tasks

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.2"
 }
 
 java {

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

@@ -12,4 +12,6 @@
  * <p>It is advised to statically import this class (or one of its inner classes) wherever the
  * constants are needed, to reduce verbosity.
  */
-public final class Constants {}
+public final class Constants {
+    public static double[] servoPresets={20, 90, 10, 50};
+}

src/main/java/frc/robot/RobotContainer.java

@@ -5,8 +5,13 @@
 package frc.robot;
 
 import edu.wpi.first.wpilibj.XboxController;
+import frc.robot.commands.DriveCommands;
+import frc.robot.subsystems.Servo;
 import frc.robot.subsystems.XRPDrivetrain;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.button.CommandJoystick;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
 
 /**
  * This class is where the bulk of the robot should be declared. Since Command-based is a
@@ -17,12 +22,16 @@
 public class RobotContainer {
   // The robot's subsystems and commands are defined here...
   public static final XRPDrivetrain m_xrpDrivetrain = new XRPDrivetrain();
+  public static final Servo m_servo = new Servo();
+  private final CommandXboxController m_controller = new CommandXboxController(0);
+
 
 
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
     // Configure the button bindings
     configureButtonBindings();
+    m_xrpDrivetrain.setDefaultCommand(DriveCommands.arcadeDriveCommand(m_controller.getLeftY(), m_controller.getRightX()));
   }
 
   /**
@@ -31,7 +40,13 @@ public RobotContainer() {
    * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a {@link
    * edu.wpi.first.wpilibj2.command.button.JoystickButton}.
    */
-  private void configureButtonBindings() {}
+  private void configureButtonBindings() {
+    //TODO:Task 4-Replace the null values with the commands you created to move the servo up and down, such that the y button moves it up
+    //and the a button moves it down.
+    m_controller.y().whileTrue(null);
+
+    m_controller.a().whileTrue(null);
+  }
 
   /**
    * Use this to pass the autonomous command to the main {@link Robot} class.

src/main/java/frc/robot/commands/DriveCommands.java

@@ -20,7 +20,7 @@ public class DriveCommands {
    * @param distance Distance that the XRP drives in inches
    * @return Command that causes the XRP to execute the functions below
    */
-  public Command driveDistance(double distance){
+  public static Command driveDistance(double distance){
     //A functional command is returned. A functional command is a basic command with parameters for initialization code, execution code, ending code, a boolean supplier to cause the command to end, and required subsystems.
     return new FunctionalCommand(
       /* 
@@ -63,7 +63,7 @@ public Command driveDistance(double distance){
    * Usage is basically the same, however add new in front of the function call.
    * Example: new DriveCommands.AltDriveDistance(5)
    */
-  public class AltDriveDistance extends Command{
+  public static class AltDriveDistance extends Command{
     /**
      * Distance in inches the command makes the XRP move.
      */
@@ -125,7 +125,7 @@ public boolean isFinished() {
    * @param turnSpeed Speed the robot turns.
    * @return Command to arcade drive the XRP
    */
-  public Command arcadeDriveCommand(double forwardSpeed, double turnSpeed){
+  public static Command arcadeDriveCommand(double forwardSpeed, double turnSpeed){
     //This uses an InstantCommand, which shouldn't be a class. An Instant Command immediately executes, and only takes in fields for what it should do
     //and the required subsystems.
     //Useful for simple commands.
@@ -136,7 +136,7 @@ public Command arcadeDriveCommand(double forwardSpeed, double turnSpeed){
       );
   }
 
-  public class TurnDegrees extends Command {
+  public static class TurnDegrees extends Command {
     private final double m_degrees;
     private final double m_speed;
     private final XRPDrivetrain m_drive;
@@ -204,11 +204,17 @@ private double getAverageTurningDistance() {
    * Commands can also be sequential, which is where they execute one after another. This is really good for automatic behavior.
    * @return A command that drives forward 5 inches, turns 90 degrees, and drives forward 4 inches.
    */
-  public Command sequentialExampleCommand(){
+  public static Command sequentialExampleCommand(){
     return new SequentialCommandGroup(
       driveDistance(5),
-      new TurnDegrees(1, 90),
+      new DriveCommands.TurnDegrees(1, 90),
       driveDistance(4)
     );
   }
+
+  //TODO: Task 6-Write a Command(function or class) that causes the XRP to drive until the distance returned by the rangefinder
+  //is less than 2 inches.
+
+  //TODO: Task 7-Write a Sequential Command Group to move the XRP backwards 2 inches, set the arm preset to index 1, spin the XRP 360 degrees
+  //and move the XRP forward 3 inches.
 }

src/main/java/frc/robot/commands/ServoCommands.java

@@ -0,0 +1,7 @@
+package frc.robot.commands;
+
+public class ServoCommands {
+    //TODO: Task 3-Write commands to move the servo up, down, and to a specific preset by taking
+    //in one value for which preset to select.
+    //The presets are in the constants file.
+}

src/main/java/frc/robot/subsystems/Rangefinder.java

@@ -0,0 +1,11 @@
+package frc.robot.subsystems;
+
+import edu.wpi.first.wpilibj.xrp.XRPRangefinder;
+
+public class Rangefinder {
+    private final XRPRangefinder rangefinder;
+    public Rangefinder(){
+        rangefinder=new XRPRangefinder();
+    }
+    //TODO:Task 4-Write a method to get the distance returned by the sensor in inches
+}

src/main/java/frc/robot/subsystems/Servo.java

@@ -1,9 +1,14 @@
 package frc.robot.subsystems;
 
+import edu.wpi.first.wpilibj.xrp.XRPServo;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Servo extends SubsystemBase {
+    private final XRPServo m_armServo;
     public Servo(){
-
+        // Device number 4 maps to the physical Servo 1 port on the XRP
+        m_armServo = new XRPServo(4);
     }
+    //TODO:Task 2-Write functions to control the arm. You should be able to set the arm's angle and get the angle
+    //it is at.
 }