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feat: climber state machine implementation #42

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Merged
jmdeal merged 1 commit into from
Apr 18, 2025
Merged

feat: climber state machine implementation #42

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30 changes: 16 additions & 14 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -9,12 +9,11 @@
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.ConditionalCommand;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import frc.robot.algaeflywheel.AlgaeRoller;
import frc.robot.algaepivot.AlgaeSubsystem;
import frc.robot.auton.AutonMaster;
import frc.robot.climber.Climber;
import frc.robot.driver.DriverXbox;
import frc.robot.drivetrain.CommandSwerveDrivetrain;
import frc.robot.drivetrain.TunerConstants;
Expand All @@ -24,7 +23,6 @@
import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
import frc.robot.operator.OperatorXbox;
import frc.robot.vision.PoseEstimatorSubsystem;
import frc.robot.vision.VisionConfig;

import frc.robot.rushinator.*;
import frc.robot.rushinator.commands.*;
Expand All @@ -38,7 +36,7 @@
public class RobotContainer {
public static double kMaxVelocity = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
public static double kMaxAngularVelocity = RotationsPerSecond.of(1.0).in(RadiansPerSecond);

public static boolean modeFast = true;

/* Setting up bindings for necessary control of the swerve drive platform */
Expand Down Expand Up @@ -70,7 +68,7 @@ public RobotContainer() {
* @return the command to run in autonomous
*/
public Command getAutonomousCommand() {
// return CommandSwerveDrivetrain.getInstance().applyRequest(() ->
// return CommandSwerveDrivetrain.getInstance().applyRequest(() ->
// RobotContainer.drive.withVelocityX(0.25 * RobotContainer.kMaxVelocity) // Drive forward with negative Y (forward)
// .withVelocityY(0.0) // Drive left with negative X (left)
// .withRotationalRate(0.0) // Drive counterclockwise with negative X (left)
Expand All @@ -84,6 +82,10 @@ public void setDefaultCommands() {
final var operator = OperatorXbox.getInstance();
final var currAlliance = DriverStation.getAlliance().get();

// TODO: Re-enable climber once setpoints have been tuned
// final var climber = new Climber(operator::getClimberDeploy, operator::getClimberRetract, operator::getClimberOverride, Climber.OperatingMode.kManual);
// climber.setDefaultCommand(new Climber.DefaultCommand(climber));

CommandSwerveDrivetrain.getInstance().setDefaultCommand(
CommandSwerveDrivetrain.getInstance().applyRequest(() -> {
if (currAlliance == Alliance.Blue){
Expand Down Expand Up @@ -143,7 +145,7 @@ public void setDefaultCommands() {
// }
// RushinatorWrist.getInstance().setDefaultCommand(new HoldWristPosition());
// RushinatorWrist.getInstance().setDefaultCommand(new ManualWristControl(() -> operator.getLeftY()));


// CommandSwerveDrivetrain.getInstance().setDefaultCommand(
// CommandSwerveDrivetrain.getInstance().applyRequest(() -> {
Expand Down Expand Up @@ -172,23 +174,23 @@ public void setDefaultCommands() {
);
RushinatorWrist.getInstance().setDefaultCommand(
new ConditionalCommand(
new SetWristState(RushinatorWrist.State.kTravelRight),
new SetWristState(RushinatorWrist.State.kTravelLeft),
new SetWristState(RushinatorWrist.State.kTravelRight),
new SetWristState(RushinatorWrist.State.kTravelLeft),
() -> RushinatorWrist.kLastState == RushinatorWrist.State.kTravelRight ||
RushinatorWrist.kLastState == RushinatorWrist.State.kScoreL4RightWrist ||
RushinatorWrist.kLastState == RushinatorWrist.State.kScoreL3RightWrist ||
RushinatorWrist.kLastState == RushinatorWrist.State.kScoreL2RightWrist ||
RushinatorWrist.kLastState == RushinatorWrist.State.kScoreL4RightWrist ||
RushinatorWrist.kLastState == RushinatorWrist.State.kScoreL3RightWrist ||
RushinatorWrist.kLastState == RushinatorWrist.State.kScoreL2RightWrist ||
RushinatorWrist.kLastState == RushinatorWrist.State.kScoreL1Mid ||
RushinatorWrist.kLastState == RushinatorWrist.State.kGroundMid ||
RushinatorWrist.kLastState == RushinatorWrist.State.kHPMid ||
RushinatorWrist.kLastState == RushinatorWrist.State.kTravelL4Right ||
RushinatorWrist.kLastState == RushinatorWrist.State.kClimblRight
)
);

AlgaeRoller.getInstance().setDefaultCommand(new AlgaeRoller.DefaultCommand());

// CoralSubsystem.getInstance().setDefaultCommand(new CoralSubsystem.TuningCommand(() -> (driver.getRightX() + 1) / 2.0f));
}
}

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