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Add enum for Which Robot
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@Java4First
Java4First committed Feb 29, 2024
1 parent 9308f0f commit f8231a3
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Showing 2 changed files with 130 additions and 67 deletions.
13 changes: 13 additions & 0 deletions src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,19 @@ public static enum Mode {
REPLAY
}

public static final Robot currentRobot = Robot.PROTO;

public static enum Robot {
/** Running on suitcase robot. */
SUITCASE,

/** Running on proto robot. (drive chassis) */
PROTO,

/** Running on real robot. (all subsystems) */
REAL
}

public static final class IntakeConstants {
// SPARK MAX CAN IDs
public static final int kIntakeFront = 20;
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184 changes: 117 additions & 67 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,7 @@
import frc.robot.subsystems.drive.GyroIOPigeon2;
import frc.robot.subsystems.drive.ModuleIO;
import frc.robot.subsystems.drive.ModuleIOSim;
import frc.robot.subsystems.drive.ModuleIOSparkFlex;
import frc.robot.subsystems.drive.ModuleIOSparkMax;

/**
Expand All @@ -54,20 +55,57 @@ public RobotContainer() {
switch (Constants.currentMode) {
case REAL:
// Real robot, instantiate hardware IO implementations
drive =
new Drive(
new GyroIOPigeon2(false),
new ModuleIOSparkMax(0), // FL
new ModuleIOSparkMax(1), // FR
new ModuleIOSparkMax(2), // BL
new ModuleIOSparkMax(3)); // BR
// drive =
// new Drive(
// new GyroIOPigeon2(false),
// new ModuleIOSparkFlex(0), // FL
// new ModuleIOSparkFlex(1), // FR
// new ModuleIOSparkFlex(2), // BL
// new ModuleIOSparkFlex(3)); // BR
switch (Constants.currentRobot) {
case PROTO:
drive =
new Drive(
new GyroIOPigeon2(false),
new ModuleIOSparkMax(0), // FL
new ModuleIOSparkMax(1), // FR
new ModuleIOSparkMax(2), // BL
new ModuleIOSparkMax(3)); // BR

m_intake = null;
m_feeder = null;
m_incrementer = null;
m_launcher = null;
m_mast = null;
break;

case REAL:
drive =
new Drive(
new GyroIOPigeon2(false),
new ModuleIOSparkFlex(0), // FL
new ModuleIOSparkFlex(1), // FR
new ModuleIOSparkFlex(2), // BL
new ModuleIOSparkFlex(3)); // BR

m_intake = new Intake();
m_feeder = new Feeder();
m_incrementer = new Incrementer();
m_launcher = new Launcher();
m_mast = new Mast();
break;

case SUITCASE:
default:
drive =
new Drive(
new GyroIO() {},
new ModuleIO() {},
new ModuleIO() {},
new ModuleIO() {},
new ModuleIO() {});

m_intake = null;
m_feeder = null;
m_incrementer = null;
m_launcher = null;
m_mast = null;
break;
}

// flywheel = new Flywheel(new FlywheelIOSparkMax());
// drive = new Drive(
// new GyroIOPigeon2(true),
Expand All @@ -88,6 +126,11 @@ public RobotContainer() {
new ModuleIOSim(),
new ModuleIOSim());
// flywheel = new Flywheel(new FlywheelIOSim());
m_intake = null;
m_feeder = null;
m_incrementer = null;
m_launcher = null;
m_mast = null;
break;

default:
Expand All @@ -100,24 +143,14 @@ public RobotContainer() {
new ModuleIO() {},
new ModuleIO() {});
// flywheel = new Flywheel(new FlywheelIO() {});
m_intake = null;
m_feeder = null;
m_incrementer = null;
m_launcher = null;
m_mast = null;
break;
}

m_intake = null;
// m_intake = new Intake();

m_feeder = null;
// m_feeder = new Feeder();

m_incrementer = null;
// m_incrementer = new Incrementer();

m_launcher = null;
// m_launcher = new Launcher();

m_mast = null;
// m_mast = new Mast();

// Configure the button bindings
configureButtonBindings();
}
Expand All @@ -136,44 +169,61 @@ public static double zero() {
* edu.wpi.first.wpilibj2.command.button.JoystickButton}.
*/
private void configureButtonBindings() {
// STU
drive.setDefaultCommand(
DriveCommands.joystickDrive(
drive,
() -> (-driverPad.getLeftY() * 0.5), // 0.85
() -> (-driverPad.getLeftX() * 0.5), // 0.85
() -> (driverPad.getRightX() * 0.5))); // 0.85
// drive.setDefaultCommand(
// DriveCommands.joystickDrive(
// drive,
// () -> -controller.getLeftY(),
// () -> ZeroSupplier.zero(),
// () -> ZeroSupplier.zero()));
// DriveCommands.joystickDrive(
// drive,
// () -> ZeroSupplier.zero(),
// () -> ZeroSupplier.zero(),
// () -> ZeroSupplier.zero()));

// // Intake controls:
// operPad.leftBumper().whileTrue(m_intake.runIntake());
// operPad.leftTrigger().whileTrue(m_intake.reverseIntake());

// // Feeder Controls:
// operPad.rightBumper().whileTrue(m_feeder.runFeeder());
// operPad.rightTrigger().whileTrue(m_feeder.reverseFeeder());

// // Incrementer Controls:
// operPad.b().whileTrue(m_incrementer.runIncrementer());
// operPad.y().whileTrue(m_incrementer.reverseIncrementer());

// // Launcher Controls:
// operPad.a().whileTrue(m_launcher.runLauncher());
// operPad.x().whileTrue(m_launcher.reverseLauncher());

// // Mast Controls:
// // operPad.leftStick().whileTrue(m_mast.mastUpDown(operPad.getLeftY()));
// m_mast.setDefaultCommand(m_mast.mastUpDown(-operPad.getLeftY(), operPad));
switch (Constants.currentRobot) {
case PROTO:
drive.setDefaultCommand(
DriveCommands.joystickDrive(
drive,
() -> (-driverPad.getLeftY() * 0.5),
() -> (-driverPad.getLeftX() * 0.5),
() -> (driverPad.getRightX() * 0.5)));
// drive.setDefaultCommand(
// DriveCommands.joystickDrive(
// drive,
// () -> -controller.getLeftY(),
// () -> ZeroSupplier.zero(),
// () -> ZeroSupplier.zero()));
// drive.setDefaultCommand(
// DriveCommands.joystickDrive(
// drive,
// () -> ZeroSupplier.zero(),
// () -> ZeroSupplier.zero(),
// () -> ZeroSupplier.zero()));
break;

case REAL:
drive.setDefaultCommand(
DriveCommands.joystickDrive(
drive,
() -> (-driverPad.getLeftY() * 0.85),
() -> (-driverPad.getLeftX() * 0.85),
() -> (driverPad.getRightX() * 0.85)));

// Intake controls:
operPad.leftBumper().whileTrue(m_intake.runIntake());
operPad.leftTrigger().whileTrue(m_intake.reverseIntake());

// Feeder Controls:
operPad.rightBumper().whileTrue(m_feeder.runFeeder());
operPad.rightTrigger().whileTrue(m_feeder.reverseFeeder());

// Incrementer Controls:
operPad.b().whileTrue(m_incrementer.runIncrementer());
operPad.y().whileTrue(m_incrementer.reverseIncrementer());

// Launcher Controls:
operPad.a().whileTrue(m_launcher.runLauncher());
operPad.x().whileTrue(m_launcher.reverseLauncher());

// Mast Controls:
// operPad.leftStick().whileTrue(m_mast.mastUpDown(operPad.getLeftY()));
m_mast.setDefaultCommand(m_mast.mastUpDown(-operPad.getLeftY(), operPad));
break;

case SUITCASE:
default:
break;
}
}

/**
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