updated arm

FRC-Team-620 · Jan 26, 2024 · 5df5816 · 5df5816
2 parents d0db4cf + f58057b
commit 5df5816
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Showing 7 changed files with 43 additions and 5 deletions.
diff --git a/src/main/java/org/jmhsrobotics/frc2024/Robot.java b/src/main/java/org/jmhsrobotics/frc2024/Robot.java
@@ -24,8 +24,10 @@
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import monologue.Logged;
+import monologue.Monologue;
 
-public class Robot extends TimedRobot {
+public class Robot extends TimedRobot implements Logged {
 	private Command autonomousCommand;
 
 	private RobotContainer m_robotContainer;
@@ -48,10 +50,14 @@ public void setupLogs() {
 		DriverStation.startDataLog(DataLogManager.getLog());
 		BuildDataLogger.LogToNetworkTables(BuildConstants.class);
 		BuildDataLogger.LogToWpiLib(DataLogManager.getLog(), BuildConstants.class);
+		boolean fileOnly = false;
+		boolean lazyLogging = false;
+		Monologue.setupMonologue(this, "Robot", fileOnly, lazyLogging);
 	}
 
 	@Override
 	public void robotPeriodic() {
+		Monologue.updateAll();
 		CommandScheduler.getInstance().run();
 	}
 

diff --git a/src/main/java/org/jmhsrobotics/frc2024/RobotContainer.java b/src/main/java/org/jmhsrobotics/frc2024/RobotContainer.java
@@ -30,8 +30,9 @@
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.WaitCommand;
+import monologue.Logged;
 
-public class RobotContainer {
+public class RobotContainer implements Logged {
 
 	private ControlBoard control = new CompControl();
 	// Subsystems

diff --git a/src/main/java/org/jmhsrobotics/frc2024/controlBoard/CompControl.java b/src/main/java/org/jmhsrobotics/frc2024/controlBoard/CompControl.java
@@ -29,6 +29,7 @@ public double rotationalInput() {
 		return this.driver.getRightX();
 	}
 
+<<<<<<< HEAD
 	public double pitchInput() {
 		// TODO Auto-generated method stub
 		return this.driver.getRightY();
@@ -54,6 +55,23 @@ public Trigger presetHigh() {
 	public Trigger presetLow() {
 		// TODO Auto-generated method stub
 		return this.driver.a();
+=======
+	@Override
+	public Trigger brake() {
+		// TODO Auto-generated method stub
+		return this.driver.leftBumper();
+	}
+
+	@Override
+	public Trigger setZeroHeading() {
+		// TODO Auto-generated method stub
+		return this.driver.rightBumper();
+	}
+
+	public Trigger presetHigh() {
+		// TODO Auto-generated method stub
+		return this.operator.y();
+>>>>>>> f58057b4b042247b59d7b200035cb9fab3045a00
 	}
 
 }
diff --git a/src/main/java/org/jmhsrobotics/frc2024/controlBoard/ControlBoard.java b/src/main/java/org/jmhsrobotics/frc2024/controlBoard/ControlBoard.java
@@ -7,7 +7,10 @@ public interface ControlBoard {
 	// =============Operator Controls=============
 
 	public Trigger presetHigh();
+<<<<<<< HEAD
 	public Trigger presetLow();
+=======
+>>>>>>> f58057b4b042247b59d7b200035cb9fab3045a00
 
 	// =============Driver Controls=============
 	public Trigger brake();
@@ -19,7 +22,10 @@ public interface ControlBoard {
 	public double yInput();
 
 	public double rotationalInput();
+<<<<<<< HEAD
 
 	public double pitchInput();
+=======
+>>>>>>> f58057b4b042247b59d7b200035cb9fab3045a00
 
 }
diff --git a/src/main/java/org/jmhsrobotics/frc2024/subsystems/LED/LEDSubsystem.java b/src/main/java/org/jmhsrobotics/frc2024/subsystems/LED/LEDSubsystem.java
@@ -7,8 +7,9 @@
 import edu.wpi.first.wpilibj.RobotBase;
 import edu.wpi.first.wpilibj.simulation.AddressableLEDSim;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import monologue.Logged;
 
-public class LEDSubsystem extends SubsystemBase {
+public class LEDSubsystem extends SubsystemBase implements Logged {
 	private AddressableLED led;
 	private AddressableLEDBuffer ledBuffer;
 

diff --git a/src/main/java/org/jmhsrobotics/frc2024/subsystems/drive/DriveSubsystem.java b/src/main/java/org/jmhsrobotics/frc2024/subsystems/drive/DriveSubsystem.java
@@ -22,8 +22,10 @@
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
 import edu.wpi.first.math.kinematics.SwerveModuleState;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import monologue.Logged;
+import monologue.Annotations.Log;
 
-public class DriveSubsystem extends SubsystemBase {
+public class DriveSubsystem extends SubsystemBase implements Logged {
 	// Create MAXSwerveModules
 	// Test
 	private ISwerveModule m_frontLeft;
@@ -39,6 +41,8 @@ public class DriveSubsystem extends SubsystemBase {
 
 	// Create RevSwerveDrive
 	private final RevSwerveDrive swerveDrive;
+	@Log.File
+	private Pose2d pose2d = new Pose2d();
 
 	/** Creates a new DriveSubsystem. */
 	public DriveSubsystem() {
@@ -73,6 +77,7 @@ public DriveSubsystem() {
 	public void periodic() {
 		// Update the odometry in the periodic block
 		swerveDrive.updateOdometry();
+		pose2d = swerveDrive.getPose();
 	}
 
 	public void drive(ChassisSpeeds chassisSpeeds) {

diff --git a/src/main/java/org/jmhsrobotics/frc2024/subsystems/vision/VisionSubsystem.java b/src/main/java/org/jmhsrobotics/frc2024/subsystems/vision/VisionSubsystem.java
@@ -28,8 +28,9 @@
 import edu.wpi.first.wpilibj.Filesystem;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import monologue.Logged;
 
-public class VisionSubsystem extends SubsystemBase {
+public class VisionSubsystem extends SubsystemBase implements Logged {
 	// load the apriltag field layout
 	AprilTagFieldLayout layout;