Skip to content

Commit

Permalink
disabled all but drive to check cpu usage
Browse files Browse the repository at this point in the history
  • Loading branch information
@GearBoxFox
GearBoxFox committed Mar 7, 2024
1 parent cd85b22 commit 4c1dbdd
Showing 1 changed file with 30 additions and 44 deletions.
74 changes: 30 additions & 44 deletions src/main/java/frc/robot/RobotContainer.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -59,9 +59,9 @@
public class RobotContainer {
// Subsystems
private final DriveSubsystem m_driveSubsystem;
private final ShooterSubsystem m_shooter;
public final ArmSubsystem m_armSubsystem;
private final ClimberSubsystem m_climber;
// private final ShooterSubsystem m_shooter;
// public final ArmSubsystem m_armSubsystem;
// private final ClimberSubsystem m_climber;

// Controller
private final CommandXboxController controller = new CommandXboxController(0);
Expand All @@ -85,9 +85,9 @@ public RobotContainer() {
new VisionSubsystem[]{
new VisionSubsystem("RightCamera", DriveConstants.RIGHT_CAMERA_TRANSFORMATION)
});
m_shooter = new ShooterSubsystem(new ShooterIOKraken());
m_armSubsystem = new ArmSubsystem(new ArmIOKraken(), m_driveSubsystem::getVisionPose);
m_climber = new ClimberSubsystem(new ClimberIOKraken() {});
// m_shooter = new ShooterSubsystem(new ShooterIOKraken());
// m_armSubsystem = new ArmSubsystem(new ArmIOKraken(), m_driveSubsystem::getVisionPose);
// m_climber = new ClimberSubsystem(new ClimberIOKraken() {});
}
case PROTO_ARM -> {
m_driveSubsystem = new DriveSubsystem(
Expand All @@ -96,9 +96,9 @@ public RobotContainer() {
new ModuleIO() {},
new ModuleIO() {},
new ModuleIO() {});
m_shooter = new ShooterSubsystem(new ShooterIO() {});
m_armSubsystem = new ArmSubsystem(new ArmIOPrototype());
m_climber = new ClimberSubsystem(new ClimberIO() {});
// m_shooter = new ShooterSubsystem(new ShooterIO() {});
// m_armSubsystem = new ArmSubsystem(new ArmIOPrototype());
// m_climber = new ClimberSubsystem(new ClimberIO() {});
}
case PROTO_SHOOTER -> {
m_driveSubsystem = new DriveSubsystem(
Expand All @@ -108,9 +108,9 @@ public RobotContainer() {
new ModuleIO() {},
new ModuleIO() {},
new ModuleIO() {});
m_shooter = new ShooterSubsystem(new ShooterIOKraken());
m_climber = new ClimberSubsystem(new ClimberIO() {});
m_armSubsystem = new ArmSubsystem(new ArmIO() {});
// m_shooter = new ShooterSubsystem(new ShooterIOKraken());
// m_climber = new ClimberSubsystem(new ClimberIO() {});
// m_armSubsystem = new ArmSubsystem(new ArmIO() {});
}
case SIM -> {
// Sim robot, instantiate physics sim IO implementations
Expand All @@ -121,9 +121,9 @@ public RobotContainer() {
new ModuleIOSim(DriveConstants.FR_MOD_CONSTANTS),
new ModuleIOSim(DriveConstants.BL_MOD_CONSTANTS),
new ModuleIOSim(DriveConstants.BR_MOD_CONSTANTS));
m_shooter = new ShooterSubsystem(new ShooterIOSim());
m_armSubsystem = new ArmSubsystem(new ArmIOSim(), m_driveSubsystem::getPose);
m_climber = new ClimberSubsystem(new ClimberIO() {});
// m_shooter = new ShooterSubsystem(new ShooterIOSim());
// m_armSubsystem = new ArmSubsystem(new ArmIOSim(), m_driveSubsystem::getPose);
// m_climber = new ClimberSubsystem(new ClimberIO() {});
}
default -> {
// Replayed robot, disable IO implementations
Expand All @@ -134,9 +134,9 @@ public RobotContainer() {
new ModuleIO() {},
new ModuleIO() {},
new ModuleIO() {});
m_shooter = new ShooterSubsystem(new ShooterIO() {});
m_armSubsystem = new ArmSubsystem(new ArmIO() {});
m_climber = new ClimberSubsystem(new ClimberIO() {});
// m_shooter = new ShooterSubsystem(new ShooterIO() {});
// m_armSubsystem = new ArmSubsystem(new ArmIO() {});
// m_climber = new ClimberSubsystem(new ClimberIO() {});
}
}

Expand Down Expand Up @@ -169,31 +169,17 @@ private void configureButtonBindings() {
Trigger spinUpTrigger = controller.leftTrigger().and(controller.rightTrigger().negate());
Trigger shootTrigger = controller.leftTrigger().and(controller.rightTrigger());

intakeTrigger.whileTrue(new IntakeControlCommand(m_armSubsystem, m_shooter));
// intakeTrigger.whileTrue(new IntakeControlCommand(m_armSubsystem, m_shooter));

spinUpTrigger.whileTrue(m_shooter.runShooterVelocity(false)
.alongWith(m_armSubsystem.setDesiredStateFactory(ArmSubsystem.ArmState.AUTO_AIM)));
shootTrigger.whileTrue(m_shooter.runShooterVelocity(true)
.alongWith(m_armSubsystem.setDesiredStateFactory(ArmSubsystem.ArmState.AUTO_AIM)));
// spinUpTrigger.whileTrue(m_shooter.runShooterVelocity(false)
// .alongWith(m_armSubsystem.setDesiredStateFactory(ArmSubsystem.ArmState.AUTO_AIM)));
// shootTrigger.whileTrue(m_shooter.runShooterVelocity(true)
// .alongWith(m_armSubsystem.setDesiredStateFactory(ArmSubsystem.ArmState.AUTO_AIM)));

controller.x().whileTrue(m_armSubsystem.setDesiredStateFactory(ArmSubsystem.ArmState.AMP));
controller.y().whileTrue(Commands.runEnd(() -> m_shooter.setKickerPower(-0.5),
() -> m_shooter.setKickerPower(0.0),
m_shooter));

// controller.leftTrigger().onTrue(m_armSubsystem.setDesiredState(ArmSubsystem.ArmState.AUTO_AIM))
// .whileTrue(DriveCommands.alignmentDrive(
// m_driveSubsystem,
// () -> -controller.getLeftY(),
// () -> -controller.getLeftX(),
// () -> AllianceFlipUtil.apply(FieldConstants.CENTER_SPEAKER)
// ));

// controller.rightTrigger().whileTrue(m_shooter.intakeCommand(0.75, 0.25, 0.1));
// controller.rightBumper().whileTrue(m_shooter.intakeCommand(0.0, -0.25, 0.1));

controller.leftBumper().whileTrue(m_climber.setClimberPowerFactory(0.55));
controller.rightBumper().whileTrue(m_climber.setClimberPowerFactory(-0.55));
// controller.x().whileTrue(m_armSubsystem.setDesiredStateFactory(ArmSubsystem.ArmState.AMP));
// controller.y().whileTrue(Commands.runEnd(() -> m_shooter.setKickerPower(-0.5),
// () -> m_shooter.setKickerPower(0.0),
// m_shooter));

double centerDistance = 1.34 - Units.inchesToMeters(3.0);

Expand All @@ -219,15 +205,15 @@ private void configureButtonBindings() {
* Use this method to configure any named commands needed for PathPlanner autos
*/
private void configureNamedCommands() {
NamedCommands.registerCommand("Run Intake", Commands.run(() -> m_shooter.setIntakePower(0.5)));
// NamedCommands.registerCommand("Run Intake", Commands.run(() -> m_shooter.setIntakePower(0.5)));
// NamedCommands.registerCommand("Run Shooter", Commands.run(m_shooter::runShooterVelocity));
}

private void configureDashboard() {
ShuffleboardTab commandTab = Shuffleboard.getTab("Commads");

commandTab.add("Disable Arm Brake", m_armSubsystem.enableBrakeMode(false));
commandTab.add("Enable Arm Brake", m_armSubsystem.enableBrakeMode(true));
// commandTab.add("Disable Arm Brake", m_armSubsystem.enableBrakeMode(false));
// commandTab.add("Enable Arm Brake", m_armSubsystem.enableBrakeMode(true));

commandTab.add("Center Robot Pose", Commands.runOnce(
() ->
Expand Down

0 comments on commit 4c1dbdd

Please sign in to comment.