Control changes (#29)

* Changed controls for Driver and Operator * fix arm encoder constant and switched driver trigger controls * climb direction fix --------- Co-authored-by: Anay Nagar <[email protected]>
SaintsRobotics · Mar 9, 2024 · e88e22c · e88e22c
1 parent 599e075
commit e88e22c
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Showing 3 changed files with 36 additions and 20 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -106,7 +106,7 @@ public static final class IntakeConstants {
     public static final double kIntakeAmpScoringAngle = -93; // 193 - 100 (previous angle)
 
     /** Encoder offset in rotations */
-    public static final double kArmEncoderOffset = 0.2252;
+    public static final double kArmEncoderOffset = 0.3415;
 
     public static final double kIntakeSpeed = 0.5;
 

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -110,26 +110,26 @@ public RobotContainer() {
                     IOConstants.kControllerDeadband)
                     * DriveConstants.kMaxSpeedMetersPerSecond
                     * (1 - m_driverController
-                        .getLeftTriggerAxis()
+                        .getRightTriggerAxis()
                         * IOConstants.kSlowModeScalar),
                 // * 0.8,
                 MathUtil.applyDeadband(
                     -m_driverController.getLeftX(),
                     IOConstants.kControllerDeadband)
                     * DriveConstants.kMaxSpeedMetersPerSecond
                     * (1 - m_driverController
-                        .getLeftTriggerAxis()
+                        .getRightTriggerAxis()
                         * IOConstants.kSlowModeScalar),
                 // * 0.8,
                 MathUtil.applyDeadband(
                     -m_driverController.getRightX(),
                     IOConstants.kControllerDeadband)
                     * DriveConstants.kMaxAngularSpeedRadiansPerSecond
                     * (1 - m_driverController
-                        .getLeftTriggerAxis()
+                        .getRightTriggerAxis()
                         * IOConstants.kSlowModeScalar)
                     / 2,
-                !m_driverController.getRightBumper()),
+                !m_driverController.getLeftBumper()),
             m_robotDrive));
   }
 
@@ -151,13 +151,11 @@ private void configureBindings() {
             new NoteOuttakeCommand(m_intakeSubsystem)))
         .onFalse(new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Off));
 
-    new JoystickButton(m_operatorController, Button.kA.value)
-        .onTrue(new InstantCommand(() -> m_climberSubsystem.forward(),
-            m_climberSubsystem));
-    new JoystickButton(m_operatorController, Button.kB.value)
-        .onTrue(new InstantCommand(() -> m_climberSubsystem.reverse(),
-            m_climberSubsystem));
+    new JoystickButton(m_driverController, Button.kRightBumper.value)
+        .onTrue(new IntakeArmPositionCommand(m_intakeSubsystem, ArmPosition.Amp))
+        .onFalse(new IntakeArmPositionCommand(m_intakeSubsystem, ArmPosition.Retracted));
 
+    // Intake, Driver Controller Right Trigger
     new Trigger(() -> {
       return m_driverController.getLeftTriggerAxis() > 0.5;
     }).whileTrue(
@@ -167,13 +165,30 @@ private void configureBindings() {
             new IntakeArmPositionCommand(m_intakeSubsystem, ArmPosition.Retracted)))
         .onFalse(new IntakeArmPositionCommand(m_intakeSubsystem, ArmPosition.Retracted));
 
+    // Outtake, Operator Controller Right Trigger
     new Trigger(() -> {
-      return m_driverController.getRightTriggerAxis() > 0.5;
-    }).whileTrue(
-        new SequentialCommandGroup(
-            new IntakeArmPositionCommand(m_intakeSubsystem, ArmPosition.Amp),
-            new NoteOuttakeCommand(m_intakeSubsystem)))
-        .onFalse(new IntakeArmPositionCommand(m_intakeSubsystem, ArmPosition.Retracted));
+      return m_operatorController.getRightTriggerAxis() > 0.5;
+    }).whileTrue(new NoteOuttakeCommand(m_intakeSubsystem));
+
+    new Trigger(() -> {
+      return m_operatorController.getLeftTriggerAxis() > 0.5;
+    }).onTrue(new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Shooting))
+        .onFalse(new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Off));
+
+    // Climber Up, Operator Controller Right Bumper + A Button
+    new Trigger(() -> {
+      return m_operatorController.getAButton() && m_operatorController.getRightBumper();
+    }).whileTrue(new InstantCommand(() -> m_climberSubsystem.forward()));
+
+    // Climber Down, Operator Controller Right Bumper + B Button
+    new Trigger(() -> {
+      return m_operatorController.getBButton() && m_operatorController.getRightBumper();
+    }).whileTrue(new InstantCommand(() -> m_climberSubsystem.reverse()));
+
+    // Toggle Distance Sensor, Operatoe Controller Left Bumper + Start Button
+    new Trigger(() -> {
+      return m_operatorController.getLeftBumper() && m_operatorController.getStartButton();
+    }).onTrue(new InstantCommand(() -> m_intakeSubsystem.toggleDistanceSensor()));
   }
 
   /**

diff --git a/src/main/java/frc/robot/subsystems/ClimberSubsystem.java b/src/main/java/frc/robot/subsystems/ClimberSubsystem.java
@@ -13,10 +13,10 @@
 import frc.robot.Constants.ClimberConstants;
 
 public class ClimberSubsystem extends SubsystemBase {
-  private final DoubleSolenoid m_leftSolenoid = new DoubleSolenoid(PneumaticsModuleType.REVPH,
+  private final DoubleSolenoid m_leftSolenoid = new DoubleSolenoid(2, PneumaticsModuleType.REVPH,
       ClimberConstants.leftForwardChannel, ClimberConstants.leftReverseChannel);
-  private final DoubleSolenoid m_rightSolenoid = new DoubleSolenoid(PneumaticsModuleType.REVPH,
-      ClimberConstants.rightForwardChannel, ClimberConstants.rightReverseChannel);
+  private final DoubleSolenoid m_rightSolenoid = new DoubleSolenoid(2, PneumaticsModuleType.REVPH,
+      ClimberConstants.rightReverseChannel, ClimberConstants.rightForwardChannel);
   private PneumaticHub m_pHub;
 
   private boolean m_compressorEnabled;
@@ -37,6 +37,7 @@ public ClimberSubsystem() {
   public void periodic() {
     m_leftSolenoid.set(m_state);
     m_rightSolenoid.set(m_state);
+    SmartDashboard.putString("pneumatics state", m_state.name());
     SmartDashboard.putNumber("pressure", m_pHub.getPressure(0));
   }