mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
2056f0ce09
This fixes an issue with some commands not correctly requiring their subsytems. Furthermore, an execute() method was added to the DriveDistance command to continuously update the voltage command.
82 lines
3.0 KiB
C++
82 lines
3.0 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
|
/* the project. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#pragma once
|
|
|
|
#include <frc/XboxController.h>
|
|
#include <frc/smartdashboard/SendableChooser.h>
|
|
#include <frc2/command/Command.h>
|
|
#include <frc2/command/FunctionalCommand.h>
|
|
#include <frc2/command/InstantCommand.h>
|
|
#include <frc2/command/ParallelRaceGroup.h>
|
|
#include <frc2/command/RunCommand.h>
|
|
#include <frc2/command/SequentialCommandGroup.h>
|
|
|
|
#include "Constants.h"
|
|
#include "commands/ComplexAuto.h"
|
|
#include "subsystems/DriveSubsystem.h"
|
|
#include "subsystems/HatchSubsystem.h"
|
|
|
|
namespace ac = AutoConstants;
|
|
|
|
/**
|
|
* 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 driver's controller
|
|
frc::XboxController m_driverController{OIConstants::kDriverControllerPort};
|
|
|
|
// The robot's subsystems and commands are defined here...
|
|
|
|
// The robot's subsystems
|
|
DriveSubsystem m_drive;
|
|
HatchSubsystem m_hatch;
|
|
|
|
// The autonomous routines
|
|
frc2::FunctionalCommand m_simpleAuto = frc2::FunctionalCommand(
|
|
// Reset encoders on command start
|
|
[this] { m_drive.ResetEncoders(); },
|
|
// Drive forward while the command is executing
|
|
[this] { m_drive.ArcadeDrive(AutoConstants::kAutoDriveSpeed, 0); },
|
|
// Stop driving at the end of the command
|
|
[this](bool interrupted) { m_drive.ArcadeDrive(0, 0); },
|
|
// End the command when the robot's driven distance exceeds the desired
|
|
// value
|
|
[this] {
|
|
return m_drive.GetAverageEncoderDistance() >=
|
|
AutoConstants::kAutoDriveDistanceInches;
|
|
},
|
|
// Requires the drive subsystem
|
|
{&m_drive});
|
|
ComplexAuto m_complexAuto{&m_drive, &m_hatch};
|
|
|
|
// Assorted commands to be bound to buttons
|
|
|
|
frc2::InstantCommand m_grabHatch{[this] { m_hatch.GrabHatch(); }, {&m_hatch}};
|
|
frc2::InstantCommand m_releaseHatch{[this] { m_hatch.ReleaseHatch(); },
|
|
{&m_hatch}};
|
|
frc2::InstantCommand m_driveHalfSpeed{[this] { m_drive.SetMaxOutput(0.5); },
|
|
{}};
|
|
frc2::InstantCommand m_driveFullSpeed{[this] { m_drive.SetMaxOutput(1); },
|
|
{}};
|
|
|
|
// The chooser for the autonomous routines
|
|
frc::SendableChooser<frc2::Command*> m_chooser;
|
|
|
|
void ConfigureButtonBindings();
|
|
};
|