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private final RobotState robotState = RobotState.getInstance(); private final ShooterLeadCompensator shooterLeadCompensator; private final CommandXboxController driverController; @@ -140,7 +139,6 @@ public Command alignToHub() { public Command feedUp() { return Commands.repeatingSequence( - preloadBalls().until(() -> RobotState.getInstance().shooterAtSpeed), Commands.parallel(magicCarpet.run(), indexer.run()) .until(() -> !RobotState.getInstance().shooterAtSpeed)) .onlyIf(() -> shooter.getSetpoint() > 0) @@ -175,14 +173,6 @@ public Command spinUpShooter(double velocityRPM) { Units.rotationsPerMinuteToRadiansPerSecond(velocityRPM)); } - public Command preloadBalls() { - return Commands.parallel(magicCarpet.run(), indexer.runPreloadSpeeds()) - .onlyWhile(() -> !RobotState.getInstance().indexerHasFuel) - .onlyIf(() -> !RobotState.getInstance().indexerHasFuel) - .until(() -> RobotState.getInstance().indexerHasFuel) - .andThen(indexer.stop().withTimeout(0.01)); - } - public Command driveShootAtAngle() { return Commands.parallel( Commands.run( diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index be8ea5a51..a42f0bbc1 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -182,10 +182,7 @@ public RobotContainer() { orchestrator = new Orchestrator(drive, magicCarpet, shooter, indexer, intake, driverController); Autos autos = new Autos(drive, orchestrator, intake, shooter); NamedCommands.registerCommand( - "startIntake", - Commands.parallel( - intake.holdAngleAndIntake(IntakeConstants.EXTEND_POS), orchestrator.preloadBalls()) - .withTimeout(10.0)); + "startIntake", intake.holdAngleAndIntake(IntakeConstants.EXTEND_POS).withTimeout(10.0)); NamedCommands.registerCommand( "endIntake", Commands.parallel( @@ -379,7 +376,7 @@ private void configureButtonBindings() { .toggleOnTrue(orchestrator.spinUpShooterHub()); operatorController.leftTrigger(0.1).toggleOnTrue(orchestrator.spinUpShooterTest()); operatorController.y().whileTrue(indexer.reverse()); - operatorController.x().whileTrue(intake.outtake()); + // operatorController.x().whileTrue(intake.outtake()); operatorController .leftTrigger() diff --git a/src/main/java/frc/robot/Schematic.java b/src/main/java/frc/robot/Schematic.java index 9f4449875..38d064911 100644 --- a/src/main/java/frc/robot/Schematic.java +++ b/src/main/java/frc/robot/Schematic.java @@ -28,8 +28,6 @@ public class Schematic { // indexer subsystem public static final int indexerFeedupCanId; - public static final int indexerLeftLimitSwitchDIO; - public static final int indexerRightLimitSwitchDIO; // intake subsystem public static final int intakeMotorCanId; @@ -71,8 +69,6 @@ public class Schematic { // Indexer (CAN IDs and DIOs) indexerFeedupCanId = 0; - indexerLeftLimitSwitchDIO = 0; - indexerRightLimitSwitchDIO = 0; // Intake (CAN IDs) intakeMotorCanId = 0; @@ -87,18 +83,18 @@ public class Schematic { pigeonCanId = 17; // Drive (CAN Ids) - frontLeftDriveCanId = 3; - frontLeftTurnCanId = 4; - frontRightDriveCanId = 1; - frontRightTurnCanId = 2; - - backRightDriveCanId = 7; - backRightTurnCanId = 8; - backLeftDriveCanId = 5; - backLeftTurnCanId = 6; - - frontLeftAbsoluteEncoderCanId = 19; - frontRightAbsoluteEncoderCanId = 18; + frontLeftDriveCanId = 1; + frontLeftTurnCanId = 2; + frontRightDriveCanId = 3; + frontRightTurnCanId = 4; + + backRightDriveCanId = 5; + backRightTurnCanId = 6; + backLeftDriveCanId = 7; + backLeftTurnCanId = 8; + + frontLeftAbsoluteEncoderCanId = 18; + frontRightAbsoluteEncoderCanId = 19; backRightAbsoluteEncoderCanId = 20; backLeftAbsoluteEncoderCanId = 21; @@ -112,8 +108,6 @@ public class Schematic { // Indexer (CAN Ids) indexerFeedupCanId = 9; - indexerLeftLimitSwitchDIO = 0; - indexerRightLimitSwitchDIO = 2; // Intake (CAN IDs) intakeMotorCanId = 23; @@ -152,8 +146,6 @@ public class Schematic { // Indexer (CAN IDs and DIOs) indexerFeedupCanId = 0; - indexerLeftLimitSwitchDIO = 0; - indexerRightLimitSwitchDIO = 2; // Intake (CAN IDs) intakeMotorCanId = 0; @@ -192,8 +184,6 @@ public class Schematic { // Indexer (CAN IDs and DIOs) indexerFeedupCanId = 0; - indexerLeftLimitSwitchDIO = 0; - indexerRightLimitSwitchDIO = 0; // Intake (CAN IDs) intakeMotorCanId = 0; diff --git a/src/main/java/frc/robot/commands/auto/Autos.java b/src/main/java/frc/robot/commands/auto/Autos.java index 0ff07b388..5e8a1925b 100644 --- a/src/main/java/frc/robot/commands/auto/Autos.java +++ b/src/main/java/frc/robot/commands/auto/Autos.java @@ -102,9 +102,7 @@ public Command ACCManuelAuto() { return Commands.sequence( Commands.deadline( new DriveToPose(drive, () -> AllianceFlipUtil.apply(firstPoseA.get())).withTimeout(5), - Commands.parallel( - intake.holdAngleAndIntake(IntakeConstants.EXTEND_POS), - orchestrator.preloadBalls())), + Commands.parallel(intake.holdAngleAndIntake(IntakeConstants.EXTEND_POS))), new DriveToPose(drive, () -> AllianceFlipUtil.apply(secondPoseA.get())).withTimeout(5), intake.stopIntakeCommand().withTimeout(0.05), Commands.deadline( @@ -121,9 +119,7 @@ public Command ADepot() { .withTimeout(2), Commands.deadline( new DriveToPose(drive, () -> AllianceFlipUtil.apply(depotPose.get())).withTimeout(3.5), - Commands.parallel( - intake.holdAngleAndIntake(IntakeConstants.EXTEND_POS), - orchestrator.preloadBalls())), + Commands.parallel(intake.holdAngleAndIntake(IntakeConstants.EXTEND_POS))), intake.stopIntakeCommand().withTimeout(0.05), Commands.deadline( new DriveToPose(drive, () -> AllianceFlipUtil.apply(secondPoseAAlt2.get())) @@ -139,18 +135,14 @@ public Command ADepot() { new DriveToPose(drive, () -> AllianceFlipUtil.apply(secondPoseAAlt1.get())).withTimeout(2), Commands.deadline( new DriveToPose(drive, () -> AllianceFlipUtil.apply(firstPoseA.get())).withTimeout(3.5), - Commands.parallel( - intake.holdAngleAndIntake(IntakeConstants.EXTEND_POS), - orchestrator.preloadBalls()))); + (intake.holdAngleAndIntake(IntakeConstants.EXTEND_POS)))); } public Command ACCManuelAutoAlt() { return Commands.sequence( Commands.deadline( new DriveToPose(drive, () -> AllianceFlipUtil.apply(firstPoseA.get())).withTimeout(5), - Commands.parallel( - intake.holdAngleAndIntake(IntakeConstants.EXTEND_POS), - orchestrator.preloadBalls())), + Commands.parallel(intake.holdAngleAndIntake(IntakeConstants.EXTEND_POS))), new DriveToPose(drive, () -> AllianceFlipUtil.apply(secondPoseAAlt1.get())) .withTimeout(3.5), intake.stopIntakeCommand().withTimeout(0.05), @@ -168,9 +160,7 @@ public Command ACCManuelAutoOverBump() { return Commands.sequence( Commands.deadline( new DriveToPose(drive, () -> AllianceFlipUtil.apply(firstPoseA.get())).withTimeout(5), - Commands.parallel( - intake.holdAngleAndIntake(IntakeConstants.EXTEND_POS), - orchestrator.preloadBalls())), + Commands.parallel(intake.holdAngleAndIntake(IntakeConstants.EXTEND_POS))), new DriveToPose(drive, () -> AllianceFlipUtil.apply(secondPoseAAlt1.get())) .withTimeout(3.5), intake.stopIntakeCommand().withTimeout(0.05), @@ -186,20 +176,16 @@ public Command ACCManuelAutoOverBump() { intake.stopIntakeCommand().withTimeout(0.05), shooter.stop(), new DriveToPose(drive, () -> AllianceFlipUtil.apply(secondPoseAAlt1.get())).withTimeout(2), - Commands.deadline( - new DriveToPose(drive, () -> AllianceFlipUtil.apply(firstPoseA.get())).withTimeout(3.5), - Commands.parallel( - intake.holdAngleAndIntake(IntakeConstants.EXTEND_POS), - orchestrator.preloadBalls()))); + Commands.deadline(new DriveToPose(drive, () -> AllianceFlipUtil.apply(firstPoseA.get()))) + .withTimeout(3.5), + Commands.parallel(intake.holdAngleAndIntake(IntakeConstants.EXTEND_POS))); } public Command BCCManuelAuto() { return Commands.sequence( Commands.deadline( new DriveToPose(drive, () -> AllianceFlipUtil.apply(firstPoseB.get())).withTimeout(5), - Commands.parallel( - intake.holdAngleAndIntake(IntakeConstants.EXTEND_POS), - orchestrator.preloadBalls())), + Commands.parallel(intake.holdAngleAndIntake(IntakeConstants.EXTEND_POS))), new DriveToPose(drive, () -> AllianceFlipUtil.apply(secondPoseB.get())).withTimeout(5), intake.stopIntakeCommand().withTimeout(0.05), Commands.deadline( @@ -214,9 +200,7 @@ public Command BCCManuelAutoAlt() { return Commands.sequence( Commands.deadline( new DriveToPose(drive, () -> AllianceFlipUtil.apply(firstPoseB.get())).withTimeout(5), - Commands.parallel( - intake.holdAngleAndIntake(IntakeConstants.EXTEND_POS), - orchestrator.preloadBalls())), + Commands.parallel(intake.holdAngleAndIntake(IntakeConstants.EXTEND_POS))), new DriveToPose(drive, () -> AllianceFlipUtil.apply(secondPoseBAlt1.get())) .withTimeout(3.5), intake.stopIntakeCommand().withTimeout(0.05), @@ -234,9 +218,7 @@ public Command BCCManuelAutoOverBump() { return Commands.sequence( Commands.deadline( new DriveToPose(drive, () -> AllianceFlipUtil.apply(firstPoseB.get())).withTimeout(5), - Commands.parallel( - intake.holdAngleAndIntake(IntakeConstants.EXTEND_POS), - orchestrator.preloadBalls())), + Commands.parallel(intake.holdAngleAndIntake(IntakeConstants.EXTEND_POS))), new DriveToPose(drive, () -> AllianceFlipUtil.apply(secondPoseBAlt1.get())) .withTimeout(3.5), intake.stopIntakeCommand().withTimeout(0.05), @@ -254,8 +236,6 @@ public Command BCCManuelAutoOverBump() { new DriveToPose(drive, () -> AllianceFlipUtil.apply(secondPoseBAlt1.get())).withTimeout(2), Commands.deadline( new DriveToPose(drive, () -> AllianceFlipUtil.apply(firstPoseB.get())).withTimeout(3.5), - Commands.parallel( - intake.holdAngleAndIntake(IntakeConstants.EXTEND_POS), - orchestrator.preloadBalls()))); + Commands.parallel(intake.holdAngleAndIntake(IntakeConstants.EXTEND_POS)))); } } diff --git a/src/main/java/frc/robot/subsystems/indexer/IndexConstants.java b/src/main/java/frc/robot/subsystems/indexer/IndexConstants.java index b547905d1..63c232a0a 100644 --- a/src/main/java/frc/robot/subsystems/indexer/IndexConstants.java +++ b/src/main/java/frc/robot/subsystems/indexer/IndexConstants.java @@ -3,6 +3,5 @@ public class IndexConstants { public static final double ENCODER_FEEDUP_POSITION_CONVERSION = 1; public static final double ENCODER_FEEDUP_VELOCITY_CONVERSION = 1; - public static final double PRELOAD_VOLT = 3.0; public static final double FEEDUP_VOLT = 12; } diff --git a/src/main/java/frc/robot/subsystems/indexer/Indexer.java b/src/main/java/frc/robot/subsystems/indexer/Indexer.java index 2d91cb276..215b006df 100644 --- a/src/main/java/frc/robot/subsystems/indexer/Indexer.java +++ b/src/main/java/frc/robot/subsystems/indexer/Indexer.java @@ -1,12 +1,10 @@ package frc.robot.subsystems.indexer; import static frc.robot.subsystems.indexer.IndexConstants.FEEDUP_VOLT; -import static frc.robot.subsystems.indexer.IndexConstants.PRELOAD_VOLT; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.SubsystemBase; -import frc.robot.RobotState; import org.littletonrobotics.junction.Logger; public class Indexer extends SubsystemBase { @@ -20,8 +18,6 @@ public Indexer(IndexerIO io) { @Override public void periodic() { io.updateInputs(inputs); - RobotState.getInstance().indexerHasFuel = inputs.ballAtLeftSwitch || inputs.ballAtRightSwitch; - RobotState.getInstance().indexerRunning = inputs.feedUpVolts > 0; Logger.processInputs("Index", inputs); } @@ -37,14 +33,6 @@ public double getVoltage() { return inputs.feedUpVolts; } - public boolean isLeftSwitchPressed() { - return io.isLeftSwitchPressed(); - } - - public boolean isRightSwitchPressed() { - return io.isRightSwitchPressed(); - } - public Command run() { return Commands.run( () -> { @@ -55,16 +43,6 @@ public Command run() { .withName("run"); } - public Command runPreloadSpeeds() { - return Commands.run( - () -> { - setVoltage(PRELOAD_VOLT); - }, - this) - .finallyDo(this::stop) - .withName("runPeriodic"); - } - public Command reverse() { return Commands.run( () -> { diff --git a/src/main/java/frc/robot/subsystems/indexer/IndexerIO.java b/src/main/java/frc/robot/subsystems/indexer/IndexerIO.java index f03f1af2b..9dad526d8 100644 --- a/src/main/java/frc/robot/subsystems/indexer/IndexerIO.java +++ b/src/main/java/frc/robot/subsystems/indexer/IndexerIO.java @@ -10,8 +10,6 @@ class IndexerIOInputs { public double feedUpPercentOutput = 0.0; public double feedUpVolts = 0.0; public double feedUpAmps = 0.0; - public boolean ballAtLeftSwitch = false; - public boolean ballAtRightSwitch = false; } default void updateInputs(IndexerIOInputs inputs) {} @@ -21,12 +19,4 @@ default void setPercent(double indexPercent, double feedUpPercent) {} default void setVoltage(double feedUpVolts) {} default void stop() {} - - default boolean isLeftSwitchPressed() { - return false; - } - - default boolean isRightSwitchPressed() { - return false; - } } diff --git a/src/main/java/frc/robot/subsystems/indexer/IndexerIOSparkMax.java b/src/main/java/frc/robot/subsystems/indexer/IndexerIOSparkMax.java index a532d67d1..090e6cd5d 100644 --- a/src/main/java/frc/robot/subsystems/indexer/IndexerIOSparkMax.java +++ b/src/main/java/frc/robot/subsystems/indexer/IndexerIOSparkMax.java @@ -1,8 +1,6 @@ package frc.robot.subsystems.indexer; import static frc.robot.Schematic.indexerFeedupCanId; -import static frc.robot.Schematic.indexerLeftLimitSwitchDIO; -import static frc.robot.Schematic.indexerRightLimitSwitchDIO; import static frc.robot.subsystems.indexer.IndexConstants.ENCODER_FEEDUP_POSITION_CONVERSION; import static frc.robot.subsystems.indexer.IndexConstants.ENCODER_FEEDUP_VELOCITY_CONVERSION; @@ -13,15 +11,11 @@ import com.revrobotics.spark.config.EncoderConfig; import com.revrobotics.spark.config.SparkBaseConfig.IdleMode; import com.revrobotics.spark.config.SparkMaxConfig; -import edu.wpi.first.wpilibj.DigitalInput; public class IndexerIOSparkMax implements IndexerIO { private final SparkMax feedUpMotor; - private final DigitalInput leftLimitSwitch; - private final DigitalInput rightLimitSwitch; - public IndexerIOSparkMax() { feedUpMotor = new SparkMax(indexerFeedupCanId, MotorType.kBrushless); @@ -42,9 +36,6 @@ public IndexerIOSparkMax() { feedUpMotor.configure( feedUpConfig, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters); - - leftLimitSwitch = new DigitalInput(indexerLeftLimitSwitchDIO); - rightLimitSwitch = new DigitalInput(indexerRightLimitSwitchDIO); } @Override @@ -52,8 +43,6 @@ public void updateInputs(IndexerIOInputs inputs) { inputs.feedUpPercentOutput = feedUpMotor.get(); inputs.feedUpVolts = feedUpMotor.getBusVoltage() * feedUpMotor.getAppliedOutput(); inputs.feedUpAmps = feedUpMotor.getOutputCurrent(); - inputs.ballAtLeftSwitch = !leftLimitSwitch.get(); - inputs.ballAtRightSwitch = !rightLimitSwitch.get(); } @Override @@ -70,14 +59,4 @@ public void setVoltage(double feedUpVolts) { public void stop() { feedUpMotor.set(0); } - - @Override - public boolean isLeftSwitchPressed() { - return !leftLimitSwitch.get(); - } - - @Override - public boolean isRightSwitchPressed() { - return rightLimitSwitch.get(); - } }