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started state machine #15

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AlenaNguyen merged 23 commits intomainfrom
State-machine
Aug 31, 2024
Merged

started state machine #15
AlenaNguyen merged 23 commits intomainfrom
State-machine

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@AlenaNguyen AlenaNguyen commented Aug 9, 2024 •
edited by alicekuznetsov
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8/9 Status

  • Add Intake Floor Implementation
  • Add Baseline State Machine logic (RobotContainer)
  • Add Baseline Eject Implementation (May need to change based on how the amp/elevator/drainpipe works)
  • Updated Drive command to match how we tested it on 8/9
    • Includes full (?!) implementation for DT snapping based on state

TODOS: (Should probably be seperate issues)

  • Finish logic to automatically prep shuffle
  • Add logic to automatically prep amp

BrodyKarr and others added 3 commits July 27, 2024 17:03
@BrodyKarr
started making a state machine by using enums and started to make the…
978570c 
… ground intake command🦟™️
@BrodyKarr
made the feeder have a neutral output and tried to define digital inp…
5af0ab8 
…ut for transfer
@AlenaNguyen
finished intake command
dd13c34 
also created methods for changing/getting the robot state
@AlenaNguyen AlenaNguyen requested a review from a team as a code owner August 9, 2024 18:57
@AlenaNguyen AlenaNguyen linked an issue Aug 9, 2024 that may be closed by this pull request
Create Intake Command #12
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alicekuznetsov
alicekuznetsov previously requested changes Aug 9, 2024
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alicekuznetsov commented Aug 9, 2024

Closes #7
Closes #12

@alicekuznetsov alicekuznetsov enabled auto-merge (squash) August 9, 2024 23:59
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alicekuznetsov commented Aug 10, 2024 •
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Drivetrain implementation with states was tested in sim and it was good stuff 😋
As for the rest- I honestly just went "get as much of the state machine as you can get done today" and Alena just ran with it (shes the 🐐). I'm not sure how we should separate the rest of the parts issue-wise/pr-wise but I think the start is to get this in main

@TaylerUva TaylerUva marked this pull request as draft August 10, 2024 20:01
auto-merge was automatically disabled August 10, 2024 20:01

Pull request was converted to draft

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TaylerUva commented Aug 12, 2024

Code looks great so far! Keep up the great work!

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AlenaNguyen commented Aug 12, 2024

Code looks great so far! Keep up the great work!

Yay! And also question: how much do we want to get done in this PR before merging because it's getting pretty chonky 🐹 at the moment

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TaylerUva commented Aug 12, 2024

Code looks great so far! Keep up the great work!

Yay! And also question: how much do we want to get done in this PR before merging because it's getting pretty chonky 🐹 at the moment

Good question. Lets address the requested changes and then we can merge this in and finish adding the remaining states in another PR.

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Code looks really good and most of my suggestions are just nitpicking. We can write the remaining states in another PR. Can we create a new issues for each of the states that remain?

@AlenaNguyen
addressing review comments
d90a310 
- moved enum states to subsystem
- renamed commands to match states
- made things more organized✨
- also deleted sensor in transfer cuz alice already coded one in main :3
@AlenaNguyen
merge conflicts x2 ✨
098ddac
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TaylerUva commented Aug 12, 2024

We can also test the state transitions in sim using our print outs

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TaylerUva reviewed Aug 17, 2024
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@AlenaNguyen AlenaNguyen changed the title started state machine and created intake command started state machine Aug 18, 2024
AlenaNguyen
AlenaNguyen commented Aug 18, 2024
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it does the thing!!
15d31c0 
- added lambda and deferredProxy when calling tryState()
- added some more valid states to PREP states (to switch between prep states)
@AlenaNguyen
replaced 0's with zero() and moved default command outside switch sta…
2e3b5dd 
…tement
@AlenaNguyen AlenaNguyen marked this pull request as ready for review August 31, 2024 19:06
@AlenaNguyen AlenaNguyen enabled auto-merge (squash) August 31, 2024 19:06
@AlenaNguyen AlenaNguyen merged commit 8ae6ed7 into main Aug 31, 2024
@AlenaNguyen AlenaNguyen deleted the State-machine branch August 31, 2024 20:24
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Create Intake Command

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@AlenaNguyen @alicekuznetsov @TaylerUva @BrodyKarr