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Reef Positions and new states for Reef and SpitGamePiece different #82

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Mar 8, 2025
Merged

Reef Positions and new states for Reef and SpitGamePiece different #82

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Reef Positions and new states for Reef and SpitGamePiece different
EricBrwn Mar 8, 2025
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EricBrwn Mar 8, 2025
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8 changes: 4 additions & 4 deletions src/main/Commands/AlignToPose/AlignPositions.h
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Expand Up @@ -7,13 +7,13 @@
#include "Commands/UtilityFunctions/UtilityFunctions.h"
#include "Commands/AlignToPose/AlignToPose.h"

constexpr static const frc::Pose2d aLeft = { {3.900_m, 2.913_m}, {60_deg}};
constexpr static const frc::Pose2d aLeft = { {3.978_m, 2.884_m}, {60_deg}};
constexpr static const frc::Pose2d aCenter = { {4.056_m, 2.679_m}, {60_deg}};
constexpr static const frc::Pose2d aRight = { {4.202_m, 2.757_m}, {60_deg}};
constexpr static const frc::Pose2d aRight = { {4.241_m, 2.718_m}, {60_deg}};

constexpr static const frc::Pose2d bLeft = { {3.237_m, 3.986_m}, {0.0_deg}};
constexpr static const frc::Pose2d bLeft = { {3.260_m, 3.905_m}, {0.0_deg}};
constexpr static const frc::Pose2d bCenter = { {3.130_m, 3.723_m}, {0.0_deg}};
constexpr static const frc::Pose2d bRight = { {3.237_m, 3.655_m}, {0.0_deg}};
constexpr static const frc::Pose2d bRight = { {3.260_m, 3.555_m}, {0.0_deg}};

constexpr static const frc::Pose2d cLeft = { {3.822_m, 5.078_m}, {-60_deg}};
constexpr static const frc::Pose2d cCenter = { {3.549_m, 5.088_m}, {-60_deg}};
Expand Down
116 changes: 53 additions & 63 deletions src/main/Commands/ClosedCommand/ClosedCommand.cpp
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Expand Up @@ -10,77 +10,67 @@ frc2::CommandPtr ClosedCommand(Arm *arm, Elevator *elevator, Intake *intake, Sup
> ([superStructure] {
return superStructure->getState();
},
std::pair {SuperStructureStates::EnterCoralStation, frc2::cmd::Sequence(
frc2::cmd::Parallel(intake->moveIntake(IntakeConstants::StopIntake),
superStructure->setState(SuperStructureStates::HoldCoral)),
frc2::cmd::Sequence(
ArmMotion(elevator, arm, ArmConstants::ArmClosed, ArmConstants::WristClosed,
ElevatorConstants::ClosedPosition).ToPtr(),
elevator->setElevatorCommand(ElevatorConstants::ClosedPosition)))
std::pair {SuperStructureStates::EnterCoralStation, frc2::cmd::Parallel(
intake->moveIntake(IntakeConstants::StopIntake),
superStructure->setState(SuperStructureStates::HoldCoral),
ArmMotion(elevator, arm, ArmConstants::ArmClosed, ArmConstants::WristClosed,
ElevatorConstants::ClosedPosition).ToPtr(),
elevator->setElevatorCommand(ElevatorConstants::ClosedPosition))

}, std::pair {SuperStructureStates::EnterCoralGround, frc2::cmd::Sequence(
frc2::cmd::Parallel(intake->moveIntake(IntakeConstants::StopIntake),
superStructure->setState(SuperStructureStates::HoldCoral)),
frc2::cmd::Sequence(
ArmMotion(elevator, arm, ArmConstants::ArmClosed, ArmConstants::WristClosed,
ElevatorConstants::ClosedPosition).ToPtr(),
elevator->setElevatorCommand(ElevatorConstants::ClosedPosition)))
}, std::pair {SuperStructureStates::EnterCoralGround, frc2::cmd::Parallel(
intake->moveIntake(IntakeConstants::StopIntake),
superStructure->setState(SuperStructureStates::HoldCoral),
ArmMotion(elevator, arm, ArmConstants::ArmClosed, ArmConstants::WristClosed,
ElevatorConstants::ClosedPosition).ToPtr(),
elevator->setElevatorCommand(ElevatorConstants::ClosedPosition))

}, std::pair {SuperStructureStates::EnterAlgaeGround, frc2::cmd::Sequence(
frc2::cmd::Parallel(intake->moveIntake(IntakeConstants::StopIntake),
superStructure->setState(SuperStructureStates::HoldCoral)),
frc2::cmd::Sequence(
ArmMotion(elevator, arm, ArmConstants::ArmClosed, ArmConstants::WristClosed,
ElevatorConstants::ClosedPosition).ToPtr(),
elevator->setElevatorCommand(ElevatorConstants::ClosedPosition)))
}, std::pair {SuperStructureStates::EnterAlgaeGround, frc2::cmd::Parallel(
intake->moveIntake(IntakeConstants::StopIntake),
superStructure->setState(SuperStructureStates::HoldCoral),
ArmMotion(elevator, arm, ArmConstants::ArmClosed, ArmConstants::WristClosed,
ElevatorConstants::ClosedPosition).ToPtr(),
elevator->setElevatorCommand(ElevatorConstants::ClosedPosition))

}, std::pair {SuperStructureStates::EnterLowAlgae, frc2::cmd::Sequence(
frc2::cmd::Parallel(intake->moveIntake(IntakeConstants::AlgaeHold),
superStructure->setState(SuperStructureStates::HoldAlgae)),
frc2::cmd::Sequence(
ArmMotion(elevator, arm, ArmConstants::ArmClosed, ArmConstants::WristClosed,
ElevatorConstants::ClosedPosition).ToPtr(),
elevator->setElevatorCommand(ElevatorConstants::ClosedPosition)))
}, std::pair {SuperStructureStates::EnterLowAlgae, frc2::cmd::Parallel(
intake->moveIntake(IntakeConstants::AlgaeHold),
superStructure->setState(SuperStructureStates::HoldAlgae),
ArmMotion(elevator, arm, ArmConstants::ArmClosed, ArmConstants::WristClosed,
ElevatorConstants::ClosedPosition).ToPtr(),
elevator->setElevatorCommand(ElevatorConstants::ClosedPosition))

}, std::pair {SuperStructureStates::EnterHighAlgae, frc2::cmd::Sequence(
frc2::cmd::Parallel(intake->moveIntake(IntakeConstants::AlgaeHold),
superStructure->setState(SuperStructureStates::HoldCoral)),
frc2::cmd::Sequence(
ArmMotion(elevator, arm, ArmConstants::ArmClosed, ArmConstants::WristClosed,
ElevatorConstants::ClosedPosition).ToPtr(),
elevator->setElevatorCommand(ElevatorConstants::ClosedPosition)))
}, std::pair {SuperStructureStates::EnterHighAlgae, frc2::cmd::Parallel(
intake->moveIntake(IntakeConstants::AlgaeHold),
superStructure->setState(SuperStructureStates::HoldCoral),
ArmMotion(elevator, arm, ArmConstants::ArmClosed, ArmConstants::WristClosed,
ElevatorConstants::ClosedPosition).ToPtr(),
elevator->setElevatorCommand(ElevatorConstants::ClosedPosition))

}, std::pair {SuperStructureStates::SpitCoral, frc2::cmd::Sequence(
frc2::cmd::Sequence(
ArmMotion(elevator, arm, ArmConstants::ArmClosed, ArmConstants::WristClosed,
ElevatorConstants::ClosedPosition).ToPtr(),
frc2::cmd::Parallel(intake->moveIntake(IntakeConstants::StopIntake),
superStructure->setState(SuperStructureStates::HoldCoral)),
elevator->setElevatorCommand(ElevatorConstants::ClosedPosition)))
}, std::pair {SuperStructureStates::SpitCoral, frc2::cmd::Parallel(
ArmMotion(elevator, arm, ArmConstants::ArmClosed, ArmConstants::WristClosed,
ElevatorConstants::ClosedPosition).ToPtr(), intake->moveIntake(IntakeConstants::StopIntake),
superStructure->setState(SuperStructureStates::HoldCoral),
elevator->setElevatorCommand(ElevatorConstants::ClosedPosition))

}, std::pair {SuperStructureStates::SpitAlgae, frc2::cmd::Sequence(
frc2::cmd::Parallel(intake->moveIntake(IntakeConstants::StopIntake),
superStructure->setState(SuperStructureStates::HoldCoral)),
frc2::cmd::Sequence(
ArmMotion(elevator, arm, ArmConstants::ArmClosed, ArmConstants::WristClosed,
ElevatorConstants::ClosedPosition).ToPtr(),
elevator->setElevatorCommand(ElevatorConstants::ClosedPosition)))
}, std::pair {SuperStructureStates::SpitAlgae, frc2::cmd::Parallel(
intake->moveIntake(IntakeConstants::StopIntake),
superStructure->setState(SuperStructureStates::HoldCoral),
ArmMotion(elevator, arm, ArmConstants::ArmClosed, ArmConstants::WristClosed,
ElevatorConstants::ClosedPosition).ToPtr(),
elevator->setElevatorCommand(ElevatorConstants::ClosedPosition))

}, std::pair {SuperStructureStates::HoldCoral, frc2::cmd::Sequence(
frc2::cmd::Parallel(intake->moveIntake(IntakeConstants::StopIntake),
superStructure->setState(SuperStructureStates::HoldCoral)),
frc2::cmd::Sequence(
ArmMotion(elevator, arm, ArmConstants::ArmClosed, ArmConstants::WristClosed,
ElevatorConstants::ClosedPosition).ToPtr(),
elevator->setElevatorCommand(ElevatorConstants::ClosedPosition)))
}, std::pair {SuperStructureStates::HoldCoral, frc2::cmd::Parallel(
intake->moveIntake(IntakeConstants::StopIntake),
superStructure->setState(SuperStructureStates::HoldCoral),
ArmMotion(elevator, arm, ArmConstants::ArmClosed, ArmConstants::WristClosed,
ElevatorConstants::ClosedPosition).ToPtr(),
elevator->setElevatorCommand(ElevatorConstants::ClosedPosition))

}, std::pair {SuperStructureStates::HoldAlgae, frc2::cmd::Sequence(
frc2::cmd::Parallel(intake->moveIntake(IntakeConstants::AlgaeHold),
superStructure->setState(SuperStructureStates::HoldAlgae)),
frc2::cmd::Sequence(
ArmMotion(elevator, arm, ArmConstants::ArmClosed, ArmConstants::WristClosed,
ElevatorConstants::ClosedPosition).ToPtr(),
elevator->setElevatorCommand(ElevatorConstants::ClosedPosition)))
}, std::pair {SuperStructureStates::HoldAlgae, frc2::cmd::Parallel(
intake->moveIntake(IntakeConstants::AlgaeHold),
superStructure->setState(SuperStructureStates::HoldAlgae),
ArmMotion(elevator, arm, ArmConstants::ArmClosed, ArmConstants::WristClosed,
ElevatorConstants::ClosedPosition).ToPtr(),
elevator->setElevatorCommand(ElevatorConstants::ClosedPosition))

}

Expand Down
7 changes: 4 additions & 3 deletions src/main/Commands/ReefCommands/ReefCommands.cpp
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Expand Up @@ -11,6 +11,7 @@ frc2::CommandPtr L1Command(Arm *arm, Elevator *elevator, SuperStructure *superSt
return superStructure->getState();
},
std::pair {SuperStructureStates::HoldCoral, frc2::cmd::Sequence(
superStructure->setScoringState(SuperStructureScoringStates::L1),
frc2::cmd::Sequence(elevator->setElevatorCommand(ElevatorConstants::L1Position),
ArmMotion(elevator, arm, ArmConstants::ArmL1Reef, ArmConstants::WristClosed,
ElevatorConstants::L1Position).ToPtr(),
Expand All @@ -29,7 +30,7 @@ frc2::CommandPtr L2Command(Arm *arm, Elevator *elevator, SuperStructure *superSt
return superStructure->getState();
},
std::pair {SuperStructureStates::HoldCoral, frc2::cmd::Sequence(

superStructure->setScoringState(SuperStructureScoringStates::L2),
frc2::cmd::Sequence(elevator->setElevatorCommand(ElevatorConstants::L2Position),
ArmMotion(elevator, arm, ArmConstants::ArmL2Reef, ArmConstants::WristL2Reef,
ElevatorConstants::L2Position).ToPtr()))}
Expand All @@ -44,7 +45,7 @@ frc2::CommandPtr L3Command(Arm *arm, Elevator *elevator, SuperStructure *superSt
return superStructure->getState();
},
std::pair {SuperStructureStates::HoldCoral, frc2::cmd::Sequence(

superStructure->setScoringState(SuperStructureScoringStates::L3),
frc2::cmd::Sequence(elevator->setElevatorCommand(ElevatorConstants::L3Position),
ArmMotion(elevator, arm, ArmConstants::ArmL3Reef, ArmConstants::WristL3Reef,
ElevatorConstants::L3Position).ToPtr()))}
Expand All @@ -59,7 +60,7 @@ frc2::CommandPtr L4Command(Arm *arm, Elevator *elevator, SuperStructure *superSt
return superStructure->getState();
},
std::pair {SuperStructureStates::HoldCoral, frc2::cmd::Sequence(

superStructure->setScoringState(SuperStructureScoringStates::L4),
frc2::cmd::Sequence(elevator->setElevatorCommand(ElevatorConstants::L4Position),
ArmMotion(elevator, arm, ArmConstants::ArmL4Reef, ArmConstants::WristL4Reef,
ElevatorConstants::L4Position).ToPtr()))}
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14 changes: 11 additions & 3 deletions src/main/Commands/SourceCommand/SourceCommand.cpp
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Expand Up @@ -5,7 +5,10 @@
#include "SourceCommand.h"
#include "Commands/ArmMotion/ArmMotion.h"

frc2::CommandPtr SourceCommand(Arm *arm, Elevator *elevator, Intake *intake, SuperStructure *superStructure) {
int nextButton = frc::XboxController::Button::kRightBumper;

frc2::CommandPtr SourceCommand(Arm *arm, Elevator *elevator, Intake *intake, SuperStructure *superStructure,
OverXboxController *gamepad) {
return frc2::cmd::Select < SuperStructureStates
> ([superStructure] {
return superStructure->getState();
Expand Down Expand Up @@ -36,8 +39,13 @@ frc2::CommandPtr SourceCommand(Arm *arm, Elevator *elevator, Intake *intake, Sup
})}

).AndThen(
frc2::cmd::Sequence(intake->moveIntake(IntakeConstants::StopIntake),
frc2::cmd::Parallel(superStructure->setState(SuperStructureStates::HoldCoral),
frc2::cmd::Sequence(
frc2::cmd::Parallel(intake->moveIntake(IntakeConstants::StopIntake),
superStructure->setState(SuperStructureStates::HoldCoral)),
WaitForButton(gamepad, nextButton),
frc2::cmd::Sequence(
arm->setArmCommand(ArmConstants::ArmCoralStationAway, ArmConstants::WristClosed),
frc2::cmd::Wait(0.5_s),
arm->setArmCommand(ArmConstants::ArmClosed, ArmConstants::WristClosed),
elevator->setElevatorCommand(ElevatorConstants::ClosedPosition))

Expand Down
4 changes: 3 additions & 1 deletion src/main/Commands/SourceCommand/SourceCommand.h
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Expand Up @@ -9,5 +9,7 @@
#include "Subsystems/Intake/Intake.h"
#include <frc2/command/Commands.h>
#include "Subsystems/SuperStructure/SuperStructure.h"
#include "OvertureLib/Utils/WaitForButton/WaitForButton.h"

frc2::CommandPtr SourceCommand(Arm *arm, Elevator *elevator, Intake *intake, SuperStructure *superStructure);
frc2::CommandPtr SourceCommand(Arm *arm, Elevator *elevator, Intake *intake, SuperStructure *superStructure,
OverXboxController *gamepad);
48 changes: 23 additions & 25 deletions src/main/Commands/SpitGamePiece/SpitGamePiece.cpp
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Expand Up @@ -5,33 +5,31 @@
#include "SpitGamePiece.h"

frc2::CommandPtr SpitGamePiece(Intake *intake, SuperStructure *superStructure, Elevator *elevator, Arm *arm) {
return frc2::cmd::Select < SuperStructureStates
return frc2::cmd::Select < SuperStructureScoringStates
> ([superStructure] {
return superStructure->getState();
return superStructure->getScoringState();
},
std::pair {SuperStructureStates::HoldCoral,
frc2::cmd::Sequence(
std::pair {SuperStructureScoringStates::L1, frc2::cmd::Sequence(
superStructure->setState(SuperStructureStates::SpitCoral),
intake->moveIntake(IntakeConstants::CoralSpit),
superStructure->setScoringState(SuperStructureScoringStates::DontScore))}, std::pair {
SuperStructureScoringStates::L2, frc2::cmd::Sequence(
ArmMotion(elevator, arm, ArmConstants::ArmScore, ArmConstants::WristClosed,
elevator->getPosition()).ToPtr(), intake->moveIntake(IntakeConstants::StopIntake),
superStructure->setState(SuperStructureStates::SpitCoral))}, std::pair {
SuperStructureStates::HoldAlgae,
frc2::cmd::Sequence(
frc2::cmd::Parallel(
ArmMotion(elevator, arm, 30_deg, ArmConstants::WristClosed, elevator->getPosition()).ToPtr().BeforeStarting(
[arm] {
arm->changeArmSpeeds(ArmConstants::SlowVelocity,
ArmConstants::SlowAccelerationa);
}
).FinallyDo(
[arm] {
arm->changeArmSpeeds(ArmConstants::ArmCruiseVelocity,
ArmConstants::ArmCruiseAcceleration);
}
),
intake->moveIntake(IntakeConstants::AlgaeHold)), frc2::cmd::Wait(0.2_s),
intake->moveIntake(IntakeConstants::AlgaeRelease),
superStructure->setState(SuperStructureStates::SpitAlgae))}

);
elevator->getPosition()).ToPtr(),
elevator->setElevatorCommand(ElevatorConstants::L2SpitPosition),
superStructure->setState(SuperStructureStates::SpitCoral),
superStructure->setScoringState(SuperStructureScoringStates::DontScore))}, std::pair {
SuperStructureScoringStates::L3, frc2::cmd::Sequence(
ArmMotion(elevator, arm, ArmConstants::ArmScore, ArmConstants::WristClosed,
elevator->getPosition()).ToPtr(),
elevator->setElevatorCommand(ElevatorConstants::L3SpitPosition),
superStructure->setState(SuperStructureStates::SpitCoral),
superStructure->setScoringState(SuperStructureScoringStates::DontScore))}, std::pair {
SuperStructureScoringStates::L4, frc2::cmd::Sequence(
ArmMotion(elevator, arm, ArmConstants::ArmScore, ArmConstants::WristClosed,
elevator->getPosition()).ToPtr(),
elevator->setElevatorCommand(ElevatorConstants::L4SpitPosition),
superStructure->setState(SuperStructureStates::SpitCoral),
superStructure->setScoringState(SuperStructureScoringStates::DontScore))});

}
18 changes: 0 additions & 18 deletions src/main/Commands/SpitL1/SpitL1.cpp
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