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Merged
AlenaNguyen merged 8 commits into from
Oct 26, 2024
Merged

✨✨LEDs✨✨ #126

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5081056
started LED code
AlenaNguyen Oct 22, 2024
3de1fe9
forgot robotContainer had 20 errors
AlenaNguyen Oct 22, 2024
d864754
forgot tryState is used in Autos too 😭
AlenaNguyen Oct 22, 2024
9c7e6c4
tuning and things
AlenaNguyen Oct 23, 2024
2d92068
disabled LEDs 👀?
AlenaNguyen Oct 23, 2024
3231515
merge conflicts were brutal 😭
AlenaNguyen Oct 25, 2024
505687a
adjust rumble and LEDs for PrepVision
AlenaNguyen Oct 26, 2024
3ab8937
remove commented out code
AlenaNguyen Oct 26, 2024
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28 changes: 27 additions & 1 deletion src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,12 @@
import java.util.Optional;
import java.util.function.Supplier;

import com.ctre.phoenix.led.ColorFlowAnimation;
import com.ctre.phoenix.led.FireAnimation;
import com.ctre.phoenix.led.RainbowAnimation;
import com.ctre.phoenix.led.TwinkleAnimation;
import com.ctre.phoenix.led.ColorFlowAnimation.Direction;
import com.ctre.phoenix.led.TwinkleAnimation.TwinklePercent;
import com.ctre.phoenix6.configs.Slot0Configs;
import com.ctre.phoenix6.configs.Slot1Configs;
import com.ctre.phoenix6.signals.GravityTypeValue;
Expand Down Expand Up @@ -380,7 +386,7 @@ public ShooterPositionGroup(Measure<Angle> shooterAngle, Measure<Velocity<Angle>
Units.RotationsPerSecond.of(35), Units.RotationsPerSecond.of(35), Units.Meters.of(0.46));
public static final ShooterPositionGroup PREP_SHUFFLE = new ShooterPositionGroup(Units.Degrees.of(42),
Units.RotationsPerSecond.of(35), Units.RotationsPerSecond.of(35), Units.Meters.of(0));
public static final ShooterPositionGroup PREP_SUB = new ShooterPositionGroup(Units.Degrees.of(42),
public static final ShooterPositionGroup PREP_SUB = new ShooterPositionGroup(Units.Degrees.of(45),
Units.RotationsPerSecond.of(35), Units.RotationsPerSecond.of(35), Units.Meters.of(0));
public static final ShooterPositionGroup PREP_SPIKE = new ShooterPositionGroup(Units.Degrees.of(27),
Units.RotationsPerSecond.of(60), Units.RotationsPerSecond.of(45), Units.Meters.of(0));
Expand Down Expand Up @@ -631,4 +637,24 @@ public static class constLimelight {
public static final Measure<Angle> LL_PITCH = Units.Degrees.of(20);
public static final Measure<Angle> LL_YAW = Units.Degrees.of(0);
}

public static class constLEDs {
public static final double LED_BRIGHTNESS = 1;
public static final int LED_NUMBER = 200;

public static final int[] CLEAR_LEDS = { 0, 0, 0 };
public static final int[] INTAKING_COLOR = { 0, 0, 0 };
public static final int[] PREP_AMP_COLOR = { 200, 0, 255 };
public static final int[] PREP_SUB_BACKWARDS_COLOR = { 255, 255, 0 };
public static final int[] PREP_SPEAKER_COLOR = { 255, 130, 0 };

public static final ColorFlowAnimation STORE_FEEDER_COLOR = new ColorFlowAnimation(0, 255, 0, 0, 1, LED_NUMBER,
Direction.Forward);
public static final RainbowAnimation READY_TO_SHOOT_COLOR = new RainbowAnimation();

public static final TwinkleAnimation DISABLED_COLOR_1 = new TwinkleAnimation(0, 255, 255, 0, 0.5, LED_NUMBER / 2,
TwinklePercent.Percent100);
public static final TwinkleAnimation DISABLED_COLOR_2 = new TwinkleAnimation(255, 100, 0, 0, 0.5, LED_NUMBER / 2,
TwinklePercent.Percent100, LED_NUMBER / 2);
}
}
2 changes: 2 additions & 0 deletions src/main/java/frc/robot/Robot.java
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Expand Up @@ -53,6 +53,7 @@ public void robotPeriodic() {
public void disabledInit() {
m_robotContainer.subStateMachine.setRobotState(RobotState.NONE);
m_robotContainer.subStateMachine.setTargetState(TargetState.PREP_NONE);
m_robotContainer.setDisabledLEDs();
}

@Override
Expand All @@ -63,6 +64,7 @@ public void disabledPeriodic() {

@Override
public void disabledExit() {
m_robotContainer.clearLEDs();
}

@Override
Expand Down
123 changes: 72 additions & 51 deletions src/main/java/frc/robot/RobotContainer.java
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Expand Up @@ -23,6 +23,7 @@
import frc.robot.Constants.constControllers;
import frc.robot.Constants.constElevator;
import frc.robot.Constants.constField;
import frc.robot.Constants.constLEDs;
import frc.robot.Constants.constShooter;
import frc.robot.RobotMap.mapControllers;
import frc.robot.commands.AddVisionMeasurement;
Expand All @@ -41,6 +42,7 @@
import frc.robot.subsystems.Drivetrain;
import frc.robot.subsystems.Elevator;
import frc.robot.subsystems.Intake;
import frc.robot.subsystems.LEDs;
import frc.robot.subsystems.Shooter;
import frc.robot.subsystems.StateMachine;
import frc.robot.subsystems.Transfer;
Expand All @@ -59,16 +61,24 @@ public class RobotContainer {
private final static Drivetrain subDrivetrain = new Drivetrain();
private final static Elevator subElevator = new Elevator();
private final static Intake subIntake = new Intake();
private final static LEDs subLEDs = new LEDs();
private final static Shooter subShooter = new Shooter();
private final static Transfer subTransfer = new Transfer();
private final static Limelight subLimelight = new Limelight();

private final Trigger gamePieceTrigger = new Trigger(() -> subTransfer.getGamePieceStored());

private final BooleanSupplier readyToShoot = (() -> subDrivetrain.isDrivetrainFacingSpeaker()
private final BooleanSupplier readyToShootOperator = (() -> subDrivetrain.isDrivetrainFacingSpeaker()
&& subShooter.readyToShoot() && subStateMachine.isCurrentStateTargetState()
&& subTransfer.getGamePieceStored());

private final BooleanSupplier readyToShootDriver = (() -> subShooter.readyToShoot()
&& subStateMachine.isCurrentStateTargetState() && subTransfer.getGamePieceStored());

private final BooleanSupplier readyToShootLEDs = (() -> subDrivetrain.isDrivetrainFacingSpeaker()
&& subShooter.readyToShoot() && subStateMachine.getRobotState() == RobotState.PREP_VISION
&& subTransfer.getGamePieceStored());

private final IntakeSource comIntakeSource = new IntakeSource(subStateMachine, subShooter, subTransfer);

SendableChooser<Command> autoChooser = new SendableChooser<>();
Expand All @@ -88,29 +98,46 @@ public RobotContainer() {
.onTrue(Commands
.deferredProxy(
() -> subStateMachine.tryState(RobotState.STORE_FEEDER, subStateMachine, subClimber, subDrivetrain,
subElevator, subIntake, subTransfer, subShooter))
subElevator, subIntake, subLEDs, subTransfer, subShooter))
.andThen(Commands.deferredProxy(
() -> subStateMachine.tryTargetState(subStateMachine, subIntake, subShooter, subTransfer,
() -> subStateMachine.tryTargetState(subStateMachine, subIntake, subLEDs, subShooter, subTransfer,
subElevator, subDrivetrain))))
.onTrue(new GamePieceRumble(conDriver, conOperator).asProxy());

new Trigger(readyToShoot).onTrue(
// new Trigger(readyToShootOperator).onTrue(
// Commands.runOnce(() -> conDriver.setRumble(RumbleType.kBothRumble,
// constControllers.DRIVER_RUMBLE)).alongWith(
// Commands.runOnce(() -> conOperator.setRumble(RumbleType.kBothRumble,
// constControllers.OPERATOR_RUMBLE))))
// .onFalse(
// Commands.runOnce(() -> conDriver.setRumble(RumbleType.kBothRumble,
// 0)).alongWith(
// Commands.runOnce(() -> conOperator.setRumble(RumbleType.kBothRumble, 0))));

new Trigger(readyToShootOperator).onTrue(
Commands.runOnce(() -> conOperator.setRumble(RumbleType.kBothRumble,
constControllers.OPERATOR_RUMBLE)))
.onFalse(
Commands.runOnce(() -> conOperator.setRumble(RumbleType.kBothRumble, 0)));

new Trigger(readyToShootDriver).onTrue(
Commands.runOnce(() -> conDriver.setRumble(RumbleType.kBothRumble,
constControllers.DRIVER_RUMBLE)).alongWith(
Commands.runOnce(() -> conOperator.setRumble(RumbleType.kBothRumble,
constControllers.OPERATOR_RUMBLE))))
constControllers.DRIVER_RUMBLE)))
.onFalse(
Commands.runOnce(() -> conDriver.setRumble(RumbleType.kBothRumble,
0)).alongWith(
Commands.runOnce(() -> conOperator.setRumble(RumbleType.kBothRumble, 0))));
0)));

new Trigger(readyToShootLEDs)
.onTrue(Commands.runOnce(() -> subLEDs.setLEDAnimation(constLEDs.READY_TO_SHOOT_COLOR, 0)))
.onFalse(Commands.runOnce(() -> subLEDs.clearAnimation()));

subDrivetrain.resetModulesToAbsolute();

conDriver.setTriggerPressThreshold(0.2);

NamedCommands.registerCommand("Intaking", Commands.deferredProxy(
() -> subStateMachine.tryState(RobotState.INTAKING, subStateMachine, subClimber, subDrivetrain, subElevator,
subIntake, subTransfer, subShooter))
subIntake, subLEDs, subTransfer, subShooter))
.until(gamePieceTrigger));

SmartDashboard.putNumber("Preload Only Delay", 0);
Expand All @@ -129,9 +156,9 @@ private void configureDriverBindings(SN_XboxController controller) {

// Intake from source
controller.btn_East.whileTrue(Commands.deferredProxy(() -> subStateMachine.tryState(RobotState.INTAKE_SOURCE,
subStateMachine, subClimber, subDrivetrain, subElevator, subIntake, subTransfer, subShooter)))
subStateMachine, subClimber, subDrivetrain, subElevator, subIntake, subLEDs, subTransfer, subShooter)))
.onFalse(Commands.deferredProxy(() -> subStateMachine.tryState(RobotState.NONE, subStateMachine, subClimber,
subDrivetrain, subElevator, subIntake, subTransfer, subShooter))
subDrivetrain, subElevator, subIntake, subLEDs, subTransfer, subShooter))
.unless(() -> comIntakeSource.getIntakeSourceGamePiece()));
}

Expand All @@ -141,93 +168,77 @@ private void configureOperatorBindings(SN_XboxController controller) {
controller.btn_LeftTrigger
.whileTrue(Commands.deferredProxy(
() -> subStateMachine.tryState(RobotState.INTAKING, subStateMachine, subClimber, subDrivetrain, subElevator,
subIntake,
subTransfer,
subShooter)))
subIntake, subLEDs, subTransfer, subShooter)))
.onFalse(Commands.deferredProxy(
() -> subStateMachine.tryState(RobotState.NONE, subStateMachine, subClimber, subDrivetrain, subElevator,
subIntake,
subTransfer,
subShooter))
subIntake, subLEDs, subTransfer, subShooter))
.unless(gamePieceTrigger));

// Shoot
controller.btn_RightTrigger.whileTrue(
Commands.deferredProxy(() -> subStateMachine.tryState(RobotState.SHOOTING,
subStateMachine, subClimber, subDrivetrain, subElevator, subIntake, subTransfer, subShooter)))
subStateMachine, subClimber, subDrivetrain, subElevator, subIntake, subLEDs, subTransfer, subShooter)))
.onFalse(Commands.deferredProxy(
() -> subStateMachine.tryState(RobotState.NONE, subStateMachine, subClimber, subDrivetrain, subElevator,
subIntake,
subTransfer,
subShooter))
subIntake, subLEDs, subTransfer, subShooter))
.unless(gamePieceTrigger));

// Prep with vision
controller.btn_RightBumper.onTrue(Commands.runOnce(() -> subStateMachine.setTargetState(TargetState.PREP_VISION)))
.onTrue(Commands
.deferredProxy(
() -> subStateMachine.tryState(RobotState.PREP_VISION, subStateMachine, subClimber, subDrivetrain,
subElevator, subIntake, subTransfer, subShooter)));
subElevator, subIntake, subLEDs, subTransfer, subShooter)));

// Ejecting
controller.btn_LeftBumper.whileTrue(Commands.deferredProxy(
() -> subStateMachine.tryState(RobotState.EJECTING, subStateMachine,
subClimber, subDrivetrain, subElevator,
subIntake,
subTransfer,
subShooter)))
() -> subStateMachine.tryState(RobotState.EJECTING, subStateMachine, subClimber, subDrivetrain, subElevator,
subIntake, subLEDs, subTransfer, subShooter)))
.onFalse(Commands.deferredProxy(
() -> subStateMachine.tryState(RobotState.NONE, subStateMachine, subClimber,
subDrivetrain, subElevator,
subIntake,
subTransfer,
subShooter)));
() -> subStateMachine.tryState(RobotState.NONE, subStateMachine, subClimber, subDrivetrain, subElevator,
subIntake, subLEDs, subTransfer, subShooter)));

// Prep spike
controller.btn_X.onTrue(Commands.runOnce(() -> subStateMachine.setTargetState(TargetState.PREP_SPIKE)))
.onTrue(
Commands.deferredProxy(
() -> subStateMachine.tryState(RobotState.PREP_SPIKE, subStateMachine, subClimber, subDrivetrain,
subElevator, subIntake, subTransfer, subShooter)));
subElevator, subIntake, subLEDs, subTransfer, subShooter)));

controller.btn_B.onTrue(Commands.runOnce(() -> subStateMachine.setTargetState(TargetState.PREP_AMP)))
.onTrue(Commands.deferredProxy(
() -> subStateMachine.tryState(RobotState.PREP_AMP, subStateMachine, subClimber, subDrivetrain, subElevator,
subIntake, subTransfer, subShooter)));
subIntake, subLEDs, subTransfer, subShooter)));

controller.btn_Y.onTrue(Commands.runOnce(() -> subStateMachine.setTargetState(TargetState.PREP_SUB_BACKWARDS)))
.onTrue(Commands.deferredProxy(
() -> subStateMachine.tryState(RobotState.PREP_SUB_BACKWARDS, subStateMachine, subClimber, subDrivetrain,
subElevator,
subIntake, subTransfer, subShooter)));
subElevator, subIntake, subLEDs, subTransfer, subShooter)));

// "Unalive Shooter"
controller.btn_A.onTrue(
Commands.deferredProxy(() -> subStateMachine.tryState(RobotState.PREP_NONE,
subStateMachine, subClimber, subDrivetrain, subElevator, subIntake, subTransfer, subShooter))
subStateMachine, subClimber, subDrivetrain, subElevator, subIntake, subLEDs, subTransfer, subShooter))
.alongWith(Commands.runOnce(() -> subStateMachine.setTargetState(TargetState.PREP_NONE))))
.onFalse(Commands.runOnce(() -> subShooter.setShootingNeutralOutput()));

// Prep subwoofer
controller.btn_South.onTrue(Commands.runOnce(() -> subStateMachine.setTargetState(TargetState.PREP_SPEAKER)))
.onTrue(Commands.deferredProxy(
() -> subStateMachine.tryState(RobotState.PREP_SPEAKER, subStateMachine, subClimber, subDrivetrain,
subElevator,
subIntake, subTransfer, subShooter)));
subElevator, subIntake, subLEDs, subTransfer, subShooter)));

// Prep wing
controller.btn_North.onTrue(Commands.runOnce(() -> subStateMachine.setTargetState(TargetState.PREP_WING)))
.onTrue(Commands.deferredProxy(
() -> subStateMachine.tryState(RobotState.PREP_WING, subStateMachine, subClimber, subDrivetrain,
subElevator,
subIntake, subTransfer, subShooter)));
subElevator, subIntake, subLEDs, subTransfer, subShooter)));

// Prep shuffle
controller.btn_West.onTrue(Commands.runOnce(() -> subStateMachine.setTargetState(TargetState.PREP_SHUFFLE)))
.onTrue(Commands.deferredProxy(
() -> subStateMachine.tryState(RobotState.PREP_SHUFFLE, subStateMachine, subClimber, subDrivetrain,
subElevator,
subIntake, subTransfer, subShooter)));
subElevator, subIntake, subLEDs, subTransfer, subShooter)));

// Game Piece Override
controller.btn_East.onTrue(Commands.runOnce(() -> subTransfer.setGamePieceCollected(true))
Expand All @@ -254,27 +265,27 @@ private void configureAutoSelector() {

// -- Preload Sub --
autoChooser.addOption("Preload Only Amp-Side", new PreloadOnly(subStateMachine, subClimber, subDrivetrain,
subElevator, subIntake, subShooter, subTransfer, 0, preloadDelay));
subElevator, subIntake, subLEDs, subShooter, subTransfer, 0, preloadDelay));
autoChooser.setDefaultOption("Preload Only Center",
new PreloadOnly(subStateMachine, subClimber, subDrivetrain, subElevator,
subIntake, subShooter, subTransfer,
subIntake, subLEDs, subShooter, subTransfer,
1, preloadDelay));
autoChooser.addOption("Preload Only Source-Side", new PreloadOnly(subStateMachine, subClimber, subDrivetrain,
subElevator, subIntake, subShooter, subTransfer, 2, preloadDelay));
subElevator, subIntake, subLEDs, subShooter, subTransfer, 2, preloadDelay));

autoChooser.addOption("Preload Taxi",
new PreloadTaxi(subStateMachine, subClimber, subDrivetrain, subElevator,
subIntake, subShooter, subTransfer));
subIntake, subLEDs, subShooter, subTransfer));
autoChooser.addOption("Wing Only Down", new WingOnly(subStateMachine,
subClimber, subDrivetrain, subElevator,
subIntake, subTransfer, subShooter, readyToShoot, true));
subIntake, subLEDs, subTransfer, subShooter, readyToShootOperator, true));
autoChooser.addOption("Wing Only Up", new WingOnly(subStateMachine,
subClimber, subDrivetrain, subElevator,
subIntake, subTransfer, subShooter, readyToShoot, false));
subIntake, subLEDs, subTransfer, subShooter, readyToShootOperator, false));

autoChooser.addOption("Centerline :3", new Centerline(subStateMachine,
subClimber, subDrivetrain, subElevator,
subIntake, subTransfer, subShooter, readyToShoot, false));
subIntake, subLEDs, subTransfer, subShooter, readyToShootOperator, false));

SmartDashboard.putData(autoChooser);
}
Expand Down Expand Up @@ -307,4 +318,14 @@ public static Command AddVisionMeasurement() {
.withInterruptBehavior(Command.InterruptionBehavior.kCancelIncoming).ignoringDisable(true);
}

public void setDisabledLEDs() {
subLEDs.setLEDAnimation(constLEDs.DISABLED_COLOR_1, 0);
subLEDs.setLEDAnimation(constLEDs.DISABLED_COLOR_2, 1);
}

public void clearLEDs() {
subLEDs.clearAnimation();
subLEDs.setLEDs(constLEDs.CLEAR_LEDS);
}

}
3 changes: 3 additions & 0 deletions src/main/java/frc/robot/RobotMap.java
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Expand Up @@ -65,4 +65,7 @@ public static class mapTransfer {
public static final int NOTE_SENSOR_DIO = 0;
}

public static class mapLEDs {
public static final int CANDLE_CAN = 60;
}
}
10 changes: 7 additions & 3 deletions src/main/java/frc/robot/commands/Autos/Centerline.java
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,7 @@
import frc.robot.subsystems.Drivetrain;
import frc.robot.subsystems.Elevator;
import frc.robot.subsystems.Intake;
import frc.robot.subsystems.LEDs;
import frc.robot.subsystems.Shooter;
import frc.robot.subsystems.StateMachine;
import frc.robot.subsystems.Transfer;
Expand All @@ -34,6 +35,7 @@ public class Centerline extends SequentialCommandGroup {
Drivetrain subDrivetrain;
Elevator subElevator;
Intake subIntake;
LEDs subLEDs;
Transfer subTransfer;
Shooter subShooter;

Expand Down Expand Up @@ -63,27 +65,29 @@ public SequentialCommandGroup getScoreOrHopCmd(int noteNumber) {
}

public Centerline(StateMachine subStateMachine, Climber subClimber, Drivetrain subDrivetrain, Elevator subElevator,
Intake subIntake, Transfer subTransfer, Shooter subShooter, BooleanSupplier readyToShoot, boolean goesDown) {
Intake subIntake, LEDs subLEDs, Transfer subTransfer, Shooter subShooter, BooleanSupplier readyToShoot,
boolean goesDown) {
this.subStateMachine = subStateMachine;
this.subClimber = subClimber;
this.subDrivetrain = subDrivetrain;
this.subElevator = subElevator;
this.subIntake = subIntake;
this.subLEDs = subLEDs;
this.subTransfer = subTransfer;
this.readyToShoot = readyToShoot;
this.subShooter = subShooter;
this.goesDown = goesDown;

shootSequence = () -> new ShootSequence(subStateMachine, subClimber, subDrivetrain, subElevator, subIntake,
subTransfer, subShooter, readyToShoot);
subLEDs, subTransfer, subShooter, readyToShoot);

addCommands(
Commands.runOnce(
() -> subDrivetrain.resetPoseToPose(getInitialPose().get())),

// -- PRELOAD --
Commands.deferredProxy(() -> subStateMachine.tryState(RobotState.INTAKING, subStateMachine, subClimber,
subDrivetrain, subElevator, subIntake, subTransfer, subShooter))
subDrivetrain, subElevator, subIntake, subLEDs, subTransfer, subShooter))
.until(() -> subTransfer.getGamePieceStored()),

Commands.deferredProxy(shootSequence),
Expand Down
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