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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,31 @@ | ||
| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
|
|
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| package org.team639.commands; | ||
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|
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| import org.team639.subsystems.LED; | ||
|
|
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| import edu.wpi.first.wpilibj2.command.CommandBase; | ||
|
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| public class AimbotLED extends CommandBase { | ||
| private LED led; | ||
| /** Creates a new AimbotLED. */ | ||
| public AimbotLED(LED led) { | ||
| // Use addRequirements() here to declare subsystem dependencies. | ||
| this.led = led; | ||
| addRequirements(led); | ||
| } | ||
|
|
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| // Called every time the scheduler runs while the command is scheduled. | ||
| @Override | ||
| public void execute() { | ||
| led.aimLockmode(); | ||
| } | ||
|
|
||
| // Returns true when the command should end. | ||
| @Override | ||
| public boolean isFinished() { | ||
| return false; | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,85 @@ | ||
| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
|
|
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| package org.team639.commands.Drive; | ||
|
|
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| import org.team639.Robot; | ||
| import org.team639.RobotContainer; | ||
| import org.team639.controlboard.ControllerWrapper; | ||
| import org.team639.lib.Constants; | ||
| import org.team639.lib.states.AllianceColor; | ||
| import org.team639.lib.states.GearMode; | ||
| import org.team639.subsystems.DriveTrain; | ||
|
|
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| import edu.wpi.first.math.controller.PIDController; | ||
| import edu.wpi.first.wpilibj2.command.CommandBase; | ||
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| public class ChaseBall extends CommandBase { | ||
| private DriveTrain driveTrain; | ||
| private double setpoint; | ||
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| private double angle; | ||
| private boolean clockwise; | ||
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| private GearMode lastGear; | ||
| private PIDController controller = new PIDController(Constants.AutoConstants.autoRotateP, | ||
| Constants.AutoConstants.autoRotateI, Constants.AutoConstants.autoRotateD); | ||
|
|
||
| /** | ||
| * Chases a ball using visions with a variable setpoint. Should be called when held | ||
| * @param driveTrain DriveTrain to use | ||
| */ | ||
| public ChaseBall(DriveTrain driveTrain) { | ||
| this.driveTrain = driveTrain; | ||
| addRequirements(driveTrain); | ||
| } | ||
|
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| public double getSetpoint() | ||
| { | ||
| angle = RobotContainer.getAllianceColor().equals(AllianceColor.blue) ? Robot.getAngleToBallBlue() % 360.0 : Robot.getAngleToBallRed(); | ||
| return driveTrain.getHeading() + angle; | ||
| } | ||
|
|
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| // Called when the command is initially scheduled. | ||
| @Override | ||
| public void initialize() { | ||
| lastGear = driveTrain.getGearMode(); | ||
| //angle = RobotContainer.getAllianceColor().equals(AllianceColor.blue) ? Robot.getAngleToBallBlue() % 360.0 : Robot.getAngleToBallRed(); | ||
| //setpoint = clockwise ? Math.abs(angle) + driveTrain.getHeading() : driveTrain.getHeading() - Math.abs(angle); | ||
| clockwise = Math.signum(getSetpoint()) > 0 ? true : false; | ||
|
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| controller.setTolerance(Constants.AutoConstants.autoRotateThreshHold, | ||
| Constants.AutoConstants.autoRotateThreshHoldVelo); | ||
| controller.setSetpoint(getSetpoint()); | ||
|
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| driveTrain.setSpeedsPercent(0, 0); | ||
| if (lastGear.equals(GearMode.high)) | ||
| driveTrain.toggleGearLow(); | ||
| System.out.println("Auto rotate initializing"); | ||
| } | ||
|
|
||
| // Called every time the scheduler runs while the command is scheduled. | ||
| @Override | ||
| public void execute() { | ||
| clockwise = Math.signum(getSetpoint()) > 0 ? true : false; | ||
| if (clockwise) | ||
| driveTrain.PIDLinearInput(ControllerWrapper.DriverController.getLeftY(),controller.calculate(driveTrain.getHeading(), setpoint)); | ||
| else | ||
| driveTrain.PIDLinearInput(ControllerWrapper.DriverController.getLeftY(),-controller.calculate(driveTrain.getHeading(), setpoint)); | ||
| } | ||
|
|
||
| // Called once the command ends or is interrupted. | ||
| @Override | ||
| public void end(boolean interrupted) { | ||
| driveTrain.setSpeedsPercent(0, 0); | ||
| if (lastGear.equals(GearMode.high)) | ||
| driveTrain.toggleGearHigh(); | ||
| } | ||
|
|
||
| // Returns true when the command should end. | ||
| @Override | ||
| public boolean isFinished() { | ||
| return false; | ||
| } | ||
| } |
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