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actually merging in lightbar fixes #69

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actually merging in lightbar fixes #69

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27 changes: 6 additions & 21 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -67,7 +67,6 @@
import frc.robot.subsystems.shooter.ShooterFlywheelSubsystem;
import frc.robot.subsystems.shooter.ShooterPivotSubsystem;
import frc.robot.subsystems.superstructure.LightBarStatus;
import frc.robot.subsystems.superstructure.SuperstructureSubsystem;
import frc.robot.subsystems.swerve.SwerveSubsystem;
import frc.robot.util.ConditionalWaitCommand;
import frc.robot.util.GRTUtil;
Expand All @@ -90,7 +89,6 @@ public class RobotContainer {

private final FieldManagementSubsystem fmsSubsystem;
private final LightBarSubsystem lightBarSubsystem;
private final SuperstructureSubsystem superstructureSubsystem;

private final SendableChooser<Command> autonPathChooser;
private final AutonBuilder autonBuilder;
Expand Down Expand Up @@ -127,12 +125,6 @@ public class RobotContainer {

ChoreoTrajectory trajectory;

private PIDController xPID;
private PIDController yPID;

private final GenericEntry xError;
private final GenericEntry yError;

private final ShuffleboardTab swerveCrauton;

private double shooterPivotSetPosition = Units.degreesToRadians(18);
Expand All @@ -148,14 +140,12 @@ public class RobotContainer {
*/
public RobotContainer() {
fmsSubsystem = new FieldManagementSubsystem();
lightBarSubsystem = new LightBarSubsystem();
superstructureSubsystem = new SuperstructureSubsystem(lightBarSubsystem, fmsSubsystem);

swerveSubsystem = new SwerveSubsystem(fmsSubsystem::isRedAlliance);
swerveSubsystem.setVerbose(false); // SET THIS TO true FOR TUNING VALUES

intakePivotSubsystem = new IntakePivotSubsystem();
intakeRollerSubsystem = new IntakeRollerSubsystem(lightBarSubsystem);
intakeRollerSubsystem = new IntakeRollerSubsystem();

shooterPivotSubsystem = new ShooterPivotSubsystem(
swerveSubsystem::getRobotPosition,
Expand All @@ -166,20 +156,17 @@ public RobotContainer() {
fmsSubsystem::isRedAlliance
);

lightBarSubsystem = new LightBarSubsystem(intakeRollerSubsystem,
shooterFlywheelSubsystem,
fmsSubsystem);
elevatorSubsystem = new ElevatorSubsystem();

climbSubsystem = new ClimbSubsystem();

noteDetector = new NoteDetectionWrapper(NOTE_CAMERA);

xPID = new PIDController(4, 0, 0);
yPID = new PIDController(4, 0, 0);

swerveCrauton = Shuffleboard.getTab("Auton");

xError = swerveCrauton.add("xError", 0).withPosition(8, 0).getEntry();
yError = swerveCrauton.add("yError", 0).withPosition(9, 0).getEntry();

if (DriverStation.getJoystickName(0).equals("Controller (Xbox One For Windows)")) {
driveController = new XboxDriveController();
} else {
Expand All @@ -202,7 +189,8 @@ public RobotContainer() {
elevatorSubsystem,
climbSubsystem,
swerveSubsystem,
lightBarSubsystem, fmsSubsystem
lightBarSubsystem,
fmsSubsystem
);

autonPathChooser = new SendableChooser<>();
Expand Down Expand Up @@ -253,9 +241,6 @@ private void configureBindings() {
driveController.getRotatePower());
}

xError.setValue(xPID.getPositionError());
yError.setValue(yPID.getPositionError());

}, swerveSubsystem));

/* Pressing the button resets the field axes to the current robot axes. */
Expand Down
11 changes: 1 addition & 10 deletions src/main/java/frc/robot/subsystems/intake/IntakeRollerSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -30,8 +30,6 @@
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.util.Color;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.subsystems.leds.LightBarSubsystem;
import frc.robot.subsystems.superstructure.LightBarStatus;
import frc.robot.util.TrackingTimer;

/** The subsystem that controls the rollers on the intake. */
Expand All @@ -55,15 +53,13 @@ public class IntakeRollerSubsystem extends SubsystemBase {
private NetworkTableEntry rockwellSensorEntry;
private NetworkTableEntry ampSenSorEntry;

private final LightBarSubsystem lightBarSubsystem;

private Timer colorResetTimer;
private TrackingTimer sensorTimer = new TrackingTimer();

/**
* Subsystem controls the front, middle, and integration rollers for the intake.
*/
public IntakeRollerSubsystem(LightBarSubsystem lightBarSubsystem) {
public IntakeRollerSubsystem() {
integrationMotor = new TalonSRX(IntakeConstants.INTEGRATION_MOTOR_ID);
frontMotors = new CANSparkMax(IntakeConstants.FRONT_MOTOR_ID, MotorType.kBrushless);
frontMotors.setIdleMode(IdleMode.kBrake);
Expand All @@ -81,8 +77,6 @@ public IntakeRollerSubsystem(LightBarSubsystem lightBarSubsystem) {
ntFrontPublisher = ntTable.getBooleanTopic("FrontSensor").publish();
ntBackPublisher = ntTable.getBooleanTopic("BackSensor").publish();

this.lightBarSubsystem = lightBarSubsystem;

// colorResetTimer = new Timer();
// colorResetTimer.start();
}
Expand Down Expand Up @@ -151,8 +145,5 @@ public void periodic() {

ntFrontPublisher.set(getFrontSensorReached());
prevFrontSensorValue = getFrontSensorValue();
if (getFrontSensorValue()) {
lightBarSubsystem.setLightBarStatus(LightBarStatus.HOLDING_NOTE, 2);
}
}
}
36 changes: 29 additions & 7 deletions src/main/java/frc/robot/subsystems/leds/LightBarSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,11 @@
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants.LEDConstants;
import frc.robot.subsystems.FieldManagementSubsystem;
import frc.robot.subsystems.intake.IntakeRollerSubsystem;
import frc.robot.subsystems.shooter.ShooterFlywheelSubsystem;
import frc.robot.subsystems.superstructure.LightBarStatus;
import frc.robot.subsystems.superstructure.MatchStatus;
import frc.robot.util.OpacityColor;
import frc.robot.util.TrackingTimer;

Expand Down Expand Up @@ -42,11 +46,21 @@ public class LightBarSubsystem extends SubsystemBase {
private static final OpacityColor GREEN_COLOR = new OpacityColor(0, 254, 0); // used for shooter spin-up
private static final OpacityColor BLUE_COLOR = new OpacityColor(0, 0, 255); // used for auto-align indicator
private static final OpacityColor WHITE_COLOR = new OpacityColor(255, 255, 255);

private final IntakeRollerSubsystem intakeRollerSubsystem;
private final ShooterFlywheelSubsystem shooterFlywheelSubsystem;
private final FieldManagementSubsystem fieldManagementSubsystem;

/** Subsystem to manage a short strip of LEDs on the robot, used for robot->driver and driver->HP signaling.
*
*/
public LightBarSubsystem() {
public LightBarSubsystem(IntakeRollerSubsystem intakeRollerSubsystem,
ShooterFlywheelSubsystem shooterFlywheelSubsystem,
FieldManagementSubsystem fieldManagementSubsystem) {

this.intakeRollerSubsystem = intakeRollerSubsystem;
this.shooterFlywheelSubsystem = shooterFlywheelSubsystem;
this.fieldManagementSubsystem = fieldManagementSubsystem;

ledStrip = new LEDStrip(LEDConstants.LED_PWM_PORT, LEDConstants.LED_LENGTH);

Expand Down Expand Up @@ -78,7 +92,19 @@ public LightBarSubsystem() {
*/
public void periodic() {

if (ledTimer.advanceIfElapsed(0.05)) {
if (intakeRollerSubsystem.getFrontSensorValue()) {
setLightBarStatus(LightBarStatus.HOLDING_NOTE, 2);
}

if (fieldManagementSubsystem.getMatchStatus() == MatchStatus.AUTON) {
setLightBarStatus(LightBarStatus.AUTON, 0);
} else if (fieldManagementSubsystem.getMatchStatus() == MatchStatus.ENDGAME) {
setLightBarStatus(LightBarStatus.ENDGAME, 0);
} else {
setLightBarStatus(LightBarStatus.DORMANT, 0);
}

if (ledTimer.advanceIfElapsed(0.07)) {

rainbowOffset += inc;
rainbowOffset = rainbowOffset % (LEDConstants.LED_LENGTH * 360);
Expand All @@ -89,7 +115,6 @@ public void periodic() {
bounceOffset -= (inc * bounceDirection); // undo the increment that oversteps the array length
bounceDirection *= -1; // switch the bounce direction
}

}

switch (matchStatus) {
Expand Down Expand Up @@ -132,7 +157,7 @@ public void periodic() {
break;
}

if (mechResetLEDTimer.hasElapsed(2.5)) {
if (mechResetLEDTimer.hasElapsed(1.0)) {
mechStatus = LightBarStatus.DORMANT;
mechResetLEDTimer.stop();
mechResetLEDTimer.reset();
Expand All @@ -154,7 +179,6 @@ public void periodic() {
ledStrip.addLayer(mechLayer);

ledStrip.setBuffer(1);

}

/**
Expand All @@ -174,8 +198,6 @@ public void setLightBarStatus(LightBarStatus status, int statusType) {
} else {
System.out.println("[LightBarSubsystem] Invalid lightBar statusType provided.");
}

// this.status = status;
}

/** Gets the status of the light bar.
Expand Down
27 changes: 0 additions & 27 deletions src/main/java/frc/robot/subsystems/superstructure/SuperstructureSubsystem.java
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