review

SciBorgs · Feb 1, 2025 · c2b8388 · c2b8388
1 parent 49a50f6
commit c2b8388
Showing 1 changed file with 40 additions and 27 deletions.
diff --git a/src/main/java/org/sciborgs1155/robot/Robot.java b/src/main/java/org/sciborgs1155/robot/Robot.java
@@ -1,48 +1,52 @@
 package org.sciborgs1155.robot;
 
-import static edu.wpi.first.units.Units.MetersPerSecond;
-import static edu.wpi.first.units.Units.RadiansPerSecond;
-import static edu.wpi.first.units.Units.Second;
-import static edu.wpi.first.units.Units.Seconds;
-import static edu.wpi.first.wpilibj2.command.button.RobotModeTriggers.*;
-import static org.sciborgs1155.robot.Constants.*;
-import static org.sciborgs1155.robot.Constants.Field.*;
-import static org.sciborgs1155.robot.drive.DriveConstants.*;
-
-import edu.wpi.first.wpilibj.DataLogManager;
-import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj.GenericHID.RumbleType;
-import edu.wpi.first.wpilibj.PowerDistribution;
-import edu.wpi.first.wpilibj.RobotController;
-import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-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.CommandXboxController;
 import java.util.Set;
-import monologue.Annotations.Log;
-import monologue.Logged;
-import monologue.Monologue;
+
 import org.littletonrobotics.urcl.URCL;
 import org.sciborgs1155.lib.CommandRobot;
 import org.sciborgs1155.lib.FaultLogger;
 import org.sciborgs1155.lib.InputStream;
 import org.sciborgs1155.lib.Test;
+import static org.sciborgs1155.robot.Constants.DEADBAND;
 import org.sciborgs1155.robot.Constants.Field.Level;
+import static org.sciborgs1155.robot.Constants.PERIOD;
 import org.sciborgs1155.robot.Ports.OI;
 import org.sciborgs1155.robot.arm.Arm;
 import org.sciborgs1155.robot.commands.Autos;
 import org.sciborgs1155.robot.commands.Corolling;
 import org.sciborgs1155.robot.commands.Scoraling;
 import org.sciborgs1155.robot.coroller.Coroller;
 import org.sciborgs1155.robot.drive.Drive;
+import static org.sciborgs1155.robot.drive.DriveConstants.MAX_ANGULAR_ACCEL;
+import static org.sciborgs1155.robot.drive.DriveConstants.MAX_SPEED;
+import static org.sciborgs1155.robot.drive.DriveConstants.TELEOP_ANGULAR_SPEED;
 import org.sciborgs1155.robot.elevator.Elevator;
 import org.sciborgs1155.robot.hopper.Hopper;
 import org.sciborgs1155.robot.led.LEDStrip;
 import org.sciborgs1155.robot.scoral.Scoral;
 import org.sciborgs1155.robot.vision.Vision;
 
+import static edu.wpi.first.units.Units.MetersPerSecond;
+import static edu.wpi.first.units.Units.RadiansPerSecond;
+import static edu.wpi.first.units.Units.Second;
+import static edu.wpi.first.units.Units.Seconds;
+import edu.wpi.first.wpilibj.DataLogManager;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.GenericHID.RumbleType;
+import edu.wpi.first.wpilibj.PowerDistribution;
+import edu.wpi.first.wpilibj.RobotController;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+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.CommandXboxController;
+import static edu.wpi.first.wpilibj2.command.button.RobotModeTriggers.autonomous;
+import static edu.wpi.first.wpilibj2.command.button.RobotModeTriggers.test;
+import monologue.Annotations.Log;
+import monologue.Logged;
+import monologue.Monologue;
+
 /**
  * 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}
@@ -65,11 +69,12 @@ public class Robot extends CommandRobot implements Logged {
   private final Elevator elevator = Elevator.create();
   private final Scoral scoral = Scoral.create();
   private final Hopper hopper = Hopper.create();
-  private final Scoraling scoraling = new Scoraling(hopper, scoral, elevator);
-  private final Corolling corolling = new Corolling(arm, coroller);
 
   // COMMANDS
   @Log.NT private final SendableChooser<Command> autos = Autos.configureAutos(drive);
+  private final Scoraling scoraling = new Scoraling(hopper, scoral, elevator);
+  private final Corolling corolling = new Corolling(arm, coroller);
+
 
   @Log.NT private double speedMultiplier = Constants.FULL_SPEED_MULTIPLIER;
 
@@ -112,17 +117,25 @@ private void configureGameBehavior() {
 
   /** Configures trigger -> command bindings. */
   private void configureBindings() {
+
+    //scoral commands
     operator.povDown().onTrue(scoraling.scoral(Level.L1));
     operator.povLeft().onTrue(scoraling.scoral(Level.L2));
     operator.povRight().onTrue(scoraling.scoral(Level.L3));
     operator.povUp().onTrue(scoraling.scoral(Level.L4));
+
+    //corolling commands
+    //climb
     operator.leftBumper().onTrue(arm.climbSetup());
     operator.leftTrigger().onTrue(arm.climbExecute());
+    //trough
     operator.rightBumper().onTrue(corolling.trough());
+    //ground intake
     operator.rightTrigger().onTrue(corolling.intake());
+    //processor
     operator.a().onTrue(corolling.processor());
 
-    // x and y are switched: we use joystick Y axis to control field x motion
+    // x and y are switched: we use joystick y axis to control field x motion
     InputStream x = InputStream.of(driver::getLeftY).negate();
     InputStream y = InputStream.of(driver::getLeftX).negate();
 
@@ -169,7 +182,7 @@ private void configureBindings() {
         .onTrue(Commands.runOnce(() -> speedMultiplier = Constants.SLOW_SPEED_MULTIPLIER))
         .onFalse(Commands.runOnce(() -> speedMultiplier = Constants.FULL_SPEED_MULTIPLIER));
 
-    driver.leftTrigger().onTrue(hopper.intake().alongWith(scoral.intake()));
+    driver.leftTrigger().onTrue(scoraling.hpsIntake());
   }
 
   /**