Added robot drive and some dashboard
This commit is contained in:
parent
edd9b9eba0
commit
e4928925fa
@ -7,6 +7,8 @@ package frc.robot;
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import edu.wpi.first.wpilibj.GenericHID;
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import edu.wpi.first.wpilibj.GenericHID;
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import edu.wpi.first.wpilibj.XboxController;
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import edu.wpi.first.wpilibj.XboxController;
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.Command;
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import frc.robot.commands.Drive;
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import frc.robot.subsystems.DriveTrain;
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/**
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/**
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* This class is where the bulk of the robot should be declared. Since Command-based is a
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* This class is where the bulk of the robot should be declared. Since Command-based is a
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@ -15,13 +17,21 @@ import edu.wpi.first.wpilibj2.command.Command;
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* subsystems, commands, and button mappings) should be declared here.
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* subsystems, commands, and button mappings) should be declared here.
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*/
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*/
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public class RobotContainer {
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public class RobotContainer {
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// The robot's subsystems and commands are defined here...
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private final XboxController controller = new XboxController(0);
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// The robot's subsystems and commands are defined here...
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private final DriveTrain driveTrain = new DriveTrain();
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private final Drive drive = new Drive(driveTrain, () -> controller.getLeftY(), () -> controller.getLeftX());
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/** The container for the robot. Contains subsystems, OI devices, and commands. */
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/** The container for the robot. Contains subsystems, OI devices, and commands. */
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public RobotContainer() {
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public RobotContainer() {
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// Configure the button bindings
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// Configure the button bindings
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configureButtonBindings();
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configureButtonBindings();
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driveTrain.setDefaultCommand(drive);
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}
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}
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/**
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/**
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62
src/main/java/frc/robot/commands/Drive.java
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62
src/main/java/frc/robot/commands/Drive.java
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@ -0,0 +1,62 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc.robot.commands;
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import java.util.Map;
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import java.util.function.DoubleSupplier;
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import edu.wpi.first.networktables.NetworkTableEntry;
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import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
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import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
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import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
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import edu.wpi.first.wpilibj2.command.CommandBase;
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import frc.robot.subsystems.DriveTrain;
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public class Drive extends CommandBase {
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private final DriveTrain driveTrain;
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private final DoubleSupplier speed;
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private final DoubleSupplier rotation;
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private final ShuffleboardTab tab = Shuffleboard.getTab("Peanut");
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private final NetworkTableEntry maxSpeed = tab.addPersistent("Max Speed", 0.5)
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.withWidget(BuiltInWidgets.kNumberSlider)
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.withSize(2, 1)
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.withProperties(Map.of("min", 0, "max", 1))
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.getEntry();
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/** Creates a new Drive. */
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public Drive(DriveTrain driveTrain, DoubleSupplier speed, DoubleSupplier rotation) {
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this.driveTrain = driveTrain;
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this.speed = speed;
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this.rotation = rotation;
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// Use addRequirements() here to declare subsystem dependencies.
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addRequirements(driveTrain);
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}
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// Called when the command is initially scheduled.
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@Override
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public void initialize() {}
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// Called every time the scheduler runs while the command is scheduled.
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@Override
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public void execute() {
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double max = maxSpeed.getDouble(0.5);
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double spd = speed.getAsDouble() * max;
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double rot = rotation.getAsDouble() * max;
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driveTrain.arcadeDrive(spd, rot);
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}
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// Called once the command ends or is interrupted.
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@Override
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public void end(boolean interrupted) {}
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// Returns true when the command should end.
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@Override
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public boolean isFinished() {
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return false;
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}
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}
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40
src/main/java/frc/robot/subsystems/DriveTrain.java
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40
src/main/java/frc/robot/subsystems/DriveTrain.java
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@ -0,0 +1,40 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc.robot.subsystems;
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import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
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import edu.wpi.first.wpilibj.drive.DifferentialDrive;
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import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
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import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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public class DriveTrain extends SubsystemBase {
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private final WPI_TalonSRX roueGauche = new WPI_TalonSRX(1);
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private final WPI_TalonSRX roueDroite = new WPI_TalonSRX(2);
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private final DifferentialDrive drive = new DifferentialDrive(roueGauche, roueDroite);
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private final ShuffleboardTab tab = Shuffleboard.getTab("Peanut");
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/** Creates a new DriveTrain. */
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public DriveTrain() {
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tab.add("Drive Train", drive);
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}
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public void arcadeDrive(double spd, double rot) {
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drive.arcadeDrive(spd, rot);
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}
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public void arcadeDrive(double spd, double rot, boolean squared) {
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drive.arcadeDrive(spd, rot, squared);
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}
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@Override
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public void periodic() {
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// This method will be called once per scheduler run
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}
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}
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257
vendordeps/Phoenix.json
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257
vendordeps/Phoenix.json
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{
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"fileName": "Phoenix.json",
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"name": "CTRE-Phoenix",
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"version": "5.21.2",
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"frcYear": 2022,
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"uuid": "ab676553-b602-441f-a38d-f1296eff6537",
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"mavenUrls": [
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"https://maven.ctr-electronics.com/release/"
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],
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"jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix-frc2022-latest.json",
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"javaDependencies": [
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{
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"groupId": "com.ctre.phoenix",
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"artifactId": "api-java",
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"version": "5.21.2"
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},
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{
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"groupId": "com.ctre.phoenix",
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"artifactId": "wpiapi-java",
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"version": "5.21.2"
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}
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],
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"jniDependencies": [
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{
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"groupId": "com.ctre.phoenix",
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"artifactId": "cci",
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"version": "5.21.2",
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"isJar": false,
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"skipInvalidPlatforms": true,
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"validPlatforms": [
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"linuxathena"
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]
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},
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{
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"groupId": "com.ctre.phoenix.sim",
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"artifactId": "cci-sim",
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"version": "5.21.2",
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"isJar": false,
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"skipInvalidPlatforms": true,
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"validPlatforms": [
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"windowsx86-64",
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"linuxx86-64",
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"osxx86-64"
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]
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},
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{
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"groupId": "com.ctre.phoenix.sim",
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"artifactId": "simTalonSRX",
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"version": "5.21.2",
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"isJar": false,
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"skipInvalidPlatforms": true,
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"validPlatforms": [
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"windowsx86-64",
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"linuxx86-64",
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"osxx86-64"
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]
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},
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{
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"groupId": "com.ctre.phoenix.sim",
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"artifactId": "simTalonFX",
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"version": "5.21.2",
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"isJar": false,
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"skipInvalidPlatforms": true,
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"validPlatforms": [
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"windowsx86-64",
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"linuxx86-64",
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"osxx86-64"
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]
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},
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{
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"groupId": "com.ctre.phoenix.sim",
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"artifactId": "simVictorSPX",
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"version": "5.21.2",
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"isJar": false,
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"skipInvalidPlatforms": true,
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"validPlatforms": [
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"windowsx86-64",
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"linuxx86-64",
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"osxx86-64"
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]
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},
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{
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"groupId": "com.ctre.phoenix.sim",
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"artifactId": "simPigeonIMU",
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"version": "5.21.2",
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"isJar": false,
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"skipInvalidPlatforms": true,
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"validPlatforms": [
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"windowsx86-64",
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"linuxx86-64",
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"osxx86-64"
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]
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},
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{
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"groupId": "com.ctre.phoenix.sim",
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"artifactId": "simCANCoder",
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"version": "5.21.2",
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"isJar": false,
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"skipInvalidPlatforms": true,
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"validPlatforms": [
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"windowsx86-64",
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"linuxx86-64",
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"osxx86-64"
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]
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}
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],
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"cppDependencies": [
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{
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"groupId": "com.ctre.phoenix",
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"artifactId": "wpiapi-cpp",
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"version": "5.21.2",
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"libName": "CTRE_Phoenix_WPI",
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"headerClassifier": "headers",
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"sharedLibrary": true,
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"skipInvalidPlatforms": true,
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"binaryPlatforms": [
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"linuxathena"
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]
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},
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{
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"groupId": "com.ctre.phoenix",
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"artifactId": "api-cpp",
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"version": "5.21.2",
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"libName": "CTRE_Phoenix",
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"headerClassifier": "headers",
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"sharedLibrary": true,
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"skipInvalidPlatforms": true,
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"binaryPlatforms": [
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"linuxathena"
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]
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},
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{
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"groupId": "com.ctre.phoenix",
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"artifactId": "cci",
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"version": "5.21.2",
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"libName": "CTRE_PhoenixCCI",
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"headerClassifier": "headers",
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"sharedLibrary": true,
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"skipInvalidPlatforms": true,
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"binaryPlatforms": [
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"linuxathena"
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]
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},
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{
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"groupId": "com.ctre.phoenix.sim",
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"artifactId": "wpiapi-cpp-sim",
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"version": "5.21.2",
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"libName": "CTRE_Phoenix_WPISim",
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"headerClassifier": "headers",
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"sharedLibrary": true,
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"skipInvalidPlatforms": true,
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"binaryPlatforms": [
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"windowsx86-64",
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"linuxx86-64",
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"osxx86-64"
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]
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},
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{
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"groupId": "com.ctre.phoenix.sim",
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"artifactId": "api-cpp-sim",
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"version": "5.21.2",
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"libName": "CTRE_PhoenixSim",
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"headerClassifier": "headers",
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"sharedLibrary": true,
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"skipInvalidPlatforms": true,
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"binaryPlatforms": [
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"windowsx86-64",
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"linuxx86-64",
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"osxx86-64"
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]
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},
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{
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"groupId": "com.ctre.phoenix.sim",
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"artifactId": "cci-sim",
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"version": "5.21.2",
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"libName": "CTRE_PhoenixCCISim",
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"headerClassifier": "headers",
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"sharedLibrary": true,
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"skipInvalidPlatforms": true,
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"binaryPlatforms": [
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"windowsx86-64",
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"linuxx86-64",
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"osxx86-64"
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]
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},
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{
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"groupId": "com.ctre.phoenix.sim",
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"artifactId": "simTalonSRX",
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"version": "5.21.2",
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"libName": "CTRE_SimTalonSRX",
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"headerClassifier": "headers",
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"sharedLibrary": true,
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"skipInvalidPlatforms": true,
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"binaryPlatforms": [
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"windowsx86-64",
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"linuxx86-64",
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"osxx86-64"
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]
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},
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{
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"groupId": "com.ctre.phoenix.sim",
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"artifactId": "simTalonFX",
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"version": "5.21.2",
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"libName": "CTRE_SimTalonFX",
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"headerClassifier": "headers",
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"sharedLibrary": true,
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"skipInvalidPlatforms": true,
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"binaryPlatforms": [
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"windowsx86-64",
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"linuxx86-64",
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"osxx86-64"
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]
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},
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{
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"groupId": "com.ctre.phoenix.sim",
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"artifactId": "simVictorSPX",
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"version": "5.21.2",
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"libName": "CTRE_SimVictorSPX",
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"headerClassifier": "headers",
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"sharedLibrary": true,
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"skipInvalidPlatforms": true,
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"binaryPlatforms": [
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"windowsx86-64",
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"linuxx86-64",
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"osxx86-64"
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]
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},
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{
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"groupId": "com.ctre.phoenix.sim",
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"artifactId": "simPigeonIMU",
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"version": "5.21.2",
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"libName": "CTRE_SimPigeonIMU",
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"headerClassifier": "headers",
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"sharedLibrary": true,
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"skipInvalidPlatforms": true,
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"binaryPlatforms": [
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"windowsx86-64",
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"linuxx86-64",
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"osxx86-64"
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]
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},
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{
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"groupId": "com.ctre.phoenix.sim",
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"artifactId": "simCANCoder",
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"version": "5.21.2",
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"libName": "CTRE_SimCANCoder",
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||||||
|
"headerClassifier": "headers",
|
||||||
|
"sharedLibrary": true,
|
||||||
|
"skipInvalidPlatforms": true,
|
||||||
|
"binaryPlatforms": [
|
||||||
|
"windowsx86-64",
|
||||||
|
"linuxx86-64",
|
||||||
|
"osxx86-64"
|
||||||
|
]
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
Loading…
x
Reference in New Issue
Block a user