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LePlebClamLePlebClam
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Merge pull request #16 from frc6506/devlopment
The robot drivers!
2 parents c966fdc + d0f6d17 commit 3c6f662

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‎.github/workflows/format.yml

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name: Google Java Formatter
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on: [push]
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on:
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- push
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jobs:
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formatting:

‎.github/workflows/gradle.yml ‎.github/workflows/main.yml

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name: Build FRC Java with Gradle
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name: Build FRC Java with Gradle 2
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on:
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push:
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branches:
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- master
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- release/*
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pull_request:
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branches:
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- master
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- release/*
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- push
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jobs:
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build:

‎RobotCode2020/.vscode/settings.json

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"**/.classpath": true,
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"**/.project": true,
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"**/.settings": true,
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"**/.factorypath": true,
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"**/*~": true
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"**/.factorypath": true
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}
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}

‎RobotCode2020/RobotCode2020.2/build/tmp/jar/MANIFEST.MF

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Manifest-Version: 1.0
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Main-Class: frc.robot.Main
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‎RobotCode2020/build.gradle

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plugins {
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id "java"
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id "edu.wpi.first.GradleRIO" version "2020.2.2"
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id "edu.wpi.first.GradleRIO" version "2020.1.2"
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}
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sourceCompatibility = JavaVersion.VERSION_11

‎RobotCode2020/src/main/java/frc/robot/OI.java

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@@ -8,7 +8,8 @@
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package frc.robot;
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import edu.wpi.first.wpilibj.Joystick;
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import edu.wpi.first.wpilibj.buttons.Button;
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import edu.wpi.first.wpilibj.buttons.JoystickButton;
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/**
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* This class is the glue that binds the controls on the physical operator interface to the commands
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* and command groups that allow control of the robot.
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// number it is.
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// Joystick stick = new Joystick(port);
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// Button button = new JoystickButton(stick, buttonNumber);
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public Joystick controller = new Joystick(RobotMap.CONTROLLER_PORT_ID);
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public Button abutton = new JoystickButton(controller, RobotMap.A_BUTTON_ID);
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public Button bbutton = new JoystickButton(controller, RobotMap.B_BUTTON_ID);
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Joystick xbox = new Joystick(RobotMap.JOYSTICK_PORT);
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public double getXboxX() {
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return xbox.getRawAxis(RobotMap.XBOX_X_AXIS);
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}
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public double getXboxY() {
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return xbox.getRawAxis(RobotMap.XBOX_Y_AXIS);
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}
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// There are a few additional built in buttons you can use. Additionally,
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// by subclassing Button you can create custom triggers and bind those to
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// commands the same as any other Button.
@@ -51,4 +46,7 @@ public double getXboxY() {
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// until it is finished as determined by it's isFinished method.
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// button.whenReleased(new ExampleCommand());
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public double getAxis(int axis) {
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return controller.getRawAxis(axis);
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}
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}

‎RobotCode2020/src/main/java/frc/robot/Robot.java

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import frc.robot.commands.ExampleCommand;
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import frc.robot.subsystems.ExampleSubsystem;
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import frc.robot.subsystems.Mailbox;
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import frc.robot.subsystems.Drivetrain;
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import frc.robot.subsystems.Arm;
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import frc.robot.subsystems.Climb;
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/**
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* The VM is configured to automatically run this class, and to call the functions corresponding to
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* each mode, as described in the TimedRobot documentation. If you change the name of this class or
@@ -25,6 +30,12 @@ public class Robot extends TimedRobot {
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public static ExampleSubsystem m_subsystem = new ExampleSubsystem();
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public static OI m_oi;
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// subsystems
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public static Mailbox mail = new Mailbox();
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public static Drivetrain drivetrain = new Drivetrain();
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public static Arm armMotor = new Arm();
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public static Climb climbDevice = new Climb();
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Command m_autonomousCommand;
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SendableChooser<Command> m_chooser = new SendableChooser<>();
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‎RobotCode2020/src/main/java/frc/robot/RobotMap.java

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@@ -23,10 +23,26 @@ public class RobotMap {
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// public static int rangefinderPort = 1;
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// public static int rangefinderModule = 1;
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26-
public static final int JOYSTICK_PORT = 0;
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public static final int XBOX_X_AXIS = 0;
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public static final int XBOX_Y_AXIS = 0;
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// arm motor ID; placeholder for now
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public static final int CONTROLLER_PORT_ID = 0;
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public static final int DRIVE_LEFT_PORT = 0;
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public static final int DRIVE_RIGHT_PORT = 1;
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public static final int MOTOR_ARM_ID = 0;
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public static final int MOTOR_MAILBOX_ID = 0;
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public static final int MOTOR_LEFT_ID =
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12; // Fliped sides virutally becuaes of turning issues //nevermind
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public static final int MOTOR_RIGHT_ID = 10;
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public static final int MOTOR_CLIMB_ID = 0;
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// left joystick
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public static final int JOYSTICK_DRIVE_FORWARDS_ID = 1;
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public static final int JOYSTICK_DRIVE_ROTATION_ID = 0;
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public static final int A_BUTTON_ID = 0;
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public static final int B_BUTTON_ID = 0;
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// backwards button
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// public static final int JOYSTICK_LEFT_TRIGGER_ID = 0;
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// public static final int JOYSTICK_MAILBOX_ROLLERS_ID = 0;
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}

‎RobotCode2020/src/main/java/frc/robot/commands/ArmSet.java

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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package frc.robot.commands;
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import frc.robot.Robot;
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import edu.wpi.first.wpilibj.command.Command;
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public class ArmSet extends Command {
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public ArmSet() {
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// Use requires() here to declare subsystem dependencies
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// eg. requires(chassis);
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requires(Robot.armMotor);
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}
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// Called just before this Command runs the first time
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@Override
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protected void initialize() {}
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// Called repeatedly when this Command is scheduled to run
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@Override
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protected void execute() {
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Robot.armMotor.turn(Robot.m_oi.getAxis(0));
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}
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// Make this return true when this Command no longer needs to run execute()
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@Override
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protected boolean isFinished() {
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return false;
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}
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// Called once after isFinished returns true
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@Override
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protected void end() {}
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// Called when another command which requires one or more of the same
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// subsystems is scheduled to run
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@Override
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protected void interrupted() {}
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}

‎RobotCode2020/src/main/java/frc/robot/commands/Drive.java

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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package frc.robot.commands;
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import edu.wpi.first.wpilibj.command.Command;
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import frc.robot.Robot;
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import frc.robot.RobotMap;
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public class Drive extends Command {
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public Drive() {
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// Use requires() here to declare subsystem dependencies
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// eg. requires(chassis);
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requires(Robot.drivetrain);
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}
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// Called just before this Command runs the first time
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@Override
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protected void initialize() {}
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// Called repeatedly when this Command is scheduled to run
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@Override
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protected void execute() {
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double speed = Robot.m_oi.getAxis(RobotMap.JOYSTICK_DRIVE_FORWARDS_ID) * -1;
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double rotation = Robot.m_oi.getAxis(RobotMap.JOYSTICK_DRIVE_ROTATION_ID);
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Robot.drivetrain.drive(speed, rotation);
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}
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// Make this return true when this Command no longer needs to run execute()
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@Override
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protected boolean isFinished() {
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return false;
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}
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// Called once after isFinished returns true
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@Override
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protected void end() {}
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// Called when another command which requires one or more of the same
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// subsystems is scheduled to run
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@Override
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protected void interrupted() {}
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}

‎RobotCode2020/src/main/java/frc/robot/commands/MailboxSet.java

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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package frc.robot.commands;
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10+
import edu.wpi.first.wpilibj.command.Command;
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import frc.robot.Robot;
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public class MailboxSet extends Command {
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public MailboxSet() {
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// Use requires() here to declare subsystem dependencies
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// eg. requires(chassis);
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requires(Robot.mail);
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}
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// Called just before this Command runs the first time
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@Override
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protected void initialize() {}
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// Called repeatedly when this Command is scheduled to run
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@Override
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protected void execute() {
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double turnValue = Robot.m_oi.getAxis(0);
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Robot.mail.turn(turnValue);
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}
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// Make this return true when this Command no longer needs to run execute()
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@Override
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protected boolean isFinished() {
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return false;
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}
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// Called once after isFinished returns true
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@Override
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protected void end() {
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Robot.mail.turn(0);
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}
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// Called when another command which requires one or more of the same
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// subsystems is scheduled to run
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@Override
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protected void interrupted() {}
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}

‎RobotCode2020/src/main/java/frc/robot/commands/WinchUnwind.java

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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
4+
/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package frc.robot.commands;
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10+
import edu.wpi.first.wpilibj.command.Command;
11+
import frc.robot.Robot;
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public class WinchUnwind extends Command {
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public WinchUnwind() {
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// Use requires() here to declare subsystem dependencies
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// eg. requires(chassis);
17+
requires(Robot.climbDevice);
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}
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// Called just before this Command runs the first time
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@Override
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protected void initialize() {}
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// Called repeatedly when this Command is scheduled to run
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@Override
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protected void execute() {
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if (Robot.m_oi.bbutton.get()) {
28+
Robot.climbDevice.turn(-1);
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} else {
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Robot.climbDevice.turn(0);
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}
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}
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// Make this return true when this Command no longer needs to run execute()
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@Override
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protected boolean isFinished() {
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return false;
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}
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// Called once after isFinished returns true
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@Override
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protected void end() {}
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// Called when another command which requires one or more of the same
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// subsystems is scheduled to run
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@Override
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protected void interrupted() {}
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}

‎RobotCode2020/src/main/java/frc/robot/commands/WinchWind.java

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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
4+
/* must be accompanied by the FIRST BSD license file in the root directory of */
5+
/* the project. */
6+
/*----------------------------------------------------------------------------*/
7+
8+
package frc.robot.commands;
9+
10+
import edu.wpi.first.wpilibj.command.Command;
11+
import frc.robot.Robot;
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13+
public class WinchWind extends Command {
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public WinchWind() {
15+
// Use requires() here to declare subsystem dependencies
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// eg. requires(chassis);
17+
requires(Robot.climbDevice);
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}
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// Called just before this Command runs the first time
21+
@Override
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protected void initialize() {}
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24+
// Called repeatedly when this Command is scheduled to run
25+
@Override
26+
protected void execute() {
27+
if (Robot.m_oi.abutton.get()) {
28+
Robot.climbDevice.turn(1);
29+
} else {
30+
Robot.climbDevice.turn(0);
31+
}
32+
}
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// Make this return true when this Command no longer needs to run execute()
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@Override
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protected boolean isFinished() {
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return false;
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}
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// Called once after isFinished returns true
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@Override
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protected void end() {}
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// Called when another command which requires one or more of the same
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// subsystems is scheduled to run
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@Override
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protected void interrupted() {}
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}

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