Skip to content

Commit 656e7c4

Browse files
Tortuga-AMTortuga-AM
committed
Some stuff
1 parent d9dd423 commit 656e7c4

File tree

11 files changed

+32
-112
lines changed

11 files changed

+32
-112
lines changed

‎src/main/java/frc/robot/AutoManager/AutoCommands.java‎

Lines changed: 4 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -129,7 +129,8 @@ public void initialize() {
129129

130130
@Override
131131
public boolean isFinished() {
132-
return manager.robotHasAlgae();
132+
return false;
133+
// BUG: INSANE SELL
133134
}
134135

135136
}
@@ -167,7 +168,8 @@ public void initialize() {
167168

168169
@Override
169170
public boolean isFinished() {
170-
return !manager.robotHasAlgae() ;
171+
return false;
172+
// BUG: AGAIN?!?
171173
}
172174

173175
}

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

Lines changed: 11 additions & 27 deletions
Original file line numberDiff line numberDiff line change
@@ -6,7 +6,6 @@
66

77
import org.littletonrobotics.junction.Logger;
88
import org.team7525.subsystem.Subsystem;
9-
109
import frc.robot.GlobalConstants.Controllers;
1110
import frc.robot.Subsystems.AlgaeCoraler.AlgaeCoraler;
1211
import frc.robot.Subsystems.Climber.Climber;
@@ -35,28 +34,17 @@ public Manager() {
3534

3635
// Scoring/intaking Coral
3736
addTrigger(IDLE, CORAL_OUT, () -> robotHasCoral() && DRIVER_CONTROLLER.getYButtonPressed());
38-
addTrigger(CORAL_OUT, IDLE, DRIVER_CONTROLLER::getYButtonPressed);
39-
40-
// Auto stop scoring corral:
41-
42-
// addTrigger(CORAL_OUT, CORAL_BLOCK, DRIVER_CONTROLLER::getYButtonPressed);
43-
// addTrigger(CORAL_BLOCK, IDLE, DRIVER_CONTROLLER::getYButtonPressed);
44-
45-
// // Scoring/intaking Algae
46-
// addTrigger(IDLE, ALGAE_IN, DRIVER_CONTROLLER::getBButtonPressed);
47-
// addTrigger(ALGAE_IN, HOLDING, DRIVER_CONTROLLER::getBButtonPressed);
48-
// addTrigger(HOLDING, ALGAE_OUT, DRIVER_CONTROLLER::getBButtonPressed);
49-
// addTrigger(ALGAE_IN, IDLE, DRIVER_CONTROLLER::getXButtonPressed);
50-
51-
//Auto hold algae
52-
53-
54-
//Zero Motors auto and manually
55-
// addRunnableTrigger(algaeCoraler::zero, () -> getState() == ManagerStates.IDLE && !algaeCoraler.motorZeroed());
56-
// addRunnableTrigger(algaeCoraler::resetMotorsZeroed, DRIVER_CONTROLLER::getAButtonPressed);
57-
58-
//addTrigger(ALGAE_IN, ALGAE_OUT, () -> !algaeCoraler.zeroed());
59-
//addTrigger(ALGAE_OUT, IDLE, () -> !algaeCoraler.zeroed());
37+
addTrigger(CORAL_OUT, CORAL_BLOCK, () -> !robotHasCoral());
38+
39+
// Scoring/intaking Algae
40+
addTrigger(IDLE, ALGAE_IN, DRIVER_CONTROLLER::getBButtonPressed);
41+
addTrigger(ALGAE_IN, HOLDING, DRIVER_CONTROLLER::getBButtonPressed);
42+
addTrigger(HOLDING, ALGAE_OUT, DRIVER_CONTROLLER::getBButtonPressed);
43+
addTrigger(IDLE, CLIMBING, OPERATOR_CONTROLLER::getAButton);
44+
addTrigger(CLIMBING, IDLE, OPERATOR_CONTROLLER::getAButtonReleased);
45+
addTrigger(IDLE, UNCLIMBING, OPERATOR_CONTROLLER::getAButton);
46+
addTrigger(UNCLIMBING, IDLE, OPERATOR_CONTROLLER::getAButtonReleased);
47+
6048
// Back to IDLE button is handled by if statement in run vstate.
6149
}
6250

@@ -83,8 +71,4 @@ public void runState() {
8371
public boolean robotHasCoral() {
8472
return algaeCoraler.hasCoral();
8573
}
86-
87-
public boolean robotHasAlgae() {
88-
return algaeCoraler.hasAlgae();
89-
}
9074
}

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

Lines changed: 5 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -45,6 +45,11 @@ public enum ManagerStates implements SubsystemStates {
4545
CLIMBING(
4646
"CLIMBING",
4747
AlgaeCoralerStates.IDLE,
48+
ClimberStates.IN
49+
),
50+
UNCLIMBING(
51+
"UNCLIMBING",
52+
AlgaeCoralerStates.IDLE,
4853
ClimberStates.OUT
4954
);
5055

‎src/main/java/frc/robot/Robot.java‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -48,7 +48,7 @@ public void robotInit() {
4848
}
4949

5050
manager = Manager.getInstance();
51-
//autoManager = new AutoManager();
51+
autoManager = new AutoManager();
5252
vision = Vision.getInstance();
5353

5454
Logger.start();

‎src/main/java/frc/robot/Subsystems/AlgaeCoraler/AlgaeCoraler.java‎

Lines changed: 1 addition & 21 deletions
Original file line numberDiff line numberDiff line change
@@ -18,6 +18,7 @@ public class AlgaeCoraler extends Subsystem<AlgaeCoralerStates> {
1818
public AlgaeCoraler() {
1919
super(SUBSYSTEM_NAME, AlgaeCoralerStates.IDLE);
2020
there = true;
21+
past = AlgaeCoralerStates.IDLE;
2122
//IO stuff
2223
this.io = switch (ROBOT_MODE) {
2324
case REAL -> new AlgaeCoralerIOReal();
@@ -31,11 +32,6 @@ public AlgaeCoraler() {
3132

3233
@Override
3334
public void runState() {
34-
if (getState() == AlgaeCoralerStates.ZEROING) {
35-
io.zero();
36-
return;
37-
}
38-
3935
io.setPivotSetpoint(getState().getPivotSetpoint());
4036
io.setWheelSpeed(getState().getWheelSpeed());
4137
if (past != getState()) {
@@ -57,24 +53,8 @@ public boolean nearTarget() {
5753
return io.nearTarget();
5854
}
5955

60-
public boolean hasAlgae() {
61-
return io.hasAlgae();
62-
}
63-
6456
public boolean hasCoral() {
6557
return io.hasCoral();
6658
}
6759

68-
public void zero() {
69-
io.zero();
70-
}
71-
72-
public boolean motorZeroed() {
73-
return io.motorZeroed();
74-
}
75-
76-
public void resetMotorsZeroed() {
77-
io.resetMotorsZeroed();
78-
}
79-
8060
}

‎src/main/java/frc/robot/Subsystems/AlgaeCoraler/AlgaeCoralerIO.java‎

Lines changed: 1 addition & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -26,15 +26,7 @@ public static class AlgaeCorralerIOInputs {
2626

2727
public boolean nearTarget();
2828

29-
public boolean hasCoral();
30-
31-
public boolean hasAlgae();
32-
33-
public void zero();
34-
35-
public boolean motorZeroed();
36-
37-
public void resetMotorsZeroed();
29+
public boolean hasCoral();
3830

3931
public void setThere(boolean there);
4032

‎src/main/java/frc/robot/Subsystems/AlgaeCoraler/AlgaeCoralerIOReal.java‎

Lines changed: 4 additions & 24 deletions
Original file line numberDiff line numberDiff line change
@@ -73,15 +73,15 @@ public void setPivotSetpoint(Angle pivotSetpoint) {
7373
}
7474
} else if (this.pivotPosSetpoint.in(Degree) == ALGAE_OUT_ANGLE.in(Degree)) {
7575
if (there) {
76-
pivotMotor.set(0.1);
76+
pivotMotor.set(0.8);
7777
} else {
78-
pivotMotor.set(0.2);
78+
pivotMotor.set(0.18);
7979
}
8080
} else if (this.pivotPosSetpoint.in(Degree) == CORAL_BLOCK_ANGLE.in(Degree)) {
8181
if(there) {
82-
pivotMotor.set(-0.04);
82+
pivotMotor.set(0);
8383
} else {
84-
pivotMotor.set(-0.18);
84+
pivotMotor.set(-0.2);
8585
}
8686
}
8787
}
@@ -100,31 +100,11 @@ public boolean nearTarget() {
100100
return false;
101101
}
102102

103-
104103
@Override
105104
public boolean hasCoral() {
106105
return !beamBreak.get();
107106
}
108107

109-
@Override
110-
public boolean hasAlgae() {
111-
return (wheelsMotor.getOutputCurrent() <= ALGAE_CURRENT_LIMIT.in(Amp));
112-
}
113-
114-
@Override
115-
public void zero() {
116-
}
117-
118-
@Override
119-
public boolean motorZeroed() {
120-
return motorZeroed;
121-
}
122-
123-
@Override
124-
public void resetMotorsZeroed() {
125-
motorZeroed = false;
126-
}
127-
128108
@Override
129109
public void setThere(boolean there) {
130110
this.there = there;

‎src/main/java/frc/robot/Subsystems/AlgaeCoraler/AlgaeCoralerIOSim.java‎

Lines changed: 0 additions & 22 deletions
Original file line numberDiff line numberDiff line change
@@ -34,8 +34,6 @@ public class AlgaeCoralerIOSim implements AlgaeCoralerIO {
3434
private double wheelSpeedSetpoint;
3535
private Angle pivotPosSetpoint;
3636

37-
private boolean motorZeroed;
38-
3937
public AlgaeCoralerIOSim() {
4038
pivotSim = new SingleJointedArmSim(
4139
DCMotor.getNEO(NUM_PIVOT_MOTORS),
@@ -93,7 +91,6 @@ public void updateInputs(AlgaeCorralerIOInputs inputs) {
9391
wheelSparkSim.setVelocity(wheelMotorSim.getAngularAccelerationRadPerSecSq() / 60);
9492

9593
Logger.recordOutput("Has Coral", hasCoral());
96-
Logger.recordOutput("Has Algae", hasAlgae());
9794
}
9895

9996
@Override
@@ -124,25 +121,6 @@ public boolean hasCoral() {
124121
// IDK how to sim this
125122
}
126123

127-
@Override
128-
public boolean hasAlgae() {
129-
return false;
130-
// Same here
131-
}
132-
133-
@Override
134-
public void zero() {
135-
}
136-
137-
@Override
138-
public boolean motorZeroed() {
139-
return motorZeroed;
140-
}
141-
142-
@Override
143-
public void resetMotorsZeroed() {
144-
motorZeroed = false;
145-
}
146124
@Override
147125
public void setThere(boolean there) {
148126
}

‎src/main/java/frc/robot/Subsystems/AlgaeCoraler/AlgaeCoralerStates.java‎

Lines changed: 0 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -10,7 +10,6 @@ public enum AlgaeCoralerStates implements SubsystemStates {
1010
ALGAEIN("ALGAEIN", ALGAE_IN_SPEED, ALGAE_IN_ANGLE),
1111
HOLDING("HOLDING", HOLDING_SPEED, IDLE_ANGLE),
1212
ALGAEOUT("ALGAEOUT", ALGAE_OUT_SPEED, IDLE_ANGLE),
13-
ZEROING("ZEROING", (double) 0, IDLE_ANGLE),
1413
AUTO_SHOOT("Auto Shoot", AUTO_SPEED ,IDLE_ANGLE),
1514
CORALBLOCK("CORALBLOCK", (double) 0, CORAL_BLOCK_ANGLE);
1615

‎src/main/java/frc/robot/Subsystems/Climber/ClimberConstants.java‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -9,8 +9,8 @@ public final class ClimberConstants {
99

1010
public static final int CLIMBER_CANID = 16;
1111

12-
public static final double IN_SPEED = 1;
13-
public static final double OUT_SPEED = -1;
12+
public static final double IN_SPEED = -0.2;
13+
public static final double OUT_SPEED = 0.2;
1414
// TODO: set values ^
1515

1616

0 commit comments

Comments
 (0)