Subsystems

build.gradle

@@ -2,7 +2,7 @@ import edu.wpi.first.gradlerio.deploy.roborio.RoboRIO
 
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2022.1.1"
+    id "edu.wpi.first.GradleRIO" version "2022.3.1"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11

src/main/deploy/config.txt

@@ -44,4 +44,4 @@ outtake_speed=.9
 
 # limit switch variables (currently hardcoded, ignore these)
 top_switch=0
-bottom_switch=1         
+bottom_switch=1         

src/main/java/frc/robot/Constants.java

@@ -4,6 +4,8 @@
 
 package frc.robot;
 
+import edu.wpi.first.wpilibj.util.Color;
+
 /**
  * The Constants class provides a convenient place for teams to hold robot-wide
  * numerical or boolean constants. This class should not be used for any other
@@ -16,17 +18,55 @@
  */
 public final class Constants {
     public static final class TankConstants {
-        public static final int fLeftMotorPort = 14;
-        public static final int bLeftMotorPort = 15;
+        public static final int fLeftMotorPort = 4;
+        public static final int mLeftMotorPort = 5;
+        public static final int bLeftMotorPort = 6;
+
+        public static final int fRightMotorPort = 9;
+        public static final int mRightMotorPort = 8;
+        public static final int bRightMotorPort = 7;
+    }
+
+    public static final class TurretConstants {
+        public static final int turntablePort = 17;
+        public static final int hoodPort = 16;
+        public static final int flywheelPort = 15;
+    }
+
+    public static final class InternalConstants {
+        public static final double RAISE_POW = 0.8;
+
+        public static final int motorPortBottom = 13;
+        public static final int motorPortTop = 14;
 
-        public static final int fRightMotorPort = 2;
-        public static final int bRightMotorPort = 1;
+        public static final int entranceIRPort = 0;
+        public static final int stagingIRPort = 1;
+        public static final int exitIRPort = 3;
     }
 
-    public static final class ElevatorConstants {
-        public static final int mainMotorPort = 5;
-        public static final int followMotorPort = 6;
+    public static final class IntakeConstants {
+        public static final int intakePort = 12;
+        public static final int deploymentPort = 11;
+    }
+
+    public static final class ClimbConstants {
+        public static final int sixMotorPort = 0;
+        public static final int sixBrakePort = 1;
+
+        public static final int tenMotorPort = 3;
+        public static final int tenBrakePort = 2;
+
+        public static final int tenLeftSolenoidPort = 18;
+        public static final int tenRightSolenoidPort = 18;
+
+        public static final int fifteenLeftPort = 10;
+        public static final int fifteenRightPort = 19;
+    }
 
-        public static final boolean elevatorUpIsPositive = true;
+    public static final class JetsonConstants {
+        public static final int turretCameraPort = 1181;
+        public static final int intakeCameraPort = 1182;
+        public static final int jetsonPort = 1337;
+        public static final String jetsonIP = "10.1.92.94";
     }
 }

src/main/java/frc/robot/GRTSubsystem.java

@@ -6,16 +6,13 @@
  * A convenience class wrapping SubsystemBase for brownout and other shared subsystem logic.
  */
 public abstract class GRTSubsystem extends SubsystemBase {
-    protected int currentLimit;
     protected final double minCurrent;
 
     /**
-     * Creates a GRTSubsystem from a given initial current limit and minimum current.
-     * @param currentLimit The initial (maximum) current limit.
+     * Creates a GRTSubsystem from the given minimum current.
      * @param minCurrent The minimum current.
      */
-    public GRTSubsystem(int currentLimit, double minCurrent) {
-        this.currentLimit = currentLimit;
+    public GRTSubsystem(double minCurrent) {
         this.minCurrent = minCurrent;
     }
 
@@ -27,14 +24,6 @@ public double getMinCurrent() {
         return minCurrent;
     }
 
-    /**
-     * Gets the subsystem's current current limit.
-     * @return The current limit.
-     */
-    public int getCurrentLimit() {
-        return currentLimit;
-    }
-
     /**
      * Gets the total current being drawn by the subsystem. Implementers should use `PowerController.getCurrentDrawnFromPDH`
      * with all the subsystem's motor controller ports.
@@ -43,7 +32,8 @@ public int getCurrentLimit() {
     abstract public double getTotalCurrentDrawn();
 
     /**
-     * Sets the subsystem's current limit.
+     * Sets the subsystem's current limit. Implementers should split the subsystem's limit between their motor controllers and 
+     * call `setSmartCurrentLimit()` or the Talon equivalent to enforce the limit.
      * @param limit The current limit (in amps) for the subsystem.
      */
     abstract public void setCurrentLimit(double limit);

src/main/java/frc/robot/Main.java

@@ -12,14 +12,14 @@
  * call.
  */
 public final class Main {
-  private Main() {}
+    private Main() {}
 
-  /**
-   * Main initialization function. Do not perform any initialization here.
-   *
-   * <p>If you change your main robot class, change the parameter type.
-   */
-  public static void main(String... args) {
-    RobotBase.startRobot(Robot::new);
-  }
+    /**
+     * Main initialization function. Do not perform any initialization here.
+     *
+     * <p>If you change your main robot class, change the parameter type.
+     */
+    public static void main(String... args) {
+        RobotBase.startRobot(Robot::new);
+    }
 }

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

@@ -5,6 +5,7 @@
 package frc.robot;
 
 import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 
@@ -15,84 +16,85 @@
  * project.
  */
 public class Robot extends TimedRobot {
-  private Command autonomousCommand;
-
-  private RobotContainer robotContainer;
-
-  /**
-   * This function is run when the robot is first started up and should be used for any
-   * initialization code.
-   */
-  @Override
-  public void robotInit() {
-    // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
-    // autonomous chooser on the dashboard.
-    robotContainer = new RobotContainer();
-  }
-
-  /**
-   * This function is called every robot packet, no matter the mode. Use this for items like
-   * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
-   *
-   * <p>This runs after the mode specific periodic functions, but before LiveWindow and
-   * SmartDashboard integrated updating.
-   */
-  @Override
-  public void robotPeriodic() {
-    // Runs the Scheduler.  This is responsible for polling buttons, adding newly-scheduled
-    // commands, running already-scheduled commands, removing finished or interrupted commands,
-    // and running subsystem periodic() methods.  This must be called from the robot's periodic
-    // block in order for anything in the Command-based framework to work.
-    CommandScheduler.getInstance().run();
-
-    // Calculate current limits for subsystems
-    robotContainer.getPowerController().calculateLimits();
-  }
-
-  /** This function is called once each time the robot enters Disabled mode. */
-  @Override
-  public void disabledInit() {}
-
-  @Override
-  public void disabledPeriodic() {}
-
-  /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
-  @Override
-  public void autonomousInit() {
-    autonomousCommand = robotContainer.getAutonomousCommand();
-
-    // schedule the autonomous command (example)
-    if (autonomousCommand != null) {
-      autonomousCommand.schedule();
+    private Command autonomousCommand;
+
+    private RobotContainer robotContainer;
+
+    /**
+     * This function is run when the robot is first started up and should be used for any
+     * initialization code.
+     */
+    @Override
+    public void robotInit() {
+        // Instantiate our RobotContainer.    This will perform all our button bindings, and put our
+        // autonomous chooser on the dashboard.
+        robotContainer = new RobotContainer();
+        LiveWindow.disableAllTelemetry();
     }
-  }
-
-  /** This function is called periodically during autonomous. */
-  @Override
-  public void autonomousPeriodic() {}
-
-  @Override
-  public void teleopInit() {
-    // This makes sure that the autonomous stops running when
-    // teleop starts running. If you want the autonomous to
-    // continue until interrupted by another command, remove
-    // this line or comment it out.
-    if (autonomousCommand != null) {
-      autonomousCommand.cancel();
+
+    /**
+     * This function is called every robot packet, no matter the mode. Use this for items like
+     * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
+     *
+     * <p>This runs after the mode specific periodic functions, but before LiveWindow and
+     * SmartDashboard integrated updating.
+     */
+    @Override
+    public void robotPeriodic() {
+        // Runs the Scheduler.  This is responsible for polling buttons, adding newly-scheduled
+        // commands, running already-scheduled commands, removing finished or interrupted commands,
+        // and running subsystem periodic() methods.  This must be called from the robot's periodic
+        // block in order for anything in the Command-based framework to work.
+        CommandScheduler.getInstance().run();
+
+        // Calculate current limits for subsystems
+        //robotContainer.getPowerController().calculateLimits();
     }
-  }
 
-  /** This function is called periodically during operator control. */
-  @Override
-  public void teleopPeriodic() {}
+    /** This function is called once each time the robot enters Disabled mode. */
+    @Override
+    public void disabledInit() {}
+
+    @Override
+    public void disabledPeriodic() {}
+
+    /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
+    @Override
+    public void autonomousInit() {
+        autonomousCommand = robotContainer.getAutonomousCommand();
+
+        // schedule the autonomous command (example)
+        if (autonomousCommand != null) {
+            autonomousCommand.schedule();
+        }
+    }
 
-  @Override
-  public void testInit() {
-    // Cancels all running commands at the start of test mode.
-    CommandScheduler.getInstance().cancelAll();
-  }
+    /** This function is called periodically during autonomous. */
+    @Override
+    public void autonomousPeriodic() {}
+
+    @Override
+    public void teleopInit() {
+        // This makes sure that the autonomous stops running when
+        // teleop starts running. If you want the autonomous to
+        // continue until interrupted by another command, remove
+        // this line or comment it out.
+        if (autonomousCommand != null) {
+            autonomousCommand.cancel();
+        }
+    }
+
+    /** This function is called periodically during operator control. */
+    @Override
+    public void teleopPeriodic() {}
+
+    @Override
+    public void testInit() {
+        // Cancels all running commands at the start of test mode.
+        CommandScheduler.getInstance().cancelAll();
+    }
 
-  /** This function is called periodically during test mode. */
-  @Override
-  public void testPeriodic() {}
+    /** This function is called periodically during test mode. */
+    @Override
+    public void testPeriodic() {}
 }