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Move Triggers that give data about robot state to subsystems #146

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4649209
move robot-state triggers to subsystems
nlaverdure Mar 1, 2024
4e5935e
Merge branch 'main' of https://github.com/TripleHelixProgramming/Cres…
nlaverdure Mar 2, 2024
7ad27a2
reference trigger in subsystem for driver controller button
nlaverdure Mar 2, 2024
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27 changes: 11 additions & 16 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -103,14 +103,14 @@ public Command createTeleopInitSequence() {
m_arm.createStowCommand(),
m_arm.createFlapDeployCommand(),
m_LEDs.createEnabledCommand(
m_intake.eitherSensorSupplier(), m_arm.stateChecker(ArmState.DEPLOYED)));
m_intake.hasNote, m_arm.stateChecker(ArmState.DEPLOYED)));
}

public Command createAutonomousInitSequence() {
return new SequentialCommandGroup(
m_arm.createFlapDeployCommand(),
m_LEDs.createEnabledCommand(
m_intake.eitherSensorSupplier(), m_arm.stateChecker(ArmState.DEPLOYED)));
m_intake.hasNote, m_arm.stateChecker(ArmState.DEPLOYED)));
}

public Command createDisabledInitSequence() {
Expand Down Expand Up @@ -263,15 +263,13 @@ private void configureDriverButtonBindings() {
new JoystickButton(m_driver,OIConstants.kZorroAIn)
.whileTrue((new ZorroDriveCommand(m_swerve, DriveConstants.kDriveKinematicsDriveFromArm, m_driver)));


Trigger armDeployed = new Trigger(m_arm.stateChecker(ArmState.DEPLOYED));
JoystickButton D_Button = new JoystickButton(m_driver, OIConstants.kZorroDIn);

// Reverse intake to outake or reject intaking Note
D_Button.and(armDeployed.negate())
D_Button.and(m_arm.deployed.negate())
.whileTrue(m_intake.createOuttakeToFloorCommand());
// Shoot Note into Amp
D_Button.and(armDeployed)
D_Button.and(m_arm.deployed)
.whileTrue(m_intake.createOuttakeToAmpCommand());
}
// spotless:on
Expand All @@ -281,9 +279,6 @@ private void configureOperatorButtonBindings() {
JoystickButton rightBumper = new JoystickButton(m_operator, Button.kRightBumper.value);
JoystickButton leftBumper = new JoystickButton(m_operator, Button.kLeftBumper.value);

Trigger hasNote = new Trigger(m_intake.eitherSensorSupplier());
Trigger armDeployed = new Trigger(m_arm.stateChecker(ArmState.DEPLOYED));

// CLIMBER
// Calibrate upper limit of climber actuators
new JoystickButton(m_operator, Button.kStart.value).onTrue(new CalibrateCommand(m_climber)
Expand All @@ -307,25 +302,25 @@ private void configureOperatorButtonBindings() {
// Control position of Note in intake
Trigger leftStick = new Trigger(() -> Math.abs(m_operator.getLeftY()) > 0.2);
//While arm is down
leftStick.and(armDeployed.negate()).whileTrue(m_intake.createJoystickControlCommand(m_operator, IntakeConstants.kRepositionSpeedArmDown));
leftStick.and(m_arm.deployed.negate()).whileTrue(m_intake.createJoystickControlCommand(m_operator, IntakeConstants.kRepositionSpeedArmDown));
//While arm is up
leftStick.and(armDeployed).whileTrue(m_intake.createJoystickControlCommand(m_operator, IntakeConstants.kRepositionSpeedArmUp));
leftStick.and(m_arm.deployed).whileTrue(m_intake.createJoystickControlCommand(m_operator, IntakeConstants.kRepositionSpeedArmUp));

// Intake Note from floor
rightBumper.and(hasNote.negate())
rightBumper.and(m_intake.hasNote.negate())
.whileTrue(m_arm.createStowCommand()
.andThen(m_intake.createIntakeCommand()));

hasNote.and(m_intake.stateChecker(IntakeState.INTAKING)).and(() -> RobotState.isTeleop())
m_intake.hasNote.and(m_intake.stateChecker(IntakeState.INTAKING)).and(() -> RobotState.isTeleop())
.onTrue(m_arm.createCarryCommand()
.andThen(m_intake.createAdvanceAfterIntakingCommand()));

// Reverse intake to outake or reject intaking Note
leftBumper.and(armDeployed.negate())
leftBumper.and(m_arm.deployed.negate())
.whileTrue(m_intake.createOuttakeToFloorCommand());

// Shoot Note into Amp
leftBumper.and(armDeployed)
leftBumper.and(m_arm.deployed)
.whileTrue(m_intake.createOuttakeToAmpCommand());

// Shift Note further into Intake
Expand Down Expand Up @@ -366,7 +361,7 @@ private void configureOperatorButtonBindings() {
public Command createAutoIntakeCommandSequence() {
return new SequentialCommandGroup(
m_arm.createStowCommand(),
m_intake.createIntakeCommand().until(m_intake.eitherSensorSupplier()),
m_intake.createIntakeCommand().until(m_intake.hasNote),
m_arm.createCarryCommand(),
m_intake.createAdvanceAfterIntakingCommand());
}
Expand Down
3 changes: 3 additions & 0 deletions src/main/java/frc/robot/arm/Arm.java
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.button.Trigger;
import frc.robot.Constants.ArmConstants;
import frc.robot.Constants.ArmConstants.ArmState;
import java.util.function.BooleanSupplier;
Expand Down Expand Up @@ -39,6 +40,8 @@ public void periodic() {
if (m_armState != null) SmartDashboard.putString("Arm State", m_armState.name());
}

public final Trigger deployed = new Trigger(this.stateChecker(ArmState.DEPLOYED));

public BooleanSupplier stateChecker(ArmState state) {
return () -> {
if (this.m_armState != null) return this.m_armState.equals(state);
Expand Down
20 changes: 6 additions & 14 deletions src/main/java/frc/robot/intake/Intake.java
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.FunctionalCommand;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.button.Trigger;
import frc.robot.Constants.IntakeConstants;
import frc.robot.Constants.IntakeConstants.IntakeState;
import java.util.function.BooleanSupplier;
Expand Down Expand Up @@ -43,7 +44,7 @@ public class Intake extends SubsystemBase {

private final EventLoop m_loop = new EventLoop();
private final BooleanEvent m_secondSensorTriggered =
new BooleanEvent(m_loop, secondSensorSupplier());
new BooleanEvent(m_loop, m_noteSensorRetroReflective::get).negate().rising();

public Intake() {

Expand Down Expand Up @@ -94,7 +95,7 @@ private void configurePositionController(double targetPosition) {

// spotless:off
private void advanceAfterIntaking(double targetPosition) {
m_secondSensorTriggered.rising().ifHigh(
m_secondSensorTriggered.ifHigh(
() -> {
m_positionController.reset(
m_relativeEncoder.getPosition(), m_relativeEncoder.getVelocity());
Expand Down Expand Up @@ -138,22 +139,13 @@ public Command createAdvanceAfterIntakingCommand() {
// end
interrupted -> {},
// isFinished
this.atGoalSupplier(),
m_positionController::atGoal,
// requirements
this);
}

public BooleanSupplier eitherSensorSupplier() {
return () -> (!m_noteSensorRetroReflective.get() || !m_noteSensorBeamBreak.get());
}

public BooleanSupplier secondSensorSupplier() {
return () -> !m_noteSensorRetroReflective.get();
}

public BooleanSupplier atGoalSupplier() {
return () -> m_positionController.atGoal();
}
public final Trigger hasNote =
new Trigger(() -> (!m_noteSensorRetroReflective.get() || !m_noteSensorBeamBreak.get()));

private void setVelocity(double targetVelocity) {
m_velocityController.setReference(targetVelocity, ControlType.kVelocity);
Expand Down