Merge pull request #80 from frc2052/msad/MusicPlayer

max music yay

src/main/java/com/team2052/swervemodule/SwerveModule.java

@@ -210,6 +210,10 @@ public SwerveModulePosition getPosition() {
         );
     }
 
+    public TalonFX getTalonFX(){
+        return driveMotor;
+    }
+
     public static double getMaxVelocityMetersPerSecond() {
         /*
          * The formula for calculating the theoretical maximum velocity is:

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

@@ -20,7 +20,7 @@
 import edu.wpi.first.math.numbers.N3;
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
 import edu.wpi.first.math.util.Units;
-
+import frc.robot.subsystems.DrivetrainSubsystem;
 import frc.robot.subsystems.ShamperSubsystem;
 
 public final class Constants {

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

@@ -27,7 +27,7 @@ public void robotInit() {
     Logger.start(); //Start AdvantageKit Logger
 
     m_robotContainer = new RobotContainer();
-    // m_robotContainer.robotStatusCommunicator.onRobotInitiation();
+    m_robotContainer.robotStatusCommunicator.onRobotInitiation();
   }
 
   /**
@@ -46,13 +46,13 @@ public void robotPeriodic() {
     // and running subsystem periodic() methods.  This must be called from the robot's periodic
     // block in order for anything in the Command-based framework to work.
     CommandScheduler.getInstance().run();
-    // m_robotContainer.robotStatusCommunicator.onRobotPeriodic();
+    m_robotContainer.robotStatusCommunicator.onRobotPeriodic();
   }
 
   /** This function is called once each time the robot enters Disabled mode. */
   @Override
   public void disabledInit() {
-    //m_robotContainer.robotStatusCommunicator.onRobotDisable();
+    // m_robotContainer.robotStatusCommunicator.onRobotDisable();
   }
 
   @Override
@@ -85,8 +85,8 @@ public void teleopInit() {
     if (m_autonomousCommand != null) {
       m_autonomousCommand.cancel();
     }
-    
-    // m_robotContainer.robotStatusCommunicator.onRobotTeleop();
+
+    m_robotContainer.robotStatusCommunicator.onRobotTeleop();
   }
 
   /** This function is called periodically during operator control. */

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

@@ -23,6 +23,7 @@
 import frc.robot.commands.indexer.IndexerIndexCommand;
 import frc.robot.commands.intake.IntakeThenBackupCommand;
 import frc.robot.commands.intake.OuttakeCommand;
+import frc.robot.commands.music.PlayFOTBCommand;
 import frc.robot.commands.shamper.ShamperAmpCommand;
 import frc.robot.commands.shamper.ShamperDefaultCommand;
 import frc.robot.commands.shamper.ShamperLobOrShootCommand;
@@ -46,10 +47,12 @@
 import frc.robot.subsystems.IndexerSubsystem;
 import frc.robot.subsystems.IntakeSubsystem;
 import frc.robot.subsystems.LedSubsystem;
+import frc.robot.subsystems.MusicPlayerSubsystem;
 import frc.robot.subsystems.ShamperSubsystem;
 import frc.robot.subsystems.TrapArmSubsystem;
 import frc.robot.subsystems.ShamperSubsystem.ShamperSpeed;
 import frc.robot.util.AimingCalculator;
+import frc.robot.util.RobotStatusCommunicator;
 import frc.robot.util.io.Dashboard;
 import frc.robot.util.io.pixy.Pixy2CCC;
 
@@ -73,7 +76,7 @@ public class RobotContainer {
   private final AprilTagSubsystem aprilTag;
   private final LedSubsystem ledSubsystem;
   private ForwardPixySubsystem pixy;
-  // private final MusicPlayerSubsystem musicPlayer;
+  private final MusicPlayerSubsystem musicPlayer;
   // private final VisionSubsystem vision;
   private final AdvantageScopeSubsystem advantageScope;
   private final TrapArmSubsystem trapArm;
@@ -85,7 +88,7 @@ public class RobotContainer {
   private final Joystick controlPanel;
 
   public static boolean musicOn;
-  // public RobotStatusCommunicator robotStatusCommunicator;
+  public RobotStatusCommunicator robotStatusCommunicator;
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
     drivetrain = new DrivetrainSubsystem();
@@ -95,14 +98,14 @@ public RobotContainer() {
     climber = new ClimberSubsystem();
     aprilTag = AprilTagSubsystem.getInstance();
     ledSubsystem = LedSubsystem.getInstance();
-    // musicPlayer = new MusicPlayerSubsystem();
+    musicPlayer = new MusicPlayerSubsystem();
     // vision = new VisionSubsystem();
     trapArm = new TrapArmSubsystem();
     advantageScope = new AdvantageScopeSubsystem(intake, shamper, climber, drivetrain, indexer);
     pixy = new ForwardPixySubsystem();
 
 
-    // robotStatusCommunicator = new RobotStatusCommunicator(musicPlayer);
+    robotStatusCommunicator = new RobotStatusCommunicator(musicPlayer);
 
     musicOn = true;
     ledSubsystem.enableLEDs();
@@ -293,6 +296,9 @@ private void configureButtonBindings() {
      */
     // JoystickButton toggleMusicPlayerButton = new JoystickButton(controlPanel, 2);
     // toggleMusicPlayerButton.onTrue(toggleMusic());
+
+    JoystickButton musictest = new JoystickButton(translationJoystick, 10);
+    musictest.onTrue(new PlayFOTBCommand(musicPlayer));
   }
 
   // public Command toggleMusic() {

src/main/java/frc/robot/commands/music/PlayFOTBCommand.java

@@ -13,8 +13,9 @@ public PlayFOTBCommand(MusicPlayerSubsystem player) {
 
     @Override
     public void initialize() {
+        System.out.println("RUNING MUSIC STUFF");
         player.stopMusic();
-        player.loadMusic("FlightOfTheBumblebees.chrp");
+        player.loadMusic("music/FlightOfTheBumblebees.chrp");
         player.playLoadedTrack();
     }
 

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

@@ -6,6 +6,7 @@
 
 import org.littletonrobotics.junction.Logger;
 
+import com.ctre.phoenix6.hardware.TalonFX;
 import com.kauailabs.navx.frc.AHRS;
 import com.pathplanner.lib.auto.AutoBuilder;
 import com.team2052.swervemodule.SwerveModule;
@@ -275,6 +276,11 @@ public static double getMaxAngularVelocityRadiansPerSecond() {
         //return 6 * Math.PI;
     }
 
+    public TalonFX[] getDriveMotors() {
+        TalonFX[] driveMotorArray = {frontLeftModule.getTalonFX(), frontRightModule.getTalonFX(), backRightModule.getTalonFX(), backLeftModule.getTalonFX()};
+        return driveMotorArray;
+    }
+
     public void debug() {
         frontLeftModule.debug();
         backLeftModule.debug();

src/main/java/frc/robot/util/RobotStatusCommunicator.java

@@ -30,7 +30,7 @@ public void onRobotInitiation() {
     }
 
     public void onRobotPeriodic() {
-        if (DriverStation.getMatchTime() >= 180 && !hasRunTwentySeconds) {
+        if (DriverStation.getMatchTime() >= 130 && !hasRunTwentySeconds) {
             onTwentySecondsLeft();
             hasRunTwentySeconds = true;
         }