Merge pull request #5 from frc6506/BSI-2022-12-03-commans

Bsi 2022 12 03 commans

src/main/java/frc/robot/Constants.java

@@ -27,6 +27,9 @@ public final class Constants {
   public static final int JOYSTICK_DRIVE_SPEED_ID = 1; // Y-axis
   public static final int JOYSTICK_DRIVE_ROTATION_ID = 0; // X-axis
 
+  // Buttons
+  public static final int JOYSTICK_BUTTON_SHOOT_ID = 1; // Xbox controller button for shooting
+
   // Drivetrain
   public static final int MOTOR_RIGHT_FRONT_ID = 10;
   public static final int MOTOR_RIGHT_BACK_ID = 11;

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

@@ -4,6 +4,8 @@
 
 package frc.robot;
 
+import edu.wpi.first.cameraserver.CameraServer;
+import edu.wpi.first.cscore.UsbCamera;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
@@ -29,6 +31,12 @@ 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();
+
+    // Setup USB camera
+    // UsbCamera cam = CameraServer.getInstance().startAutomaticCapture();
+    UsbCamera cam = CameraServer.startAutomaticCapture();
+    cam.setResolution(160, 120);
+    cam.setFPS(30);
   }
 
   /**

src/main/java/frc/robot/RobotContainer.java

@@ -8,6 +8,7 @@
 import edu.wpi.first.wpilibj.XboxController;
 // import frc.robot.subsystems.ExampleSubsystem;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import frc.robot.commands.ArcadeDrive;
 import frc.robot.commands.BringInOutAndIn;
 import frc.robot.commands.ExtendInAndOut;
@@ -17,7 +18,6 @@
 import frc.robot.commands.SpinFlywheel;
 import frc.robot.commands.SpinIntakeWheel;
 import frc.robot.subsystems.ClimbRaiser;
-// import edu.wpi.first.wpilibj.XboxController;
 // import frc.robot.commands.ExampleCommand;
 import frc.robot.subsystems.Drivetrain;
 import frc.robot.subsystems.InAndOut2;
@@ -39,6 +39,11 @@ public class RobotContainer {
 
   // Controls
   public static final XboxController controller = new XboxController(Constants.CONTROLLER_PORT_ID);
+  // It's recomend ot use the provided enum to look button ids - see
+  // https://docs.wpilib.org/en/stable/docs/software/commandbased/binding-commands-to-triggers.html,
+  // https://first.wpi.edu/wpilib/allwpilib/docs/release/java/edu/wpi/first/wpilibj/XboxController.Button.html,and https://first.wpi.edu/wpilib/allwpilib/docs/release/java/src-html/edu/wpi/first/wpilibj/XboxController.Button.html#line.24
+  public static final JoystickButton shootButton =
+      new JoystickButton(controller, Constants.JOYSTICK_BUTTON_SHOOT_ID);
 
   // Subystems
   public static Drivetrain drivetrain = new Drivetrain(); // Drivetrain
@@ -78,6 +83,8 @@ public class RobotContainer {
   public RobotContainer() {
     // setting default commands
     drivetrain.setDefaultCommand(arcadeDrive);
+    intake.setDefaultCommand(spinIntakeWheel);
+
     // Configure the button bindings
     configureButtonBindings();
   }
@@ -88,7 +95,9 @@ public RobotContainer() {
    * 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() {}
+  private void configureButtonBindings() {
+    shootButton.whileHeld(spinFeedWheel);
+  }
 
   /**
    * Use this to pass the autonomous command to the main {@link Robot} class.

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

@@ -4,8 +4,10 @@
 
 package frc.robot.subsystems;
 
+import com.kauailabs.navx.frc.AHRS;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+import edu.wpi.first.wpilibj.SPI;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -32,8 +34,16 @@ public class Drivetrain extends SubsystemBase {
 
   DifferentialDrive dualDrive = new DifferentialDrive(leftMotors, rightMotors);
 
+  // NavX gyroscope
+  AHRS gyro = new AHRS(SPI.Port.kMXP);
+
   public Drivetrain() {}
 
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+
   // Wrapper Methods
   /**
    * @param speed decimal percent [-1.0, 1.0]
@@ -50,9 +60,4 @@ public void aDrive(double speed, double rotation) {
   public void dDrive(double leftSpeed, double rightSpeed) {
     dualDrive.tankDrive(leftSpeed, rightSpeed);
   }
-
-  @Override
-  public void periodic() {
-    // This method will be called once per scheduler run
-  }
 }

vendordeps/navx_frc.json

@@ -0,0 +1,35 @@
+{
+    "fileName": "navx_frc.json",
+    "name": "KauaiLabs_navX_FRC",
+    "version": "4.0.442",
+    "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
+    "mavenUrls": [
+        "https://repo1.maven.org/maven2/"
+    ],
+    "jsonUrl": "https://www.kauailabs.com/dist/frc/2022/navx_frc.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.kauailabs.navx.frc",
+            "artifactId": "navx-java",
+            "version": "4.0.442"
+        }
+    ],
+    "jniDependencies": [],
+    "cppDependencies": [
+        {
+            "groupId": "com.kauailabs.navx.frc",
+            "artifactId": "navx-cpp",
+            "version": "4.0.442",
+            "headerClassifier": "headers",
+            "sourcesClassifier": "sources",
+            "sharedLibrary": false,
+            "libName": "navx_frc",
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxathena",
+                "linuxraspbian",
+                "windowsx86-64"
+            ]
+        }
+    ]
+}