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imagine if scylla had a line-up command #22

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Merged
pix-xl merged 1 commit into from
Mar 20, 2025
Merged

imagine if scylla had a line-up command #22

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2 changes: 2 additions & 0 deletions src/main/java/frc/robot/driver/DriverXbox.java
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@
import frc.robot.rushinator.RushinatorWrist;
import frc.robot.rushinator.commands.SetArmState;
import frc.robot.rushinator.commands.SetWristState;
import frc.robot.vision.commands.LineupCommand;


public class DriverXbox extends XboxGamepad {
Expand Down Expand Up @@ -59,6 +60,7 @@ public void setupTeleopButtons() {

controller.rightBumper().whileTrue(new InstantCommand(() -> RobotContainer.modeFast = false));
controller.rightBumper().whileFalse(new InstantCommand(() -> RobotContainer.modeFast = true));
controller.leftBumper().onTrue(new LineupCommand());

/*Algae Pivot TEsting */
// controller.a().onTrue(AlgaePivotCommands.setAlgaePivotAngle(AlgaeSubsystem.State.kFloorIntake));
Expand Down
32 changes: 27 additions & 5 deletions src/main/java/frc/robot/vision/commands/LineupCommand.java
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@
import static edu.wpi.first.units.Units.MetersPerSecondPerSecond;
import static edu.wpi.first.units.Units.RadiansPerSecond;
import static edu.wpi.first.units.Units.RadiansPerSecondPerSecond;
import static edu.wpi.first.units.Units.RotationsPerSecond;

import java.util.Optional;

Expand All @@ -26,6 +27,7 @@
import edu.wpi.first.wpilibj2.command.Command;

import frc.robot.vision.VisionConfig;
import frc.robot.RobotContainer;
import frc.robot.drivetrain.*;
import frc.robot.vision.PoseEstimatorSubsystem;

Expand Down Expand Up @@ -63,6 +65,7 @@ public class LineupCommand extends Command {


private static Pose2d currentPose;
private static Pose2d targetPose;

public LineupCommand() {
//set tolerances of all PID controllers
Expand All @@ -73,7 +76,7 @@ public LineupCommand() {
thetaController.enableContinuousInput(Units.degreesToRadians(-180), Units.degreesToRadians(180));

currentPose = PoseEstimatorSubsystem.getInstance().getCurrentPose();
Pose2d targetPose = getTargetReefPose(true);
targetPose = getTargetReefPose(true);

xDistanceController.reset(0);
yDistanceController.reset(0);
Expand All @@ -91,15 +94,34 @@ public void initialize() {
public void execute() {
currentPose = PoseEstimatorSubsystem.getInstance().getCurrentPose();
ChassisSpeeds currentSpeeds = CommandSwerveDrivetrain.getInstance().getState().Speeds;
double xPose = currentPose.getTranslation().getX();
double yPose = currentPose.getTranslation().getY();

double Xpos = currentPose.getTranslation().getX();
double Ypos = currentPose.getTranslation().getY();
double Xvel = currentSpeeds.vxMetersPerSecond;
double Yvel = currentSpeeds.vyMetersPerSecond;
double XOutput = 0.15 * TunerConstants.kSpeedAt12Volts.in(MetersPerSecond) * 0.95 * xDistanceController.calculate(Xpos, targetPose.getX());
double YOutput = 0.15 * TunerConstants.kSpeedAt12Volts.in(MetersPerSecond) * 0.95 * xDistanceController.calculate(Ypos, targetPose.getY());
double thetaOutput = 0.15 * RotationsPerSecond.of(0.75).in(RadiansPerSecond) * thetaController.calculate(currentPose.getRotation().getRadians(), targetPose.getRotation().getRadians());

if (DriverStation.getAlliance().get() == Alliance.Blue){
CommandSwerveDrivetrain.getInstance().applyRequest(() ->
RobotContainer.drive.withVelocityX(XOutput)
.withVelocityY(YOutput)
.withRotationalRate(thetaOutput)
).execute();
} else {
CommandSwerveDrivetrain.getInstance().applyRequest(() ->
RobotContainer.drive.withVelocityX(-XOutput)
.withVelocityY(-YOutput)
.withRotationalRate(thetaOutput)
).execute();
}

}


@Override
public boolean isFinished() {
return false;
return xDistanceController.atSetpoint() && yDistanceController.atSetpoint() && thetaController.atSetpoint();
}

@Override
Expand Down