From 749544f3f767f4d2625c1f7ee962641f3076d6e7 Mon Sep 17 00:00:00 2001 From: AlexNunemacher Date: Sat, 8 Feb 2025 16:24:44 -0500 Subject: [PATCH 1/2] Handoff update --- src/main/java/frc/robot/RobotContainer.java | 4 +++- .../subsystems/ModeManager/SuperstructureStateManager.java | 7 ++++++- 2 files changed, 9 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 997d4441..ef5acdbe 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -338,6 +338,9 @@ private void configureBindings() { ALGAE.and(operatorController.getX()).onTrue(stateManager.moveToPosition(Position.L3Algae)); ALGAE.and(operatorController.getB()).onTrue(stateManager.moveToPosition(Position.L2Algae)); ALGAE.and(operatorController.getA()).onTrue(stateManager.moveToPosition(Position.L1Algae)); + + + ALGAE.and(operatorController.getStart()) .onTrue(stateManager.moveToPosition(Position.Icecream)); ALGAE.and(operatorController.getDPadDown()) @@ -351,7 +354,6 @@ private void configureBindings() { operatorController.getBack().onTrue(wristSubsystem.flipWristPosition()); - // Driver Align Bindings, for a different/later day // CORAL.and(leftDriveController.getTrigger()).whileTrue(alignToReef(9, 0)); // Climb Bindings diff --git a/src/main/java/frc/robot/subsystems/ModeManager/SuperstructureStateManager.java b/src/main/java/frc/robot/subsystems/ModeManager/SuperstructureStateManager.java index b2d54328..ec5e66bb 100644 --- a/src/main/java/frc/robot/subsystems/ModeManager/SuperstructureStateManager.java +++ b/src/main/java/frc/robot/subsystems/ModeManager/SuperstructureStateManager.java @@ -56,12 +56,13 @@ public enum Position { Sussy(1, 1, 1, null), None(1, 1, 1, null, TRUE, false), Home(1, 0, 1, None), - Handoff(1, 0, 1, None), Icecream(1, 1, 1, None), Quick34(4, 2, 1, None), Quick23(3, 3, 1, None), Preppy(1, 2, 1, None), PreppyNull(1, 3, 1, Preppy, TRUE, false), + HandoffPrep(2, 0, 1, PreppyNull), + Handoff(1, 0, 1, None), L1Prep(2, 2, 1, PreppyNull), L1(2, 1, 4, L1Prep), L2Prep(3, 2, 1, PreppyNull), @@ -266,6 +267,8 @@ private Command internalGoToPosition(SuperstructureState.Position myPosition) { // myPosition).andThen(Commands.idle()); } + //following lists + public Command moveToPosition(SuperstructureState.Position myPosition) { Command setFinalTarget = Commands.runOnce(() -> setFinalTarget(myPosition)); Command followInPath = @@ -294,6 +297,7 @@ public Command moveToPosition(SuperstructureState.Position myPosition) { outputCommand.addRequirements(this); return outputCommand; } + //following lists for keeping track of pose private Command followOutPath() { return (Commands.defer( @@ -340,6 +344,7 @@ public SuperstructureStateManager( this.armSubsystem = armSubsystem; this.wristSubsystem = wristSubsystem; + // Create the mechanism 2d LoggedMechanism2d mech = new LoggedMechanism2d(3, 6); LoggedMechanismRoot2d root = mech.getRoot("Elevator", 2, 0); From c981d4343bd2ac2bae2e786b5ea3f6d43416f850 Mon Sep 17 00:00:00 2001 From: AlexNunemacher Date: Sat, 8 Feb 2025 16:32:02 -0500 Subject: [PATCH 2/2] spotless --- src/main/java/frc/robot/RobotContainer.java | 2 -- .../subsystems/ModeManager/SuperstructureStateManager.java | 5 +++-- 2 files changed, 3 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index ef5acdbe..e5f463a5 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -338,8 +338,6 @@ private void configureBindings() { ALGAE.and(operatorController.getX()).onTrue(stateManager.moveToPosition(Position.L3Algae)); ALGAE.and(operatorController.getB()).onTrue(stateManager.moveToPosition(Position.L2Algae)); ALGAE.and(operatorController.getA()).onTrue(stateManager.moveToPosition(Position.L1Algae)); - - ALGAE.and(operatorController.getStart()) .onTrue(stateManager.moveToPosition(Position.Icecream)); diff --git a/src/main/java/frc/robot/subsystems/ModeManager/SuperstructureStateManager.java b/src/main/java/frc/robot/subsystems/ModeManager/SuperstructureStateManager.java index ec5e66bb..32df4525 100644 --- a/src/main/java/frc/robot/subsystems/ModeManager/SuperstructureStateManager.java +++ b/src/main/java/frc/robot/subsystems/ModeManager/SuperstructureStateManager.java @@ -267,7 +267,7 @@ private Command internalGoToPosition(SuperstructureState.Position myPosition) { // myPosition).andThen(Commands.idle()); } - //following lists + // following lists public Command moveToPosition(SuperstructureState.Position myPosition) { Command setFinalTarget = Commands.runOnce(() -> setFinalTarget(myPosition)); @@ -297,7 +297,8 @@ public Command moveToPosition(SuperstructureState.Position myPosition) { outputCommand.addRequirements(this); return outputCommand; } - //following lists for keeping track of pose + + // following lists for keeping track of pose private Command followOutPath() { return (Commands.defer(