2023 offseason

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2023.3.2"
+    id "edu.wpi.first.GradleRIO" version "2023.4.2"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11

src/main/java/frc/robot/Constants.java

@@ -26,9 +26,6 @@ public static class OperatorConstants {
 public static final int LEFT_INTAKE = 21;
 public static final int XBOX_CONTROLLER_PORT = 0;
 public static final int LINE_BREAKER_PORT = 0;
-public static final int BOX_GRABBER = 32;
-public static final int CLAW_MOTOR = 30;
-public static final int ARM_MOTOR = 31;
 public static final int XBOX_CONTROLLER_PORT_2 = 1;
 
 }

src/main/java/frc/robot/Robot.java

@@ -15,19 +15,21 @@
  * project.
  */
 public class Robot extends TimedRobot {
-  private Command m_autonomousCommand;
-
-  private RobotContainer m_robotContainer;
-  private Command autoCommand;
-
+
+  private RobotContainer m_robotContainer = null;
+  private Command autoCommand = null;
+  private Command m_autonomousCommand = null;
+ 
   /**
    * This function is run when the robot is first started up and should be used for any
    * initialization code.
    */
+
   @Override
   public void robotInit() {
     // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
     // autonomous chooser on the dashboard.
+
     m_robotContainer = new RobotContainer();
   }
 
@@ -48,16 +50,17 @@ public void robotPeriodic() {
   }
 
   /** This function is called once each time the robot enters Disabled mode. */
+
   @Override
   public void disabledInit() {}
 
   @Override
   public void disabledPeriodic() {}
 
   /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
+
   @Override
   public void autonomousInit() {
-
     autoCommand = m_robotContainer.getAutonomousCommand();
     System.out.println("auto init");
     // schedule the autonomous command (example)

src/main/java/frc/robot/RobotContainer.java

@@ -3,76 +3,58 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot;
-
-
-import edu.wpi.first.util.sendable.Sendable;
 import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.XboxController.Button;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilderImpl;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 import frc.robot.commands.AutonomousCommand;
-import frc.robot.commands.AutonomousCommandThree;
-import frc.robot.commands.AutonomousCommandTwo;
-import frc.robot.commands.ClawGrab;
+import frc.robot.commands.CubeAdjust;
+import frc.robot.commands.CubeAdjustHigh;
+import frc.robot.commands.CubeAdjustMid;
+import frc.robot.commands.CubeShoot;
+import frc.robot.commands.CubeShootFull;
+import frc.robot.commands.CubeScoreMid;
 import frc.robot.commands.DriveArcadeCustomized;
-import frc.robot.commands.DriveFast;
-import frc.robot.commands.GrabberOne;
-import frc.robot.commands.MoveArm;
-import frc.robot.commands.MoveClaw;
+import frc.robot.commands.IntakeIn;
+import frc.robot.commands.IntakeOut;
+import frc.robot.commands.RunLeftIntake;
+import frc.robot.commands.RunRightIntake;
+import frc.robot.commands.Shoot;
 import frc.robot.subsystems.Intake;
-import frc.robot.subsystems.Arm;
-import frc.robot.subsystems.BoxGrabber;
-import frc.robot.subsystems.Claw;
-// import frc.robot.commands.GrabberIntake;
-// import frc.robot.commands.GrabberOne;
-// import frc.robot.subsystems.BoxGrabber;
 import frc.robot.subsystems.Drivetrain;
+import frc.robot.commands.CubeScoreHigh;
 
 /**
  * This class is where the bulk of the robot should be declared. Since Command-based is a
  * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
  * periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
  * subsystems, commands, and trigger mappings) should be declared here.
  */
+
 public class RobotContainer {
   // The robot's subsystems and commands are defined here...
+
   Intake boxGrabber = new Intake();
-  BoxGrabber gBox = new BoxGrabber();
+
   Drivetrain driveTrain = new Drivetrain();
-  Claw claw = new Claw();
-  Arm arm = new Arm();
-  DigitalInput digitalInput = new DigitalInput(Constants.LINE_BREAKER_PORT); // add port number in constants file
+  DigitalInput digitalInput = new DigitalInput(Constants.LINE_BREAKER_PORT); 
 
-
   XboxController xboxController = new XboxController(Constants.XBOX_CONTROLLER_PORT);
   XboxController xboxController2 = new XboxController(Constants.XBOX_CONTROLLER_PORT_2);
 
   SendableChooser<Command> chooser = new SendableChooser<>();
-  // Replace with CommandPS4Controller or CommandJoystick if needed
- //AutonomousCommand autoCommand = new AutonomousCommand(driveTrain, 0.5,  -0.5, boxGrabber, 0.75);
-  AutonomousCommand autoCommand = new AutonomousCommand(driveTrain, 0, -0.5, gBox, .6);
-  AutonomousCommandTwo autoCommandTwo= new AutonomousCommandTwo(driveTrain);
-  /** The container for the robot. Contains subsystems, OI devices, and commands. */
+  AutonomousCommand autoCommand = new AutonomousCommand(driveTrain, 0, 0.5, boxGrabber, -1, digitalInput, xboxController2);
+
   public RobotContainer() {
-    // Configure the trigger bindings
     configureBindings();
-    // driveTrain.setDefaultCommand(new DriveArcade(driveTrain, xboxController::getRightX, xboxController::getLeftY));
-    //driveTrain.setDefaultCommand(new DriveTank(driveTrain, xboxController::getRightY, xboxController::getLeftY));
-    //driveTrain.setDefaultCommand(new DriveCurvature(driveTrain, xboxController::getRightX, xboxController::getLeftY));
-    //driveTrain.setDefaultCommand(new DriveTank(driveTrain, xboxController::getRightY, xboxController::getLeftY));
-    driveTrain.setDefaultCommand(new DriveArcadeCustomized(driveTrain, xboxController::getLeftY, xboxController::getRightX, 0.8, xboxController));
-
-    driveTrain.putNumbers();
-
+    driveTrain.setDefaultCommand(new DriveArcadeCustomized(driveTrain, xboxController::getLeftY, xboxController::getRightX, 0.3, 0.2, 0.8, xboxController));
     chooser.setDefaultOption("Default Auto Command", autoCommand);
-    chooser.addOption("Second Auto Command", autoCommandTwo);
-
     SmartDashboard.putData(chooser);
   }
 
@@ -85,23 +67,17 @@ public RobotContainer() {
    * PS4} controllers or {@link edu.wpi.first.wpilibj2.command.button.CommandJoystick Flight
    * joysticks}.
    */
-  private void configureBindings() {
-    // Schedule `ExampleCommand` when `exampleCondition` changes to `true`
-      //new JoystickButton(xboxController, Button.kRightBumper.value).whileTrue(new DriveFast(driveTrain, -1));
-      //new JoystickButton(xboxController, Button.kLeftBumper.value).whileTrue(new DriveFast(driveTrain, 1));
-      new JoystickButton(xboxController2, Button.kRightBumper.value).whileTrue(new GrabberOne(boxGrabber, 1, digitalInput, xboxController2));
-      new JoystickButton(xboxController2, Button.kLeftBumper.value).whileTrue(new GrabberOne(boxGrabber, -1, digitalInput, xboxController2));
-      new JoystickButton(xboxController2, Button.kA.value).whileTrue(new MoveClaw(claw, 0.1));
-      new JoystickButton(xboxController2, Button.kB.value).whileTrue(new MoveClaw(claw, -0.1));
-      new JoystickButton(xboxController2, Button.kX.value).whileTrue(new ClawGrab(gBox, 0.6));
-      new JoystickButton(xboxController2, Button.kY.value).whileTrue(new ClawGrab(gBox, -0.1));
-      //new JoystickButton(xboxController2, Button.kRightBumper.value).whileTrue(new MoveArm(arm, 0.1));
-      //new JoystickButton(xboxController2, Button.kLeftBumper.value).whileTrue(new MoveArm(arm, -0.1));
 
-    // Schedule `exampleMethodCommand` when the Xbox controller's B button is pressed,
-    // cancelling on release.
-
-  }
+  private void configureBindings() {
+      new JoystickButton(xboxController2, Button.kRightBumper.value).whileTrue(new IntakeOut(boxGrabber, 0.40));
+      new JoystickButton(xboxController2, Button.kLeftBumper.value).whileTrue(new IntakeIn(boxGrabber, -0.25, digitalInput, xboxController2));
+      new JoystickButton(xboxController2, Button.kB.value).whileTrue(new CubeShoot(boxGrabber, -1, -1));
+      //new JoystickButton(xboxController2, Button.kA.value).whileTrue(new CubeAdjustFullMid(digitalInput, boxGrabber, xboxController2));
+      new JoystickButton(xboxController2, Button.kA.value).whileTrue(new CubeScoreHigh(digitalInput, boxGrabber, xboxController2, boxGrabber, -1, -1));
+      new JoystickButton(xboxController2, Button.kY.value).whileTrue(new CubeScoreMid(digitalInput, boxGrabber, xboxController2, boxGrabber, -1, -1));
+      new JoystickButton(xboxController2, Button.kX.value).whileTrue(new CubeAdjust(boxGrabber, 1));
+
+    }
 
   /**
    * Use this to pass the autonomous command to the main {@link Robot} class.

src/main/java/frc/robot/commands/AutonomousCommand.java

@@ -4,26 +4,25 @@
 
 package frc.robot.commands;
 
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
-import frc.robot.subsystems.Intake;
-import frc.robot.subsystems.BoxGrabber;
 import frc.robot.subsystems.Drivetrain;
+import frc.robot.subsystems.Intake;
 
 // NOTE:  Consider using this command inline, rather than writing a subclass.  For more
 // information, see:
 // https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
 public class AutonomousCommand extends SequentialCommandGroup {
   /** Creates a new AutonomousCommand. */
-  public AutonomousCommand(Drivetrain driveTrain, double power, double rotation, BoxGrabber boxGrabber, double intakePower) {
+  DigitalInput digitalInput;
+  XboxController xboxController2;
+  public AutonomousCommand(Drivetrain driveTrain, double power, double rotation, Intake boxGrabber, double intakePower, DigitalInput digitalInput, XboxController xboxController2) {
     // Add your commands in the addCommands() call, e.g.
-    // addCommands(new FooCommand(), new BarCommand());
-    addCommands(
-    new ClawGrab(boxGrabber, intakePower).withTimeout(1),
-    //new Drive(driveTrain, 0, -rotation).withTimeout(0.75),
-    new Drive(driveTrain, power, 0).withTimeout(0),
-    new Drive(driveTrain, 0, rotation).withTimeout(3));
-
-
 
+    addCommands(
+    new Drive(driveTrain, power, 0).withTimeout(0.75),
+    new CubeShoot(boxGrabber, intakePower, -1).withTimeout(1.55),
+    new Drive(driveTrain, 0,-rotation).withTimeout(1.25));
   }
 }

src/main/java/frc/robot/commands/AutonomousCommandTwo.java → src/main/java/frc/robot/commands/CubeAdjust.java

@@ -5,19 +5,18 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
-import frc.robot.subsystems.Drivetrain;
+import frc.robot.subsystems.Intake;
 
 // NOTE:  Consider using this command inline, rather than writing a subclass.  For more
 // information, see:
 // https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
-public class AutonomousCommandTwo extends SequentialCommandGroup {
-  /** Creates a new AutonomousCommandTwo. */
-  Drivetrain driveTrain;
-  public AutonomousCommandTwo(Drivetrain driveTrain) {
+public class CubeAdjust extends SequentialCommandGroup {
+  /** Creates a new CubeAdjust. */
+  public CubeAdjust(Intake intake, double power) {
     // Add your commands in the addCommands() call, e.g.
     // addCommands(new FooCommand(), new BarCommand());
     addCommands(
-      new DriveStraight(driveTrain).withTimeout(20)
+      new RunLeftIntake(intake, power).withTimeout(0.35)
     );
   }
 }

src/main/java/frc/robot/commands/CubeAdjustHigh.java

@@ -0,0 +1,59 @@
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.Intake;
+
+
+public class CubeAdjustHigh extends CommandBase  {
+    DigitalInput  digitalInput = null;
+    boolean done = false;
+    Intake boxGrabber = null;
+    XboxController xboxController = null;
+
+
+
+
+    public CubeAdjustHigh(DigitalInput digitalInput, Intake boxGrabber, XboxController xboxController) {
+        // Use addRequirements() here to declare subsystem dependencies.
+        addRequirements(boxGrabber);
+        this.digitalInput = digitalInput;
+        this.boxGrabber = boxGrabber;
+        this.xboxController = xboxController;
+      }
+    @Override
+    public void initialize() {
+    boxGrabber.stop();
+    }
+
+
+    @Override
+    public void execute() {
+    if (xboxController.getAButton() && !digitalInput.get()) {
+        boxGrabber.runLeftIntake(0.37);
+    }
+
+    if(!digitalInput.get()){
+        boxGrabber.runLeftIntake(0.37);
+    } else {
+        boxGrabber.stop();
+    }
+     /* else if (xboxController.getAButton()) {
+        boxGrabber.runLeftIntake(-0.5);
+    } */
+    }
+
+    @Override
+    public void end(boolean interrupted) {
+      boxGrabber.stop();
+      done=true;
+    }
+
+    // Returns true when the command should end.
+    @Override
+    public boolean isFinished() {
+
+      return false;
+    }
+}

src/main/java/frc/robot/commands/CubeAdjustMid.java

@@ -0,0 +1,57 @@
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.Intake;
+
+public class CubeAdjustMid extends CommandBase  {
+    DigitalInput  digitalInput = null;
+    boolean done = false;
+    Intake boxGrabber = null;
+    XboxController xboxController = null;
+
+
+
+
+    public CubeAdjustMid(DigitalInput digitalInput, Intake boxGrabber, XboxController xboxController) {
+        // Use addRequirements() here to declare subsystem dependencies.
+        addRequirements(boxGrabber);
+        this.digitalInput = digitalInput;
+        this.boxGrabber = boxGrabber;
+        this.xboxController = xboxController;
+      }
+    @Override
+    public void initialize() {
+    boxGrabber.stop();
+    }
+
+
+    @Override
+    public void execute() {
+    if (xboxController.getAButton() && !digitalInput.get()) {
+        boxGrabber.runLeftIntake(0.09);
+    }
+
+    if(!digitalInput.get()){
+        boxGrabber.runLeftIntake(0.09);
+    } else {
+        boxGrabber.stop();
+    }
+     /* else if (xboxController.getAButton()) {
+        boxGrabber.runLeftIntake(-0.5);
+    } */
+    }
+
+    @Override
+    public void end(boolean interrupted) {
+      boxGrabber.stop();
+      done=true;
+    }
+
+    // Returns true when the command should end.
+    @Override
+    public boolean isFinished() {
+      return false;
+    }
+}