Merge branch 'main' into intake

build.gradle

@@ -68,7 +68,7 @@ dependencies {
     simulationRelease wpi.sim.enableRelease()
 
     testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
-    testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
+    //testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
 }
 
 test {

networktables.json

@@ -0,0 +1 @@
+[]

simgui-ds.json

@@ -0,0 +1,97 @@
+{
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ],
+  "robotJoysticks": [
+    {
+      "guid": "Keyboard0"
+    }
+  ]
+}

simgui.json

@@ -0,0 +1,18 @@
+{
+  "NTProvider": {
+    "types": {
+      "/FMSInfo": "FMSInfo",
+      "/SmartDashboard/Field": "Field2d"
+    },
+    "windows": {
+      "/SmartDashboard/Field": {
+        "window": {
+          "visible": true
+        }
+      }
+    }
+  },
+  "NetworkTables Info": {
+    "visible": true
+  }
+}

src/main/java/frc/robot/Main.java

@@ -6,9 +6,19 @@
 
 import edu.wpi.first.wpilibj.RobotBase;
 
+/**
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
+ */
 public final class Main {
   private Main() {}
 
+  /**
+   * Main initialization function. Do not perform any initialization here.
+   *
+   * <p>If you change your main robot class, change the parameter type.
+   */
   public static void main(String... args) {
     RobotBase.startRobot(Robot::new);
   }

src/main/java/frc/robot/Robot.java

@@ -8,66 +8,96 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 
+/**
+ * The VM is configured to automatically run this class, and to call the functions corresponding to
+ * each mode, as described in the TimedRobot documentation. If you change the name of this class or
+ * the package after creating this project, you must also update the build.gradle file in the
+ * project.
+ */
 public class Robot extends TimedRobot {
   private Command m_autonomousCommand;
 
   private RobotContainer m_robotContainer;
 
+  /**
+   * This function is run when the robot is first started up and should be used for any
+   * initialization code.
+   */
   @Override
   public void robotInit() {
+    // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
+    // autonomous chooser on the dashboard.
     m_robotContainer = new RobotContainer();
   }
 
+  /**
+   * This function is called every 20 ms, no matter the mode. Use this for items like diagnostics
+   * that you want ran during disabled, autonomous, teleoperated and test.
+   *
+   * <p>This runs after the mode specific periodic functions, but before LiveWindow and
+   * SmartDashboard integrated updating.
+   */
   @Override
   public void robotPeriodic() {
+    // Runs the Scheduler.  This is responsible for polling buttons, adding newly-scheduled
+    // commands, running already-scheduled commands, removing finished or interrupted commands,
+    // and running subsystem periodic() methods.  This must be called from the robot's periodic
+    // block in order for anything in the Command-based framework to work.
     CommandScheduler.getInstance().run();
   }
 
+  /** This function is called once each time the robot enters Disabled mode. */
   @Override
   public void disabledInit() {}
 
   @Override
   public void disabledPeriodic() {}
 
-  @Override
-  public void disabledExit() {}
-
+  /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
   @Override
   public void autonomousInit() {
     m_autonomousCommand = m_robotContainer.getAutonomousCommand();
 
+    // schedule the autonomous command (example)
     if (m_autonomousCommand != null) {
       m_autonomousCommand.schedule();
     }
   }
 
+  /** This function is called periodically during autonomous. */
   @Override
   public void autonomousPeriodic() {}
 
-  @Override
-  public void autonomousExit() {}
-
   @Override
   public void teleopInit() {
+    // This makes sure that the autonomous stops running when
+    // teleop starts running. If you want the autonomous to
+    // continue until interrupted by another command, remove
+    // this line or comment it out.
     if (m_autonomousCommand != null) {
       m_autonomousCommand.cancel();
     }
   }
 
+  /** This function is called periodically during operator control. */
   @Override
   public void teleopPeriodic() {}
 
-  @Override
-  public void teleopExit() {}
-
   @Override
   public void testInit() {
+    // Cancels all running commands at the start of test mode.
     CommandScheduler.getInstance().cancelAll();
   }
 
+  /** This function is called periodically during test mode. */
   @Override
   public void testPeriodic() {}
 
+  /** This function is called once when the robot is first started up. */
+  @Override
+  public void simulationInit() {}
+
+  /** This function is called periodically whilst in simulation. */
   @Override
-  public void testExit() {}
+  public void simulationPeriodic() {}
 }

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

@@ -4,34 +4,37 @@
 
 package frc.robot;
 
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.XboxController.Button;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
+import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
-import frc.robot.Constants.IntakeConstants;
-import frc.robot.Constants.ShooterConstants;
 import frc.robot.subsystems.IntakeSubsystem;
 import frc.robot.subsystems.ShooterSubsystem;
 
+/*
+ * This class is where the bulk of the robot should be declared.  Since Command-based is a
+ * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
+ * periodic methods (other than the scheduler calls).  Instead, the structure of the robot
+ * (including subsystems, commands, and button mappings) should be declared here.
+ */
 public class RobotContainer {
-  //The robots subsystems are defined here
-  public final ShooterSubsystem m_ShooterSubsystem = new ShooterSubsystem();
-  public final IntakeSubsystem m_IntakeSubsystem = new IntakeSubsystem();
+  public final ShooterSubsystem m_shooterSubsystem = new ShooterSubsystem();
+  public final IntakeSubsystem m_intakeSubsystem = new IntakeSubsystem();
   private boolean IntakeDropped = false;
   private boolean lastAButton = false;
 
   private XboxController controller = new XboxController(0);
   public RobotContainer() {
+    // Configure the trigger bindings
     configureBindings();
-    m_IntakeSubsystem.setDefaultCommand(new InstantCommand(()-> m_IntakeSubsystem.load(controller.getRightTriggerAxis()-controller.getLeftTriggerAxis(),IntakeDropped ? IntakeConstants.kIntakeDroppedAngle : IntakeConstants.kIntakeRaisedAngle),m_IntakeSubsystem));
+    m_intakeSubsystem.setDefaultCommand(new InstantCommand(()-> m_IntakeSubsystem.load(controller.getRightTriggerAxis()-controller.getLeftTriggerAxis(),IntakeDropped ? IntakeConstants.IntakeDroppedAngle : IntakeConstants.IntakeRaisedAngle),m_IntakeSubsystem));
   }
 
-
-  /**
-   * checks for intake button on controller every tick
-   */
   public void periodic(){
     if(controller.getAButton()){
       lastAButton = true;
@@ -43,18 +46,20 @@ public void periodic(){
     }
   }
 
-  /**
-   * Use this method to define your button->command mappings.
-   */
   private void configureBindings() {
     new JoystickButton(controller, Button.kB.value)
-      .onTrue(new InstantCommand(() -> m_ShooterSubsystem.spin(ShooterConstants.kSpinSpeedTrue), m_ShooterSubsystem))
-      .onFalse(new InstantCommand(() -> m_ShooterSubsystem.spin(ShooterConstants.kSpinSpeedFalse), m_ShooterSubsystem));
+      .onTrue(new InstantCommand(() -> m_ShooterSubsystem.spin(0.75), m_ShooterSubsystem))
+      .onFalse(new InstantCommand(() -> m_ShooterSubsystem.spin(0), m_ShooterSubsystem));
     new JoystickButton(controller, Button.kA.value)
-      .onTrue(new InstantCommand(() -> m_ShooterSubsystem.spin(-ShooterConstants.kSpinSpeedTrue), m_ShooterSubsystem))
-      .onFalse(new InstantCommand(() -> m_ShooterSubsystem.spin(ShooterConstants.kSpinSpeedFalse), m_ShooterSubsystem));
+      .onTrue(new InstantCommand(() -> m_ShooterSubsystem.spin(-0.75), m_ShooterSubsystem))
+      .onFalse(new InstantCommand(() -> m_ShooterSubsystem.spin(0), m_ShooterSubsystem));
   }
 
+  /**
+   * Use this to pass the autonomous command to the main {@link Robot} class.
+   *
+   * @return the command to run in autonomous
+   */
   public Command getAutonomousCommand() {
     return Commands.print("No autonomous command configured");
   }