pushes

src/main/java/frc/robot/Robot.java

@@ -65,6 +65,11 @@ public void teleopInit() {
     if (m_autonomousCommand != null) {
       m_autonomousCommand.cancel();
     }
+    m_robotContainer.m_intake.StopAngleMotor();
+    m_robotContainer.m_intake.StopNoteMotor();
+    m_robotContainer.m_shooter.throwStop();
+    m_robotContainer.m_feeder.stop();
+    m_robotContainer.swerveSubsystem.stopModules();
   }
 
   @Override

src/main/java/frc/robot/commands/Intake/SwitchAuto.java

@@ -0,0 +1,89 @@
+// 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 frc.robot.commands.Intake;
+
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.commands.common.fedleme;
+import frc.robot.subsystems.FeederSubsystem;
+import frc.robot.subsystems.IntakeSubsystem;
+import frc.robot.subsystems.JoystickSubsystem;
+import frc.robot.subsystems.ShooterSubsystem;
+
+public class SwitchAuto extends Command {
+  IntakeSubsystem m_intake;
+  boolean dursunmu;
+  FeederSubsystem m_feeder;
+  JoystickSubsystem m_joystick;
+  ShooterSubsystem m_shooter;
+boolean varmi = false;
+
+
+  public SwitchAuto(IntakeSubsystem m_intake, boolean dursunmu) {
+
+    this.m_intake = m_intake;
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+
+
+    boolean ilkswitch;
+    boolean ikinciswitch;
+
+    ilkswitch = m_intake.intakedetector1.get();
+    ikinciswitch = m_intake.intakedetector2.get();
+
+
+
+
+
+
+if(!dursunmu){
+
+  if(ikinciswitch && ilkswitch){
+
+    m_intake.getNote();
+
+        }else{
+
+          m_intake.StopNoteMotor();
+          varmi = true;
+        }
+      }
+
+
+
+    //  if(varmi){
+    //    m_intake.getNote();
+    //  }
+
+
+
+    SmartDashboard.putBoolean("asdadssdaasd", ilkswitch);
+    SmartDashboard.putBoolean("asdadssdaasd2222", ikinciswitch);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    m_feeder.stop();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return varmi;
+  }
+
+}

src/main/java/frc/robot/commands/Shooter/TurnForShooter.java

@@ -0,0 +1,49 @@
+// 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 frc.robot.commands.Shooter;
+
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
+import edu.wpi.first.math.kinematics.SwerveModuleState;
+import edu.wpi.first.wpilibj2.command.PIDCommand;
+import frc.robot.Constants.DriveConstants;
+import frc.robot.subsystems.NetworkSubsystem;
+import frc.robot.subsystems.SwerveSubsystem;
+
+// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
+// information, see:
+// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
+public class TurnForShooter extends PIDCommand {
+  /** Creates a new TurnForShooter. */
+  public TurnForShooter(NetworkSubsystem m_net,SwerveSubsystem m_swerve) {
+    super(
+        // The controller that the command will use
+        new PIDController(0.05, 0, 0),
+        // This should return the measurement
+        () -> m_net.getX(),
+        // This should return the setpoint (can also be a constant)
+        () -> 0,
+        // This uses the output
+        output -> {
+          // Use the output here
+          ChassisSpeeds chassisSpeeds = new ChassisSpeeds(0, 0, -output * 0.05);
+
+    // 5. Convert chassis speeds to individual module states
+    SwerveModuleState[] moduleStates = DriveConstants.kDriveKinematics.toSwerveModuleStates(chassisSpeeds);
+
+    // 6. Output each module states to wheels
+    m_swerve.setModuleStates(moduleStates);     
+     });
+    // Use addRequirements() here to declare subsystem dependencies.
+    // Configure additional PID options by calling `getController` here.
+    getController().setTolerance(10);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return getController().atSetpoint();
+  }
+}

src/main/java/frc/robot/commands/Shooter/VisionShooter.java

@@ -21,7 +21,8 @@ public VisionShooter(ShooterSubsystem m_shooter, NetworkSubsystem m_network) {
          /*  try {
             m_shooter.ShooterAngleMotorOutput(output * .13);
             Thread.sleep(150); // 2 saniye durakla
-            m_shooter.ShooterAngleMotorStop();
+            m_shooter.ShooterAn
+            gleMotorStop();
           } catch (InterruptedException e) {
             e.printStackTrace();
         }*/

src/main/java/frc/robot/commands/Shooter/VisionSwerve.java

@@ -0,0 +1,41 @@
+package frc.robot.commands.Shooter;
+
+
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.wpilibj2.command.PIDCommand;
+import frc.robot.Constants;
+import frc.robot.subsystems.NetworkSubsystem;
+import frc.robot.subsystems.ShooterSubsystem;
+
+public class VisionSwerve extends PIDCommand {
+
+  public VisionSwerve(ShooterSubsystem m_shooter, NetworkSubsystem m_network) {
+    super(
+
+        new PIDController(0.004,
+            0.01,
+            Constants.values.shooter.PidShooterAngleKD),
+        () -> m_network.getX(),
+        () -> m_network.getTarget(),
+        output -> {
+         /*  try {
+            m_shooter.ShooterAngleMotorOutput(output * .13);
+            Thread.sleep(150); // 2 saniye durakla
+            m_shooter.ShooterAngleMotorStop();
+          } catch (InterruptedException e) {
+            e.printStackTrace();
+        }*/
+
+  m_shooter.ShooterAngleMotorOutput(output * .13);
+});
+
+    addRequirements(m_shooter);
+    getController().setTolerance(5);
+
+  }
+
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/Swerve/SwerveJoystickCmd.java

@@ -2,10 +2,12 @@
 
 import java.util.function.Supplier;
 
+import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.filter.SlewRateLimiter;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.math.kinematics.SwerveModuleState;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.PIDCommand;
 import frc.robot.Constants.DriveConstants;
 import frc.robot.Constants.OIConstants;
 import frc.robot.subsystems.SwerveSubsystem;

src/main/java/frc/robot/commands/common/otofeedleme.java

@@ -0,0 +1,37 @@
+// 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 frc.robot.commands.common;
+
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+import edu.wpi.first.wpilibj2.command.RunCommand;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import edu.wpi.first.wpilibj2.command.WaitCommand;
+import frc.robot.commands.Intake.GetNote;
+import frc.robot.commands.Intake.IntakeModeChange;
+import frc.robot.commands.Intake.PidIntakeCommand;
+import frc.robot.commands.Intake.RunTillSwitch;
+import frc.robot.commands.Shooter.ShooterModeChange;
+import frc.robot.commands.feeder.FeederRunTillSwitch;
+import frc.robot.commands.feeder.otoFeederRun;
+import frc.robot.subsystems.FeederSubsystem;
+import frc.robot.subsystems.IntakeSubsystem;
+import frc.robot.subsystems.JoystickSubsystem;
+import frc.robot.subsystems.ShooterSubsystem;
+
+public class otofeedleme extends SequentialCommandGroup {
+  /** Creates a new fedleme. */
+  public otofeedleme(IntakeSubsystem m_intake, FeederSubsystem m_feeder, JoystickSubsystem m_joystick, ShooterSubsystem m_shooter) {
+
+    addCommands(
+      new InstantCommand(()-> m_shooter.ShootertoFeederPos())
+      .andThen(new IntakeModeChange(m_joystick, 0))
+      .alongWith(new WaitCommand(1).andThen(new InstantCommand(()-> m_intake.otogetNote())))
+      .alongWith(new FeederRunTillSwitch(m_feeder, false, m_intake))
+
+
+
+    );
+  }
+}

src/main/java/frc/robot/commands/common/pickup.java

@@ -17,6 +17,8 @@
 public class pickup extends SequentialCommandGroup {
   /** Creates a new pickup. */
   public pickup(IntakeSubsystem m_intake, JoystickSubsystem m_joystick) {
-    addCommands(new RunTillSwitch(m_intake,false).alongWith(new IntakeModeChange(m_joystick, 1)));
+    addCommands(new RunTillSwitch(m_intake,false).alongWith(new IntakeModeChange(m_joystick, 1))
+    .until(()-> m_intake.intakeTwoStich())
+    .andThen(new IntakeModeChange(m_joystick, 0)));
   }
 }

src/main/java/frc/robot/commands/common/pickupforAuto.java

@@ -0,0 +1,25 @@
+// 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 frc.robot.commands.common;
+
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import frc.robot.commands.Intake.IntakeModeChange;
+import frc.robot.commands.Intake.RunTillSwitch;
+import frc.robot.commands.Intake.SwitchAuto;
+import frc.robot.subsystems.IntakeSubsystem;
+import frc.robot.subsystems.JoystickSubsystem;
+
+// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
+// information, see:
+// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
+public class pickupforAuto extends SequentialCommandGroup {
+  /** Creates a new pickup. */
+  public pickupforAuto(IntakeSubsystem m_intake, JoystickSubsystem m_joystick) {
+    addCommands(new RunTillSwitch(m_intake,false).alongWith(new IntakeModeChange(m_joystick, 1))
+    .until(()-> m_intake.intakeTwoStich())
+    .andThen(new IntakeModeChange(m_joystick, 3)));
+  }
+}

src/main/java/frc/robot/commands/feeder/otoFeederRun.java

@@ -0,0 +1,61 @@
+// 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 frc.robot.commands.feeder;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.FeederSubsystem;
+import frc.robot.subsystems.IntakeSubsystem;
+
+public class otoFeederRun extends Command {
+  FeederSubsystem m_feeder;
+  boolean dursunmu;
+  IntakeSubsystem m_intake;
+
+
+  public otoFeederRun(FeederSubsystem m_feeder, boolean dursunmu, IntakeSubsystem m_intake) {
+    this.m_feeder = m_feeder;
+    this.m_intake = m_intake;
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+
+
+if(m_feeder.varmi){
+if(m_feeder.detector()){
+m_feeder.otobackward2();
+}
+else{
+  m_feeder.stop();
+  m_intake.StopNoteMotor();
+  m_feeder.varmifalse();
+
+}}
+
+
+
+
+
+
+}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {} 
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return dursunmu;
+  }
+
+}

src/main/java/frc/robot/subsystems/FeederSubsystem.java

@@ -41,9 +41,13 @@ public boolean detector() {
   }
 
   public void backward2() {
+    feedmotor.set(-0.54);
+  }
+  public void otobackward2() {
     feedmotor.set(-0.70);
   }
 
+
   public void backward() {
     feedmotor.set(-0.9);
   }

src/main/java/frc/robot/subsystems/IntakeSubsystem.java

@@ -69,6 +69,9 @@ public void NewIntakeMotorOutput(double value) {
   public void getNote() {
     intakeMotor1.set(0.67);
   }
+  public void otogetNote() {
+    intakeMotor1.set(0.7);
+  }
 
 
   public void pushNote() {
@@ -116,6 +119,15 @@ public Boolean intakeswitch2() {
     return intakedetector2.get();
   }
 
+  public Boolean intakeTwoStich(){
+    if(!intakedetector2.get()|| !intakedetector1.get()){
+      return true;
+    }
+    else{
+      return false;
+    }
+  }
+
   @Override
   public void periodic() {
     SmartDashboard.putNumber("intake", getRawEncoderOutput());