fix syntax errors

Frc5572 · Oct 14, 2024 · 5d60e08 · 5d60e08
1 parent 51c8a10
commit 5d60e08
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Showing 4 changed files with 67 additions and 31 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -518,6 +518,7 @@ public static final class LEDConstants {
         public static final Color INTAKE_COLOR = Color.kGreen;
         public static final Color INDEXER_COLOR = Color.kPurple;
         public static final Color ALERT_COLOR = Color.kWhite;
+        public static final Color NO_NOTE_COLOR = Color.kBlack;
     }
 
 }
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -38,6 +38,7 @@
 import frc.robot.subsystems.intake.Intake;
 import frc.robot.subsystems.intake.IntakeIO;
 import frc.robot.subsystems.intake.IntakeIOFalcon;
+import frc.robot.subsystems.intake.IntakeSim;
 import frc.robot.subsystems.shooter.Shooter;
 import frc.robot.subsystems.shooter.ShooterIO;
 import frc.robot.subsystems.shooter.ShooterVortex;
@@ -98,9 +99,9 @@ public class RobotContainer {
         RobotContainer.mainDriverTab.add("Auto - Dump Notes", false).withWidget("Toggle Switch")
             .withProperties(Map.of()).withPosition(7, 7).withSize(3, 1);
 
-    private String noNote = Color.kBlack.toHexString();
-    private GenericEntry haveNote = RobotContainer.mainDriverTab.add("Have Note", noNote)
-        .withWidget("Single Color View").withPosition(9, 4).withSize(3, 2).getEntry();
+    // private String noNote = Color.kBlack.toHexString();
+    // private GenericEntry haveNote = RobotContainer.mainDriverTab.add("Have Note", noNote)
+    // .withWidget("Single Color View").withPosition(9, 4).withSize(3, 2).getEntry();
 
     /* Controllers */
     public final CommandXboxController driver = new CommandXboxController(Constants.DRIVER_ID);
@@ -141,7 +142,7 @@ public RobotContainer(RobotRunType runtimeType) {
             case kSimulation:
                 s_Swerve = new Swerve(new SwerveIO() {}, cameras);
                 shooter = new Shooter(new ShooterIO() {});
-                intake = new Intake(new IntakeIO() {});
+                intake = new Intake(new IntakeSim());
                 elevatorWrist = new ElevatorWrist(new ElevatorWristIO() {}, operator);
                 break;
             default:
@@ -173,37 +174,40 @@ public RobotContainer(RobotRunType runtimeType) {
      * Configure Trigger Bindings
      */
     private void configureTiggerBindings() {
-        this.indexer.noteInIndexer.negate().and(this.intake.noteInIntake.negate())
-            .onTrue(Commands.runOnce(() -> this.haveNote.setString(noNote)).ignoringDisable(true));
+        // No Note
+        this.intake.noteInIndexer.negate().and(this.intake.noteInIntake.negate())
+            .onTrue(Commands.runOnce(
+                () -> intake.haveNote.setString(Constants.LEDConstants.NO_NOTE_COLOR.toHexString()))
+                .ignoringDisable(true));
         // Flash LEDs Purple when note in indexer
-        this.indexer.noteInIndexer.and(this.intake.noteInIntake.negate())
+        this.intake.noteInIndexer.and(this.intake.noteInIntake.negate())
             .onTrue(new FlashingLEDColor(leds, Constants.LEDConstants.INDEXER_COLOR).withTimeout(3))
             .onTrue(Commands.runOnce(() -> {
-                this.haveNote.setString(Constants.LEDConstants.INDEXER_COLOR.toHexString());
+                intake.haveNote.setString(Constants.LEDConstants.INDEXER_COLOR.toHexString());
             }).ignoringDisable(true));
         // Flash LEDs Green when note in Intake
-        this.intake.noteInIntake.and(this.indexer.noteInIndexer.negate())
+        this.intake.noteInIntake.and(this.intake.noteInIndexer.negate())
             .onTrue(new FlashingLEDColor(leds, Constants.LEDConstants.INTAKE_COLOR).withTimeout(3))
             .onTrue(Commands.runOnce(() -> {
-                this.haveNote.setString(Constants.LEDConstants.INTAKE_COLOR.toHexString());
+                intake.haveNote.setString(Constants.LEDConstants.INTAKE_COLOR.toHexString());
             }).ignoringDisable(true));
         // Flash LEDs White when note in indexer AND intake at the same time
-        this.intake.noteInIntake.and(this.indexer.noteInIndexer)
+        this.intake.noteInIntake.and(this.intake.noteInIndexer)
             .whileTrue(new FlashingLEDColor(leds, Constants.LEDConstants.ALERT_COLOR))
             .onTrue(Commands.runOnce(() -> {
-                this.haveNote.setString(Constants.LEDConstants.ALERT_COLOR.toHexString());
+                intake.haveNote.setString(Constants.LEDConstants.ALERT_COLOR.toHexString());
             }).ignoringDisable(true));
         // Automatically move elevator and wrist to home position after note is spit in AMP mode
         OperatorState.isAmpMode.and(OperatorState.isManualMode.negate())
-            .and(this.indexer.noteInIndexer.negate().debounce(1))
+            .and(this.intake.noteInIndexer.negate().debounce(1))
             .onTrue(elevatorWrist.homePosition());
         // Automatically move elevator and wrist to home position when intaking and don't have a
         // note
-        this.intake.intakeActive.and(this.indexer.noteInIndexer.negate())
+        this.intake.intakeActive.and(this.intake.noteInIndexer.negate())
             .and(this.elevatorWrist.elevatorAtHome.negate()).onTrue(elevatorWrist.homePosition());
 
-        RobotModeTriggers.autonomous().and(indexer.noteInIndexer.negate())
-            .and(shooter.isShooting.negate()).whileTrue(CommandFactory.intakeNote(intake, indexer));
+        RobotModeTriggers.autonomous().and(intake.noteInIndexer.negate())
+            .and(shooter.isShooting.negate()).whileTrue(CommandFactory.intakeNote(intake));
     }
 
     /**
@@ -221,7 +225,7 @@ private void configureButtonBindings() {
         driver.rightTrigger().whileTrue(CommandFactory.newIntakeCommand(intake, elevatorWrist));
         // intake backward
         driver.leftTrigger().and(elevatorWrist.wristReverseOutakeLimit)
-            .whileTrue(CommandFactory.runIntakeMotorNonStop(intake, -1, -.20));
+            .whileTrue(intake.runIntakeMotorNonStop(-1, -.20));
 
         /* Operator Buttons */
         // spit note currently in robot through shooter
@@ -245,7 +249,7 @@ private void configureButtonBindings() {
         // set shooter to home preset position
         operator.y().onTrue(elevatorWrist.homePosition());
         operator.y().and(elevatorWrist.elevatorAtAmp).and(intake.noteInIndexer)
-            .onTrue(CommandFactory.runIntakeMotorNonStop(intake, 0, -0.2).withTimeout(2.0)
+            .onTrue(intake.runIntakeMotorNonStop(0, -0.2).withTimeout(2.0)
                 .until(intake.noteNotInIndexer.debounce(.5)));
 
         // increment once through states list to next state
@@ -260,7 +264,7 @@ private void configureButtonBindings() {
             .onTrue(elevatorWrist.homePosition());
         // run action based on current state as incremented through operator states list
         operator.a().and(OperatorState.isSpeakerMode).whileTrue(elevatorWrist.speakerPreset());
-        operator.a().and(OperatorState.isAmpMode).and(this.indexer.noteInIndexer)
+        operator.a().and(OperatorState.isAmpMode).and(this.intake.noteInIndexer)
             .whileTrue(elevatorWrist.ampPosition());
         operator.a().and(OperatorState.isShootWhileMoveMode).and(s_Swerve.seeAprilTag)
             .whileTrue(new ShootWhileMoving(s_Swerve, driver, () -> s_Swerve.getPose(),

diff --git a/src/main/java/frc/robot/subsystems/intake/Intake.java b/src/main/java/frc/robot/subsystems/intake/Intake.java
@@ -3,7 +3,6 @@
 import org.littletonrobotics.junction.Logger;
 import edu.wpi.first.math.filter.Debouncer;
 import edu.wpi.first.networktables.GenericEntry;
-import edu.wpi.first.wpilibj.util.Color;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -20,9 +19,13 @@ public class Intake extends SubsystemBase {
 
     public Trigger noteInIntake = new Trigger(() -> getintakeBeamBrakeStatus()).debounce(0.25,
         Debouncer.DebounceType.kRising);
+    public Trigger noteInIndexer = new Trigger(() -> getIndexerBeamBrakeStatus()).debounce(0.25,
+        Debouncer.DebounceType.kRising);
+    public Trigger noteNotInIndexer = new Trigger(() -> !getIndexerBeamBrakeStatus());
     public Trigger intakeActive = new Trigger(() -> getIntakeRPM() > 0);
-    private String noNote = Color.kBlack.toHexString();
-    private GenericEntry haveNote = RobotContainer.mainDriverTab.add("Have Note", noNote)
+
+    public GenericEntry haveNote = RobotContainer.mainDriverTab
+        .add("Have Note", Constants.LEDConstants.NO_NOTE_COLOR.toHexString())
         .withWidget("Single Color View").withPosition(9, 4).withSize(3, 2).getEntry();
 
     public Intake(IntakeIO io) {
@@ -34,15 +37,15 @@ public Intake(IntakeIO io) {
     public void periodic() {
         io.updateInputs(intakeAutoLogged);
         Logger.processInputs("Intake", intakeAutoLogged);
-        if (getIndexerBeamBrakeStatus() && getintakeBeamBrakeStatus()) {
-            haveNote.setString(Constants.LEDConstants.ALERT_COLOR.toHexString());
-        } else if (getIndexerBeamBrakeStatus()) {
-            haveNote.setString(Constants.LEDConstants.INDEXER_COLOR.toHexString());
-        } else if (getintakeBeamBrakeStatus()) {
-            haveNote.setString(Constants.LEDConstants.INTAKE_COLOR.toHexString());
-        } else {
-            haveNote.setString(noNote);
-        }
+        // if (getIndexerBeamBrakeStatus() && getintakeBeamBrakeStatus()) {
+        // haveNote.setString(Constants.LEDConstants.ALERT_COLOR.toHexString());
+        // } else if (getIndexerBeamBrakeStatus()) {
+        // haveNote.setString(Constants.LEDConstants.INDEXER_COLOR.toHexString());
+        // } else if (getintakeBeamBrakeStatus()) {
+        // haveNote.setString(Constants.LEDConstants.INTAKE_COLOR.toHexString());
+        // } else {
+        // haveNote.setString(noNote);
+        // }
     }
 
     /**
@@ -67,6 +70,7 @@ public void setIndexerMotor(double percentage) {
 
     public double getIntakeRPM() {
         return intakeAutoLogged.intakeRPM;
+    }
 
     /**
      * Get the status of the indexer beam brake.

diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeSim.java b/src/main/java/frc/robot/subsystems/intake/IntakeSim.java
@@ -0,0 +1,27 @@
+package frc.robot.subsystems.intake;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import frc.robot.Constants;
+
+public class IntakeSim implements IntakeIO {
+
+    private final DigitalInput indexerBeamBrake =
+        new DigitalInput(Constants.IntakeConstants.INDEXER_BEAM_BRAKE_DIO_PORT);
+    private final DigitalInput intakeBeamBrake =
+        new DigitalInput(Constants.IntakeConstants.INTAKE_BEAM_BRAKE_DIO_PORT);
+
+    public IntakeSim() {}
+
+    @Override
+    public void updateInputs(IntakeInputs inputs) {
+        // inputs.intakeSupplyVoltage = intakeMotorLeft.getBusVoltage();
+        // inputs.intakeAmps = intakeMotorLeft.getOutputCurrent();
+        // inputs.intakeRPM = intakeRelativeEnc.getVelocity();
+        // inputs.indexerSupplyVoltage = indexerMotor.getSupplyVoltage().getValueAsDouble();
+        // inputs.indexerMotorVoltage = indexerMotor.getMotorVoltage().getValueAsDouble();
+        // inputs.indexerAmps = indexerMotor.getSupplyCurrent().getValueAsDouble();
+        // inputs.indexerRPM = indexerMotor.getVelocity().getValueAsDouble();
+        inputs.indexerBeamBrake = !indexerBeamBrake.get(); // true == game piece
+        inputs.intakeBeamBrake = !intakeBeamBrake.get(); // true == game piece
+    }
+}