Merge pull request #262 from thedropbears/short_circuit_auto

Short circuit state machines in auto to run routines

Author: L9-bms

autonomous/auto_base.py

@@ -149,10 +149,8 @@ def driving_to_coral(self) -> None:
 
     @state
     def scoring_coral(self, initial_call: bool) -> None:
-        if initial_call:
-            self.coral_placer.place()
-        elif self.coral_placer.coral_is_scored():
-            self.next_state("retreating")
+        # TODO: ADD CORAL BACK WHEN ITS FUNCTIONAL
+        self.next_state("retreating")
 
     @state
     def retreating(self) -> None:

components/shooter.py

@@ -1,5 +1,6 @@
 import math
 
+import wpilib
 from magicbot import feedback, tunable
 from phoenix6.configs import (
     ClosedLoopRampsConfigs,
@@ -12,6 +13,7 @@
 from phoenix6.signals import InvertedValue, NeutralModeValue
 
 from ids import TalonId
+from utilities.game import ALGAE_MAX_DIAMETER, ALGAE_MIN_DIAMETER
 
 
 class ShooterComponent:
@@ -72,7 +74,20 @@ def __init__(self) -> None:
         self.top_desired_flywheel_speed = 0.0
         self.bottom_desired_flywheel_speed = 0.0
 
-        self.algae_size = 0.0
+        self._algae_size = 0.0
+
+    @property
+    def algae_size(self) -> float:
+        return (
+            self._algae_size
+            if not wpilib.DriverStation.isAutonomous()
+            or not wpilib.RobotBase.isSimulation()
+            else (ALGAE_MIN_DIAMETER + ALGAE_MAX_DIAMETER) / 2.0
+        )
+
+    @algae_size.setter
+    def algae_size(self, value: float) -> None:
+        self._algae_size = value
 
     def spin_flywheels(
         self, top_flywheel_shoot_speed: float, bottom_flywheel_shoot_speed: float

controllers/floor_intake.py

@@ -1,5 +1,6 @@
 import math
 
+import wpilib
 from magicbot import StateMachine, state, tunable
 
 from components.injector import InjectorComponent
@@ -46,10 +47,15 @@ def intaking(self, initial_call: bool):
     @state(must_finish=True)
     def measuring(self, initial_call):
         if initial_call:
-            self.algae_measurement.measure()
+            if (
+                not wpilib.DriverStation.isAutonomous()
+                and not wpilib.RobotBase.isSimulation()
+            ):
+                self.algae_measurement.measure()
             self.wrist.go_to_neutral()
             self.intake_component.retract()
-        elif not self.algae_measurement.is_executing:
+
+        if not self.algae_measurement.is_executing:
             self.done()
 
     def done(self) -> None:

controllers/reef_intake.py

@@ -86,7 +86,11 @@ def intaking(self, initial_call: bool):
     def safing(self, initial_call: bool):
         if initial_call:
             self.origin_robot_pose = self.chassis.get_pose()
-            self.algae_measurement.measure()
+            if (
+                not wpilib.DriverStation.isAutonomous()
+                and not wpilib.RobotBase.isSimulation()
+            ):
+                self.algae_measurement.measure()
             self.chassis.stop_snapping()
 
         robot_pose = self.chassis.get_pose()