2 create a tankdrive subsystem v2 #16
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@@ -5,11 +5,6 @@ | |
| "header": { | ||
| "open": true | ||
| } | ||
| } | ||
| } | ||
| }, | ||
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| package frc.robot.commands; | ||
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| import java.util.function.Supplier; | ||
| import edu.wpi.first.math.MathUtil; | ||
| import edu.wpi.first.math.filter.SlewRateLimiter; | ||
| import frc.robot.Constants.DriveConstants; | ||
| import frc.robot.Constants.TankDriveConstants; | ||
| import frc.robot.subsystems.TankDrive.TankDrive; | ||
| import edu.wpi.first.wpilibj2.command.Command; | ||
| import edu.wpi.first.wpilibj2.command.button.Trigger; | ||
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| public class TankJoystickCmd extends Command { | ||
| // Initializes tankDrive subsystem, joystick x and y inputs, and drive mode | ||
| private final TankDrive tankSubsystem; | ||
| private final Supplier<Double> xInputFunction, yInputFunction; | ||
| private final Supplier<Boolean> driveModeFunction; | ||
| private final SlewRateLimiter xLimiter, yLimiter; | ||
| private Boolean toggle; | ||
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| // Command constructor that takes in above parameters | ||
| public TankJoystickCmd(TankDrive tankSubsystem, Supplier<Double> xInputFunction, Supplier<Double> yInputFunction, | ||
| Supplier<Boolean> driveModeFunction) { | ||
| this.tankSubsystem = tankSubsystem; | ||
| this.xInputFunction = xInputFunction; | ||
| this.yInputFunction = yInputFunction; | ||
| this.driveModeFunction = driveModeFunction; | ||
| this.xLimiter = new SlewRateLimiter(DriveConstants.kTeleDriveMaxAccelerationUnitsPerSecond); | ||
| this.yLimiter = new SlewRateLimiter(DriveConstants.kTeleDriveMaxAccelerationUnitsPerSecond); | ||
| toggle = false; | ||
| addRequirements(tankSubsystem); | ||
| } | ||
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| @Override | ||
| public void initialize() { | ||
| } | ||
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| // Sets X/Y inputs to forward/turning motion if driveMode button is pressed, and | ||
| // left/right motion if not | ||
| @Override | ||
| public void execute() { | ||
| if (driveModeFunction.get()) { | ||
| toggle = !toggle; | ||
| } | ||
| if (toggle) { | ||
| tankSubsystem | ||
| .setInputForward(-MathUtil.applyDeadband(xInputFunction.get(), TankDriveConstants.kDeadzone)); | ||
| tankSubsystem.setInputTurn(MathUtil.applyDeadband(yInputFunction.get(), TankDriveConstants.kDeadzone)); | ||
| } else { | ||
| tankSubsystem.setInputLeft(-MathUtil.applyDeadband(xInputFunction.get(), TankDriveConstants.kDeadzone)); | ||
| tankSubsystem | ||
| .setInputRight(MathUtil.applyDeadband(yInputFunction.get(), TankDriveConstants.kDeadzone)); | ||
| } | ||
| } | ||
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| @Override | ||
| public void end(boolean interrupted) { | ||
| } | ||
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| // Returns true when the command should end. | ||
| @Override | ||
| public boolean isFinished() { | ||
| return false; | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,81 @@ | ||
| // 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. | ||
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| package frc.robot.subsystems.TankDrive; | ||
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| import frc.robot.Constants.TankDriveConstants; | ||
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| import com.revrobotics.CANSparkMax; | ||
| import com.revrobotics.CANSparkLowLevel.MotorType; | ||
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| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
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| public class TankDrive extends SubsystemBase { | ||
|
There was a problem hiding this comment. Let's rename this to TankDriveSubsystem and the file as well. So we are consistent |
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| // Initializes two motors on each side | ||
| private CANSparkMax leftMotor1, leftMotor2, rightMotor1, rightMotor2; | ||
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| // Initializes forward, turning, left side and right side input vars | ||
| public double input_forward = 0; | ||
| public double input_turn = 0; | ||
| public double input_left = 0; | ||
| public double input_right = 0; | ||
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| public TankDrive() { | ||
| // Defines motors from ports/ids from consts | ||
| leftMotor1 = new CANSparkMax(TankDriveConstants.kLeftDriveMotorPort1, MotorType.kBrushless); | ||
| leftMotor2 = new CANSparkMax(TankDriveConstants.kLeftDriveMotorPort2, MotorType.kBrushless); | ||
|
There was a problem hiding this comment. So when looking at some other code I realized there is one last issue here. There was a problem hiding this comment. |
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| rightMotor1 = new CANSparkMax(TankDriveConstants.kRightDriveMotorPort1, MotorType.kBrushless); | ||
| rightMotor2 = new CANSparkMax(TankDriveConstants.kRightDriveMotorPort2, MotorType.kBrushless); | ||
| leftMotor1.setInverted(TankDriveConstants.kLeftDriveMotorReversed1); | ||
| leftMotor2.setInverted(TankDriveConstants.kLeftDriveMotorReversed2); | ||
| rightMotor1.setInverted(TankDriveConstants.kRightDriveMotorReversed1); | ||
| rightMotor2.setInverted(TankDriveConstants.kRightDriveMotorReversed2); | ||
| } | ||
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| @Override | ||
| public void periodic() { | ||
| // Defines fwd as left/right side moving in same direction, and turn as | ||
| // left/right side moving in opp direction | ||
| input_left = input_turn + input_forward; | ||
| input_right = input_turn - input_forward; | ||
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| // Sets motor speeds to left/right input | ||
| leftMotor1.set(input_left); | ||
| leftMotor2.set(input_left); | ||
|
There was a problem hiding this comment. shouldn't need this if they are set to follow above. |
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| rightMotor1.set(input_right); | ||
| rightMotor2.set(input_right); | ||
|
There was a problem hiding this comment. shouldn't need this if they are set to follow above. |
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| } | ||
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| // Methods for setting fwd/turn/left/right input | ||
| public void setInputForward(double forward) { | ||
| input_forward = forward; | ||
| } | ||
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| public void setInputTurn(double turn) { | ||
| input_turn = turn; | ||
| } | ||
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| public void setInputLeft(double left) { | ||
| leftMotor1.set(left); | ||
| leftMotor2.set(left); | ||
|
There was a problem hiding this comment. shouldn't need this if they are set to follow above. |
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| } | ||
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| public void setInputRight(double right) { | ||
| rightMotor1.set(-right); | ||
| rightMotor2.set(-right); | ||
|
There was a problem hiding this comment. shouldn't need this if they are set to follow above. |
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| } | ||
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| // Method for stopping all motors | ||
| public void stop() { | ||
| leftMotor1.set(0); | ||
| leftMotor2.set(0); | ||
|
There was a problem hiding this comment. shouldn't need this if they are set to follow above. |
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| rightMotor1.set(0); | ||
| rightMotor2.set(0); | ||
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There was a problem hiding this comment. shouldn't need this if they are set to follow above. |
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| } | ||
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| @Override | ||
| public void simulationPeriodic() { | ||
| // This method will be called once per scheduler run during simulation | ||
| } | ||
| } | ||
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Did you need to comment these out? Are they being used anywhere?