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[examples] Hatchbots: Add telemetry (#5011)

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This commit is contained in:
Starlight220
2023-02-01 09:44:18 +02:00
committed by GitHub
parent 83ef8f9658
commit 2f96cae31a
32 changed files with 251 additions and 568 deletions
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2
shared/examplecheck.gradle
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@@ -62,7 +62,7 @@ def tagList = [
"Swerve Drive",
/* --- Telemetry --- */
"SmartDashboard", "Shuffleboard", "Sendable",
"SmartDashboard", "Shuffleboard", "Sendable", "DataLog",
/* --- Controls --- */
"PID", "State-Space", "Ramsete", "Path Following", "Trajectory", "SysId",

11
wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/Robot.cpp
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@@ -4,10 +4,19 @@
#include "Robot.h"
#include <frc/DataLogManager.h>
#include <frc/DriverStation.h>
#include <frc/smartdashboard/SmartDashboard.h>
#include <frc2/command/CommandScheduler.h>
void Robot::RobotInit() {}
void Robot::RobotInit() {
// Start recording to data log
frc::DataLogManager::Start();
// Record DS control and joystick data.
// Change to `false` to not record joystick data.
frc::DriverStation::StartDataLog(frc::DataLogManager::GetLog(), true);
}
/**
* This function is called every 20 ms, no matter the mode. Use

29
wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
View File

@@ -16,6 +16,35 @@ RobotContainer::RobotContainer() {
// Put the chooser on the dashboard
frc::Shuffleboard::GetTab("Autonomous").Add(m_chooser);
// Put subsystems to dashboard.
frc::Shuffleboard::GetTab("Drivetrain").Add(m_drive);
frc::Shuffleboard::GetTab("HatchSubsystem").Add(m_hatch);
// Log Shuffleboard events for command initialize, execute, finish, interrupt
frc2::CommandScheduler::GetInstance().OnCommandInitialize(
[](const frc2::Command& command) {
frc::Shuffleboard::AddEventMarker(
"Command initialized", command.GetName(),
frc::ShuffleboardEventImportance::kNormal);
});
frc2::CommandScheduler::GetInstance().OnCommandExecute(
[](const frc2::Command& command) {
frc::Shuffleboard::AddEventMarker(
"Command executed", command.GetName(),
frc::ShuffleboardEventImportance::kNormal);
});
frc2::CommandScheduler::GetInstance().OnCommandFinish(
[](const frc2::Command& command) {
frc::Shuffleboard::AddEventMarker(
"Command finished", command.GetName(),
frc::ShuffleboardEventImportance::kNormal);
});
frc2::CommandScheduler::GetInstance().OnCommandInterrupt(
[](const frc2::Command& command) {
frc::Shuffleboard::AddEventMarker(
"Command interrupted", command.GetName(),
frc::ShuffleboardEventImportance::kNormal);
});
// Configure the button bindings
ConfigureButtonBindings();

21
wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/DriveSubsystem.cpp
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@@ -4,6 +4,8 @@
#include "subsystems/DriveSubsystem.h"
#include <wpi/sendable/SendableBuilder.h>
using namespace DriveConstants;
DriveSubsystem::DriveSubsystem()
@@ -40,14 +42,17 @@ double DriveSubsystem::GetAverageEncoderDistance() {
return (m_leftEncoder.GetDistance() + m_rightEncoder.GetDistance()) / 2.0;
}
frc::Encoder& DriveSubsystem::GetLeftEncoder() {
return m_leftEncoder;
}
frc::Encoder& DriveSubsystem::GetRightEncoder() {
return m_rightEncoder;
}
void DriveSubsystem::SetMaxOutput(double maxOutput) {
m_drive.SetMaxOutput(maxOutput);
}
void DriveSubsystem::InitSendable(wpi::SendableBuilder& builder) {
SubsystemBase::InitSendable(builder);
// Publish encoder distances to telemetry.
builder.AddDoubleProperty(
"leftDistance", [this] { return m_leftEncoder.GetDistance(); }, nullptr);
builder.AddDoubleProperty(
"rightDistance", [this] { return m_rightEncoder.GetDistance(); },
nullptr);
}

12
wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/HatchSubsystem.cpp
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@@ -4,6 +4,8 @@
#include "subsystems/HatchSubsystem.h"
#include <wpi/sendable/SendableBuilder.h>
using namespace HatchConstants;
HatchSubsystem::HatchSubsystem()
@@ -21,3 +23,13 @@ frc2::CommandPtr HatchSubsystem::ReleaseHatchCommand() {
return this->RunOnce(
[this] { m_hatchSolenoid.Set(frc::DoubleSolenoid::kReverse); });
}
void HatchSubsystem::InitSendable(wpi::SendableBuilder& builder) {
SubsystemBase::InitSendable(builder);
// Publish the solenoid state to telemetry.
builder.AddBooleanProperty(
"extended",
[this] { return m_hatchSolenoid.Get() == frc::DoubleSolenoid::kForward; },
nullptr);
}

16
wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/DriveSubsystem.h
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@@ -43,20 +43,6 @@ class DriveSubsystem : public frc2::SubsystemBase {
*/
double GetAverageEncoderDistance();
/**
* Gets the left drive encoder.
*
* @return the left drive encoder
*/
frc::Encoder& GetLeftEncoder();
/**
* Gets the right drive encoder.
*
* @return the right drive encoder
*/
frc::Encoder& GetRightEncoder();
/**
* Sets the max output of the drive. Useful for scaling the drive to drive
* more slowly.
@@ -65,6 +51,8 @@ class DriveSubsystem : public frc2::SubsystemBase {
*/
void SetMaxOutput(double maxOutput);
void InitSendable(wpi::SendableBuilder& builder) override;
private:
// Components (e.g. motor controllers and sensors) should generally be
// declared private and exposed only through public methods.

2
wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/HatchSubsystem.h
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@@ -27,6 +27,8 @@ class HatchSubsystem : public frc2::SubsystemBase {
*/
frc2::CommandPtr ReleaseHatchCommand();
void InitSendable(wpi::SendableBuilder& builder) override;
private:
// Components (e.g. motor controllers and sensors) should generally be
// declared private and exposed only through public methods.

11
wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/Robot.cpp
View File

@@ -4,10 +4,19 @@
#include "Robot.h"
#include <frc/DataLogManager.h>
#include <frc/DriverStation.h>
#include <frc/smartdashboard/SmartDashboard.h>
#include <frc2/command/CommandScheduler.h>
void Robot::RobotInit() {}
void Robot::RobotInit() {
// Start recording to data log
frc::DataLogManager::Start();
// Record DS control and joystick data.
// Change to `false` to not record joystick data.
frc::DriverStation::StartDataLog(frc::DataLogManager::GetLog(), true);
}
/**
* This function is called every 20 ms, no matter the mode. Use

29
wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
View File

@@ -21,6 +21,35 @@ RobotContainer::RobotContainer() {
// Put the chooser on the dashboard
frc::Shuffleboard::GetTab("Autonomous").Add(m_chooser);
// Put subsystems to dashboard.
frc::Shuffleboard::GetTab("Drivetrain").Add(m_drive);
frc::Shuffleboard::GetTab("HatchSubsystem").Add(m_hatch);
// Log Shuffleboard events for command initialize, execute, finish, interrupt
frc2::CommandScheduler::GetInstance().OnCommandInitialize(
[](const frc2::Command& command) {
frc::Shuffleboard::AddEventMarker(
"Command initialized", command.GetName(),
frc::ShuffleboardEventImportance::kNormal);
});
frc2::CommandScheduler::GetInstance().OnCommandExecute(
[](const frc2::Command& command) {
frc::Shuffleboard::AddEventMarker(
"Command executed", command.GetName(),
frc::ShuffleboardEventImportance::kNormal);
});
frc2::CommandScheduler::GetInstance().OnCommandFinish(
[](const frc2::Command& command) {
frc::Shuffleboard::AddEventMarker(
"Command finished", command.GetName(),
frc::ShuffleboardEventImportance::kNormal);
});
frc2::CommandScheduler::GetInstance().OnCommandInterrupt(
[](const frc2::Command& command) {
frc::Shuffleboard::AddEventMarker(
"Command interrupted", command.GetName(),
frc::ShuffleboardEventImportance::kNormal);
});
// Configure the button bindings
ConfigureButtonBindings();

21
wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/subsystems/DriveSubsystem.cpp
View File

@@ -4,6 +4,8 @@
#include "subsystems/DriveSubsystem.h"
#include <wpi/sendable/SendableBuilder.h>
using namespace DriveConstants;
DriveSubsystem::DriveSubsystem()
@@ -40,14 +42,17 @@ double DriveSubsystem::GetAverageEncoderDistance() {
return (m_leftEncoder.GetDistance() + m_rightEncoder.GetDistance()) / 2.0;
}
frc::Encoder& DriveSubsystem::GetLeftEncoder() {
return m_leftEncoder;
}
frc::Encoder& DriveSubsystem::GetRightEncoder() {
return m_rightEncoder;
}
void DriveSubsystem::SetMaxOutput(double maxOutput) {
m_drive.SetMaxOutput(maxOutput);
}
void DriveSubsystem::InitSendable(wpi::SendableBuilder& builder) {
SubsystemBase::InitSendable(builder);
// Publish encoder distances to telemetry.
builder.AddDoubleProperty(
"leftDistance", [this] { return m_leftEncoder.GetDistance(); }, nullptr);
builder.AddDoubleProperty(
"rightDistance", [this] { return m_rightEncoder.GetDistance(); },
nullptr);
}

12
wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/subsystems/HatchSubsystem.cpp
View File

@@ -4,6 +4,8 @@
#include "subsystems/HatchSubsystem.h"
#include <wpi/sendable/SendableBuilder.h>
using namespace HatchConstants;
HatchSubsystem::HatchSubsystem()
@@ -17,3 +19,13 @@ void HatchSubsystem::GrabHatch() {
void HatchSubsystem::ReleaseHatch() {
m_hatchSolenoid.Set(frc::DoubleSolenoid::kReverse);
}
void HatchSubsystem::InitSendable(wpi::SendableBuilder& builder) {
SubsystemBase::InitSendable(builder);
// Publish the solenoid state to telemetry.
builder.AddBooleanProperty(
"extended",
[this] { return m_hatchSolenoid.Get() == frc::DoubleSolenoid::kForward; },
nullptr);
}

16
wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/DriveSubsystem.h
View File

@@ -43,20 +43,6 @@ class DriveSubsystem : public frc2::SubsystemBase {
*/
double GetAverageEncoderDistance();
/**
* Gets the left drive encoder.
*
* @return the left drive encoder
*/
frc::Encoder& GetLeftEncoder();
/**
* Gets the right drive encoder.
*
* @return the right drive encoder
*/
frc::Encoder& GetRightEncoder();
/**
* Sets the max output of the drive. Useful for scaling the drive to drive
* more slowly.
@@ -65,6 +51,8 @@ class DriveSubsystem : public frc2::SubsystemBase {
*/
void SetMaxOutput(double maxOutput);
void InitSendable(wpi::SendableBuilder& builder) override;
private:
// Components (e.g. motor controllers and sensors) should generally be
// declared private and exposed only through public methods.

2
wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/HatchSubsystem.h
View File

@@ -26,6 +26,8 @@ class HatchSubsystem : public frc2::SubsystemBase {
*/
void ReleaseHatch();
void InitSendable(wpi::SendableBuilder& builder) override;
private:
// Components (e.g. motor controllers and sensors) should generally be
// declared private and exposed only through public methods.

72
wpilibcExamples/src/main/cpp/examples/SchedulerEventLogging/cpp/Robot.cpp
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@@ -1,72 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "Robot.h"
#include <frc/smartdashboard/SmartDashboard.h>
#include <frc2/command/CommandScheduler.h>
void Robot::RobotInit() {}
/**
* This function is called every 20 ms, no matter the mode. Use
* this for items like diagnostics that you want to run during disabled,
* autonomous, teleoperated and test.
*
* <p> This runs after the mode specific periodic functions, but before
* LiveWindow and SmartDashboard integrated updating.
*/
void Robot::RobotPeriodic() {
frc2::CommandScheduler::GetInstance().Run();
}
/**
* This function is called once each time the robot enters Disabled mode. You
* can use it to reset any subsystem information you want to clear when the
* robot is disabled.
*/
void Robot::DisabledInit() {}
void Robot::DisabledPeriodic() {}
/**
* This autonomous runs the autonomous command selected by your {@link
* RobotContainer} class.
*/
void Robot::AutonomousInit() {
m_autonomousCommand = m_container.GetAutonomousCommand();
if (m_autonomousCommand != nullptr) {
m_autonomousCommand->Schedule();
}
}
void Robot::AutonomousPeriodic() {}
void Robot::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 != nullptr) {
m_autonomousCommand->Cancel();
m_autonomousCommand = nullptr;
}
}
/**
* This function is called periodically during operator control.
*/
void Robot::TeleopPeriodic() {}
/**
* This function is called periodically during test mode.
*/
void Robot::TestPeriodic() {}
#ifndef RUNNING_FRC_TESTS
int main() {
return frc::StartRobot<Robot>();
}
#endif

62
wpilibcExamples/src/main/cpp/examples/SchedulerEventLogging/cpp/RobotContainer.cpp
View File

@@ -1,62 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "RobotContainer.h"
#include <frc/shuffleboard/Shuffleboard.h>
#include <frc2/command/CommandScheduler.h>
#include <frc2/command/button/JoystickButton.h>
RobotContainer::RobotContainer() {
// Initialize all of your commands and subsystems here
// Set names of commands
m_instantCommand1.SetName("Instant Command 1");
m_instantCommand2.SetName("Instant Command 2");
m_waitCommand.SetName("Wait 5 Seconds Command");
// Set the scheduler to log Shuffleboard events for command initialize,
// interrupt, finish
frc2::CommandScheduler::GetInstance().OnCommandInitialize(
[](const frc2::Command& command) {
frc::Shuffleboard::AddEventMarker(
"Command Initialized", command.GetName(),
frc::ShuffleboardEventImportance::kNormal);
});
frc2::CommandScheduler::GetInstance().OnCommandInterrupt(
[](const frc2::Command& command) {
frc::Shuffleboard::AddEventMarker(
"Command Interrupted", command.GetName(),
frc::ShuffleboardEventImportance::kNormal);
});
frc2::CommandScheduler::GetInstance().OnCommandFinish(
[](const frc2::Command& command) {
frc::Shuffleboard::AddEventMarker(
"Command Finished", command.GetName(),
frc::ShuffleboardEventImportance::kNormal);
});
// Configure the button bindings
ConfigureButtonBindings();
}
void RobotContainer::ConfigureButtonBindings() {
// Configure your button bindings here
// Run instant command 1 when the 'A' button is pressed
frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kA)
.OnTrue(&m_instantCommand1);
// Run instant command 2 when the 'X' button is pressed
frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kX)
.OnTrue(&m_instantCommand2);
// Run instant command 3 when the 'Y' button is held; release early to
// interrupt
frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kY)
.OnTrue(&m_waitCommand);
}
frc2::Command* RobotContainer::GetAutonomousCommand() {
// no auto
return nullptr;
}

19
wpilibcExamples/src/main/cpp/examples/SchedulerEventLogging/include/Constants.h
View File

@@ -1,19 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
/**
* The Constants header provides a convenient place for teams to hold robot-wide
* numerical or boolean constants. This should not be used for any other
* purpose.
*
* It is generally a good idea to place constants into subsystem- or
* command-specific namespaces within this header, which can then be used where
* they are needed.
*/
namespace OIConstants {
constexpr int kDriverControllerPort = 0;
} // namespace OIConstants

30
wpilibcExamples/src/main/cpp/examples/SchedulerEventLogging/include/Robot.h
View File

@@ -1,30 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
#include <frc/TimedRobot.h>
#include <frc2/command/Command.h>
#include "RobotContainer.h"
class Robot : public frc::TimedRobot {
public:
void RobotInit() override;
void RobotPeriodic() override;
void DisabledInit() override;
void DisabledPeriodic() override;
void AutonomousInit() override;
void AutonomousPeriodic() override;
void TeleopInit() override;
void TeleopPeriodic() override;
void TestPeriodic() override;
private:
// Have it null by default so that if testing teleop it
// doesn't have undefined behavior and potentially crash.
frc2::Command* m_autonomousCommand = nullptr;
RobotContainer m_container;
};

39
wpilibcExamples/src/main/cpp/examples/SchedulerEventLogging/include/RobotContainer.h
View File

@@ -1,39 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
#include <frc/XboxController.h>
#include <frc2/command/Command.h>
#include <frc2/command/InstantCommand.h>
#include <frc2/command/WaitCommand.h>
#include "Constants.h"
/**
* 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.
*/
class RobotContainer {
public:
RobotContainer();
frc2::Command* GetAutonomousCommand();
private:
// The robot's subsystems and commands are defined here...
// The driver's controller
frc::XboxController m_driverController{OIConstants::kDriverControllerPort};
// Three commands that do nothing; for demonstration purposes.
frc2::InstantCommand m_instantCommand1;
frc2::InstantCommand m_instantCommand2;
frc2::WaitCommand m_waitCommand{5_s};
void ConfigureButtonBindings();
};

17
wpilibcExamples/src/main/cpp/examples/examples.json
View File

@@ -356,6 +356,9 @@
"Command-based",
"Differential Drive",
"Encoder",
"Shuffleboard",
"Sendable",
"DataLog",
"Pneumatics",
"XboxController"
],
@@ -371,6 +374,9 @@
"Command-based",
"Differential Drive",
"Encoder",
"Shuffleboard",
"Sendable",
"DataLog",
"Pneumatics",
"PS4Controller"
],
@@ -407,17 +413,6 @@
"gradlebase": "cpp",
"commandversion": 2
},
{
"name": "Scheduler Event Logging",
"description": "An example showing how to use Shuffleboard to log Command events from the CommandScheduler in the new command framework",
"tags": [
"Command-based",
"Shuffleboard"
],
"foldername": "SchedulerEventLogging",
"gradlebase": "cpp",
"commandversion": 2
},
{
"name": "Frisbeebot",
"description": "An example robot project for a simple frisbee shooter for the 2013 FRC game, Ultimate Ascent, demonstrating use of PID functionality in the command framework",

18
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/examples.json
View File

@@ -349,6 +349,9 @@
"Differential Drive",
"Encoder",
"Pneumatics",
"Shuffleboard",
"Sendable",
"DataLog",
"XboxController"
],
"foldername": "hatchbottraditional",
@@ -365,6 +368,9 @@
"Differential Drive",
"Encoder",
"Pneumatics",
"Shuffleboard",
"Sendable",
"DataLog",
"PS4Controller"
],
"foldername": "hatchbotinlined",
@@ -403,18 +409,6 @@
"mainclass": "Main",
"commandversion": 2
},
{
"name": "Scheduler Event Logging",
"description": "An example showing how to use Shuffleboard to log Command events from the CommandScheduler in the new command framework",
"tags": [
"Command-based",
"Shuffleboard"
],
"foldername": "schedulereventlogging",
"gradlebase": "java",
"mainclass": "Main",
"commandversion": 2
},
{
"name": "Frisbeebot",
"description": "An example robot project for a simple frisbee shooter for the 2013 FRC game, Ultimate Ascent, demonstrating use of PID functionality in the command framework",

9
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/Robot.java
View File

@@ -4,6 +4,8 @@
package edu.wpi.first.wpilibj.examples.hatchbotinlined;
import edu.wpi.first.wpilibj.DataLogManager;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
@@ -28,6 +30,13 @@ public class Robot extends TimedRobot {
// Instantiate our RobotContainer. This will perform all our button bindings, and put our
// autonomous chooser on the dashboard.
m_robotContainer = new RobotContainer();
// Start recording to data log
DataLogManager.start();
// Record DS control and joystick data.
// Change to `false` to not record joystick data.
DriverStation.startDataLog(DataLogManager.getLog(), true);
}
/**

23
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/RobotContainer.java
View File

@@ -9,9 +9,11 @@ import edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.OIConstants;
import edu.wpi.first.wpilibj.examples.hatchbotinlined.commands.Autos;
import edu.wpi.first.wpilibj.examples.hatchbotinlined.subsystems.DriveSubsystem;
import edu.wpi.first.wpilibj.examples.hatchbotinlined.subsystems.HatchSubsystem;
import edu.wpi.first.wpilibj.shuffleboard.EventImportance;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.button.CommandPS4Controller;
@@ -63,6 +65,27 @@ public class RobotContainer {
// Put the chooser on the dashboard
Shuffleboard.getTab("Autonomous").add(m_chooser);
// Put subsystems to dashboard.
Shuffleboard.getTab("Drivetrain").add(m_robotDrive);
Shuffleboard.getTab("HatchSubsystem").add(m_hatchSubsystem);
// Set the scheduler to log Shuffleboard events for command initialize, interrupt, finish
CommandScheduler.getInstance()
.onCommandInitialize(
command ->
Shuffleboard.addEventMarker(
"Command initialized", command.getName(), EventImportance.kNormal));
CommandScheduler.getInstance()
.onCommandInterrupt(
command ->
Shuffleboard.addEventMarker(
"Command interrupted", command.getName(), EventImportance.kNormal));
CommandScheduler.getInstance()
.onCommandFinish(
command ->
Shuffleboard.addEventMarker(
"Command finished", command.getName(), EventImportance.kNormal));
}
/**

27
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/DriveSubsystem.java
View File

@@ -4,6 +4,7 @@
package edu.wpi.first.wpilibj.examples.hatchbotinlined.subsystems;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.DriveConstants;
@@ -78,24 +79,6 @@ public class DriveSubsystem extends SubsystemBase {
return (m_leftEncoder.getDistance() + m_rightEncoder.getDistance()) / 2.0;
}
/**
* Gets the left drive encoder.
*
* @return the left drive encoder
*/
public Encoder getLeftEncoder() {
return m_leftEncoder;
}
/**
* Gets the right drive encoder.
*
* @return the right drive encoder
*/
public Encoder getRightEncoder() {
return m_rightEncoder;
}
/**
* Sets the max output of the drive. Useful for scaling the drive to drive more slowly.
*
@@ -104,4 +87,12 @@ public class DriveSubsystem extends SubsystemBase {
public void setMaxOutput(double maxOutput) {
m_drive.setMaxOutput(maxOutput);
}
@Override
public void initSendable(SendableBuilder builder) {
super.initSendable(builder);
// Publish encoder distances to telemetry.
builder.addDoubleProperty("leftDistance", m_leftEncoder::getDistance, null);
builder.addDoubleProperty("rightDistance", m_rightEncoder::getDistance, null);
}
}

8
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/HatchSubsystem.java
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@@ -7,6 +7,7 @@ package edu.wpi.first.wpilibj.examples.hatchbotinlined.subsystems;
import static edu.wpi.first.wpilibj.DoubleSolenoid.Value.kForward;
import static edu.wpi.first.wpilibj.DoubleSolenoid.Value.kReverse;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.PneumaticsModuleType;
import edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.HatchConstants;
@@ -32,4 +33,11 @@ public class HatchSubsystem extends SubsystemBase {
// implicitly require `this`
return this.runOnce(() -> m_hatchSolenoid.set(kReverse));
}
@Override
public void initSendable(SendableBuilder builder) {
super.initSendable(builder);
// Publish the solenoid state to telemetry.
builder.addBooleanProperty("extended", () -> m_hatchSolenoid.get() == kForward, null);
}
}

9
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Robot.java
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@@ -4,6 +4,8 @@
package edu.wpi.first.wpilibj.examples.hatchbottraditional;
import edu.wpi.first.wpilibj.DataLogManager;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
@@ -28,6 +30,13 @@ public class Robot extends TimedRobot {
// Instantiate our RobotContainer. This will perform all our button bindings, and put our
// autonomous chooser on the dashboard.
m_robotContainer = new RobotContainer();
// Start recording to data log
DataLogManager.start();
// Record DS control and joystick data.
// Change to `false` to not record joystick data.
DriverStation.startDataLog(DataLogManager.getLog(), true);
}
/**

27
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/RobotContainer.java
View File

@@ -17,9 +17,11 @@ import edu.wpi.first.wpilibj.examples.hatchbottraditional.commands.HalveDriveSpe
import edu.wpi.first.wpilibj.examples.hatchbottraditional.commands.ReleaseHatch;
import edu.wpi.first.wpilibj.examples.hatchbottraditional.subsystems.DriveSubsystem;
import edu.wpi.first.wpilibj.examples.hatchbottraditional.subsystems.HatchSubsystem;
import edu.wpi.first.wpilibj.shuffleboard.EventImportance;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
/**
@@ -70,6 +72,31 @@ public class RobotContainer {
// Put the chooser on the dashboard
Shuffleboard.getTab("Autonomous").add(m_chooser);
// Put subsystems to dashboard.
Shuffleboard.getTab("Drivetrain").add(m_robotDrive);
Shuffleboard.getTab("HatchSubsystem").add(m_hatchSubsystem);
// Log Shuffleboard events for command initialize, execute, finish, interrupt
CommandScheduler.getInstance()
.onCommandInitialize(
command ->
Shuffleboard.addEventMarker(
"Command initialized", command.getName(), EventImportance.kNormal));
CommandScheduler.getInstance()
.onCommandExecute(
command ->
Shuffleboard.addEventMarker(
"Command executed", command.getName(), EventImportance.kNormal));
CommandScheduler.getInstance()
.onCommandFinish(
command ->
Shuffleboard.addEventMarker(
"Command finished", command.getName(), EventImportance.kNormal));
CommandScheduler.getInstance()
.onCommandInterrupt(
command ->
Shuffleboard.addEventMarker(
"Command interrupted", command.getName(), EventImportance.kNormal));
}
/**

27
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/subsystems/DriveSubsystem.java
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@@ -4,6 +4,7 @@
package edu.wpi.first.wpilibj.examples.hatchbottraditional.subsystems;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.hatchbottraditional.Constants.DriveConstants;
@@ -78,24 +79,6 @@ public class DriveSubsystem extends SubsystemBase {
return (m_leftEncoder.getDistance() + m_rightEncoder.getDistance()) / 2.0;
}
/**
* Gets the left drive encoder.
*
* @return the left drive encoder
*/
public Encoder getLeftEncoder() {
return m_leftEncoder;
}
/**
* Gets the right drive encoder.
*
* @return the right drive encoder
*/
public Encoder getRightEncoder() {
return m_rightEncoder;
}
/**
* Sets the max output of the drive. Useful for scaling the drive to drive more slowly.
*
@@ -104,4 +87,12 @@ public class DriveSubsystem extends SubsystemBase {
public void setMaxOutput(double maxOutput) {
m_drive.setMaxOutput(maxOutput);
}
@Override
public void initSendable(SendableBuilder builder) {
super.initSendable(builder);
// Publish encoder distances to telemetry.
builder.addDoubleProperty("leftDistance", m_leftEncoder::getDistance, null);
builder.addDoubleProperty("rightDistance", m_rightEncoder::getDistance, null);
}
}

8
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/subsystems/HatchSubsystem.java
View File

@@ -7,6 +7,7 @@ package edu.wpi.first.wpilibj.examples.hatchbottraditional.subsystems;
import static edu.wpi.first.wpilibj.DoubleSolenoid.Value.kForward;
import static edu.wpi.first.wpilibj.DoubleSolenoid.Value.kReverse;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.PneumaticsModuleType;
import edu.wpi.first.wpilibj.examples.hatchbottraditional.Constants.HatchConstants;
@@ -29,4 +30,11 @@ public class HatchSubsystem extends SubsystemBase {
public void releaseHatch() {
m_hatchSolenoid.set(kReverse);
}
@Override
public void initSendable(SendableBuilder builder) {
super.initSendable(builder);
// Publish the solenoid state to telemetry.
builder.addBooleanProperty("extended", () -> m_hatchSolenoid.get() == kForward, null);
}
}

25
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/schedulereventlogging/Constants.java
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@@ -1,25 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.examples.schedulereventlogging;
/**
* The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
* constants. This class should not be used for any other purpose. All constants should be declared
* globally (i.e. public static). Do not put anything functional in this class.
*
* <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 {
/**
* Example of an inner class. One can "import static [...].Constants.OIConstants.*" to gain access
* to the constants contained within without having to preface the names with the class, greatly
* reducing the amount of text required.
*/
public static final class OIConstants {
// Example: the port of the driver's controller
public static final int kDriverControllerPort = 0;
}
}

25
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/schedulereventlogging/Main.java
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@@ -1,25 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.examples.schedulereventlogging;
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);
}
}

102
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/schedulereventlogging/Robot.java
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@@ -1,102 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.examples.schedulereventlogging;
import edu.wpi.first.wpilibj.TimedRobot;
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() {}
/** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
@Override
public void autonomousInit() {
m_autonomousCommand = m_robotContainer.getAutonomousCommand();
/*
* String autoSelected = SmartDashboard.getString("Auto Selector",
* "Default"); switch(autoSelected) { case "My Auto": autonomousCommand
* = new MyAutoCommand(); break; case "Default Auto": default:
* autonomousCommand = new ExampleCommand(); break; }
*/
// 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 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 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() {}
}

88
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/schedulereventlogging/RobotContainer.java
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@@ -1,88 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.examples.schedulereventlogging;
import static edu.wpi.first.wpilibj.XboxController.Button;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.examples.schedulereventlogging.Constants.OIConstants;
import edu.wpi.first.wpilibj.shuffleboard.EventImportance;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.WaitCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
/**
* 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 driver's controller
private final XboxController m_driverController =
new XboxController(OIConstants.kDriverControllerPort);
// A few commands that do nothing, but will demonstrate the scheduler functionality
private final CommandBase m_instantCommand1 = new InstantCommand();
private final CommandBase m_instantCommand2 = new InstantCommand();
private final CommandBase m_waitCommand = new WaitCommand(5);
/** The container for the robot. Contains subsystems, OI devices, and commands. */
public RobotContainer() {
// Set names of commands
m_instantCommand1.setName("Instant Command 1");
m_instantCommand2.setName("Instant Command 2");
m_waitCommand.setName("Wait 5 Seconds Command");
// Set the scheduler to log Shuffleboard events for command initialize, interrupt, finish
CommandScheduler.getInstance()
.onCommandInitialize(
command ->
Shuffleboard.addEventMarker(
"Command initialized", command.getName(), EventImportance.kNormal));
CommandScheduler.getInstance()
.onCommandInterrupt(
command ->
Shuffleboard.addEventMarker(
"Command interrupted", command.getName(), EventImportance.kNormal));
CommandScheduler.getInstance()
.onCommandFinish(
command ->
Shuffleboard.addEventMarker(
"Command finished", command.getName(), EventImportance.kNormal));
// Configure the button bindings
configureButtonBindings();
}
/**
* Use this method to define your button->command mappings. Buttons can be created by
* instantiating a {@link GenericHID} or one of its subclasses ({@link
* 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() {
// Run instant command 1 when the 'A' button is pressed
new JoystickButton(m_driverController, Button.kA.value).onTrue(m_instantCommand1);
// Run instant command 2 when the 'X' button is pressed
new JoystickButton(m_driverController, Button.kX.value).onTrue(m_instantCommand2);
// Run instant command 3 when the 'Y' button is held; release early to interrupt
new JoystickButton(m_driverController, Button.kY.value).whileTrue(m_waitCommand);
}
/**
* Use this to pass the autonomous command to the main {@link Robot} class.
*
* @return the command to run in autonomous
*/
public Command getAutonomousCommand() {
return new InstantCommand();
}
}