static final XboxController DRIVER_CONTROLLER = new XboxController(0);
21+
public static final XboxController OPERATOR_CONTROLLER = new XboxController(1);
2122
}
2223
}

‎src/main/java/frc/robot/Manager/Manager.java‎

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package frc.robot.Manager;
2+
3+
import static frc.robot.GlobalConstants.Controllers.*;
4+
import static frc.robot.Manager.ManagerConstants.*;
5+
import static frc.robot.Manager.ManagerStates.*;
6+
7+
import frc.robot.Subsystems.Drive.Drive;
8+
import frc.robot.Subsystems.HoodedShooterSupersystem.HoodedShooterSupersystem;
9+
import frc.robot.Subsystems.Indexer.Indexer;
10+
import frc.robot.Subsystems.Intake.Intake;
11+
import frc.robot.Subsystems.Vision.Vision;
12+
import org.littletonrobotics.junction.Logger;
13+
import org.team7525.subsystem.Subsystem;
14+
15+
public class Manager extends Subsystem<ManagerStates> {
16+
17+
private static Manager instance;
18+
private Intake intake;
19+
public Drive drive;
20+
private Indexer indexer;
21+
private HoodedShooterSupersystem hoodedShooterSupersystem;
22+
private Vision vision;
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24+
public static Manager getInstance() {
25+
if (instance == null) {
26+
instance = new Manager();
27+
}
28+
return instance;
29+
}
30+
31+
public Manager() {
32+
super(SUBSYSTEM_NAME, ManagerStates.IDLE);
33+
intake = Intake.getInstance();
34+
hoodedShooterSupersystem = HoodedShooterSupersystem.getInstance();
35+
drive = Drive.getInstance();
36+
indexer = Indexer.getInstance();
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vision = Vision.getInstance();
38+
39+
//add triggers
40+
addTrigger(IDLE, OUTTAKING, DRIVER_CONTROLLER::getXButtonPressed);
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addTrigger(INTAKE_PASSING, OUTTAKING, DRIVER_CONTROLLER::getXButtonPressed);
42+
addTrigger(INTAKING, OUTTAKING, DRIVER_CONTROLLER::getXButtonPressed);
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44+
addTrigger(IDLE, INTAKING, DRIVER_CONTROLLER::getAButtonPressed);
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addTrigger(INTAKING, INTAKE_PASSING, DRIVER_CONTROLLER::getAButtonPressed);
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addTrigger(INTAKE_PASSING, FIXED_ALIGN, DRIVER_CONTROLLER::getAButtonPressed);
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addTrigger(FIXED_ALIGN, FIXED_SHOOT, DRIVER_CONTROLLER::getAButtonPressed);
48+
addTrigger(FIXED_ALIGN, FIXED_SHOOT, () -> hoodedShooterSupersystem.readyToShoot());
49+
50+
addTrigger(INTAKE_PASSING, DYNAMIC_ALIGN, DRIVER_CONTROLLER::getYButtonPressed);
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addTrigger(DYNAMIC_ALIGN, DYNAMIC_SHOOT, DRIVER_CONTROLLER::getYButtonPressed);
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addTrigger(DYNAMIC_ALIGN, DYNAMIC_SHOOT, () -> hoodedShooterSupersystem.readyToShoot());
53+
}
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@Override
56+
public void runState() {
57+
if (DRIVER_CONTROLLER.getBButtonPressed()) {
58+
setState(IDLE);
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}
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logData();
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63+
intake.setState(getState().getIntakeStates());
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hoodedShooterSupersystem.setState(getState().getHoodedShooterSupersystemStates());
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indexer.setState(getState().getIndexerStates());
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hoodedShooterSupersystem.periodic();
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indexer.periodic();
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intake.periodic();
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drive.periodic();
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vision.periodic();
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}
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public boolean hasGamepiece() {
75+
return intake.hasGamepiece();
76+
}
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public void logData() {
79+
Logger.recordOutput(SUBSYSTEM_NAME + "/State Time", getStateTime());
80+
Logger.recordOutput(SUBSYSTEM_NAME + "/State String", getState().getStateString());
81+
}
82+
}

‎src/main/java/frc/robot/Manager/ManagerConstants.java‎

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package frc.robot.Manager;
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public final class ManagerConstants {
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public static final String SUBSYSTEM_NAME = "Manager";
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}

‎src/main/java/frc/robot/Manager/ManagerStates.java‎

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package frc.robot.Manager;
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import frc.robot.Subsystems.HoodedShooterSupersystem.HoodedShooterSupersystemStates;
4+
import frc.robot.Subsystems.Indexer.IndexerState;
5+
import frc.robot.Subsystems.Intake.IntakeStates;
6+
import org.team7525.subsystem.SubsystemStates;
7+
8+
public enum ManagerStates implements SubsystemStates {
9+
IDLE("Idle", IntakeStates.IDLE, IndexerState.IDLE, HoodedShooterSupersystemStates.IDLE),
10+
OUTTAKING(
11+
"Outtaking",
12+
IntakeStates.OUTTAKING,
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IndexerState.IDLE,
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HoodedShooterSupersystemStates.IDLE
15+
),
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INTAKING(
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"Intaking",
18+
IntakeStates.INTAKING,
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IndexerState.IDLE,
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HoodedShooterSupersystemStates.IDLE
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),
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INTAKE_PASSING(
23+
"Passing",
24+
IntakeStates.PASSING,
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IndexerState.INTAKING,
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HoodedShooterSupersystemStates.IDLE
27+
),
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FIXED_ALIGN(
29+
"Fixed Align",
30+
IntakeStates.IDLE,
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IndexerState.IDLE,
32+
HoodedShooterSupersystemStates.FIXED
33+
),
34+
DYNAMIC_ALIGN(
35+
"Dynamic Align",
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IntakeStates.IDLE,
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IndexerState.IDLE,
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HoodedShooterSupersystemStates.DYNAMIC
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),
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DYNAMIC_SHOOT(
41+
"Dynamic Shoot",
42+
IntakeStates.IDLE,
43+
IndexerState.SHOOTING,
44+
HoodedShooterSupersystemStates.DYNAMIC
45+
),
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FIXED_SHOOT(
47+
"Fixed Shoot",
48+
IntakeStates.IDLE,
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IndexerState.SHOOTING,
50+
HoodedShooterSupersystemStates.FIXED
51+
);
52+
53+
private String stateString;
54+
private IntakeStates intake;
55+
private IndexerState indexer;
56+
private HoodedShooterSupersystemStates hoodedShooterSupersystem;
57+
58+
ManagerStates(
59+
String stateString,
60+
IntakeStates intake,
61+
IndexerState indexer,
62+
HoodedShooterSupersystemStates hoodedShooterSupersystem
63+
) {
64+
this.stateString = stateString;
65+
this.intake = intake;
66+
this.indexer = indexer;
67+
this.hoodedShooterSupersystem = hoodedShooterSupersystem;
68+
}
69+
70+
@Override
71+
public String getStateString() {
72+
return stateString;
73+
}
74+
75+
public IntakeStates getIntakeStates() {
76+
return intake;
77+
}
78+
79+
public IndexerState getIndexerStates() {
80+
return indexer;
81+
}
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public HoodedShooterSupersystemStates getHoodedShooterSupersystemStates() {
84+
return hoodedShooterSupersystem;
85+
}
86+
}

‎src/main/java/frc/robot/Robot.java‎

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package frc.robot;
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import edu.wpi.first.wpilibj.DriverStation;
8+
import edu.wpi.first.wpilibj2.command.CommandScheduler;
9+
import frc.robot.Manager.Manager;
10+
import frc.robot.Utilitys.Utilitys;
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import org.littletonrobotics.junction.LoggedRobot;
912
import org.littletonrobotics.junction.Logger;
1013
import org.littletonrobotics.junction.networktables.NT4Publisher;
@@ -17,21 +20,29 @@
1720
*/
1821
public class Robot extends LoggedRobot {
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23+
public Manager manager;
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2025
/**
2126
* This function is run when the robot is first started up and should be used for any
2227
* initialization code.
2328
*/
2429
public Robot() {}
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2631
public void robotInit() {
32+
manager = Manager.getInstance();
33+
2734
Logger.addDataReceiver(new NT4Publisher());
2835
Logger.start();
2936
CommandsUtil.logCommands();
3037
DriverStation.silenceJoystickConnectionWarning(true);
3138
}
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3340
@Override
34-
public void robotPeriodic() {}
41+
public void robotPeriodic() {
42+
CommandScheduler.getInstance().run();
43+
manager.periodic();
44+
Utilitys.controllers.clearCache();
45+
}
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3647
@Override
3748
public void autonomousInit() {}

‎src/main/java/frc/robot/Subsystems/HoodedShooterSupersystem/HoodedShooterSupersystemStates.java‎

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public enum HoodedShooterSupersystemStates implements SubsystemStates {
88
IDLE("IDLE", AdjustableHoodStates.IDLE, ShooterStates.IDLE),
9-
FIXED("FIXED", AdjustableHoodStates.FIXED, ShooterStates.IDLE),
9+
FIXED("FIXED", AdjustableHoodStates.FIXED, ShooterStates.FIXED),
1010
DYNAMIC("DYNAMIC", AdjustableHoodStates.DYNAMIC, ShooterStates.DYNAMIC);
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private final String stateString;

‎src/main/java/frc/robot/Subsystems/Indexer/IndexerConstants.java‎

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1,
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1
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);
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public static final double STDDEV = 1.0;
3537
}
3638
}

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