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Create Drivetrain Simulation #124

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91bc8b8
Update README.md
BenG49 Oct 6, 2022
cdc33ad
Setup file layout
BenG49 Oct 6, 2022
6b80b69
Make empty SimDrivetrain
BenG49 Oct 6, 2022
b10ac84
Add methods to drivetrain interface
AndrewLiu0 Oct 9, 2022
34905b4
Fix gear in interface
AndrewLiu0 Oct 11, 2022
92015db
Fix imports and commands with the interface
AndrewLiu0 Oct 11, 2022
6a0f128
Clean up drivetrain interface
AndrewLiu0 Oct 11, 2022
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2 changes: 2 additions & 0 deletions README.md
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@@ -1,3 +1,5 @@
# Excelsior

Excelsior is the name of our 2022 FRC Robot!

Drivetrain Simulation
6 changes: 2 additions & 4 deletions src/main/java/com/stuypulse/robot/RobotContainer.java
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Expand Up @@ -8,10 +8,7 @@

import com.stuypulse.stuylib.input.Gamepad;
import com.stuypulse.stuylib.input.gamepads.*;
import com.stuypulse.stuylib.network.SmartNumber;
import com.stuypulse.robot.commands.BetterShootAnywhere;
import com.stuypulse.robot.commands.ShootAnywhere;
import com.stuypulse.robot.commands.TestAlign;
import com.stuypulse.robot.commands.auton.*;
import com.stuypulse.robot.commands.climber.*;
import com.stuypulse.robot.commands.conveyor.*;
Expand All @@ -20,6 +17,7 @@
import com.stuypulse.robot.commands.shooter.*;
import com.stuypulse.robot.constants.*;
import com.stuypulse.robot.subsystems.*;
import com.stuypulse.robot.subsystems.drivetrain.Drivetrain;

import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
Expand All @@ -34,7 +32,7 @@ public class RobotContainer {
public final Climber climber = new Climber();
public final ColorSensor colorSensor = new ColorSensor();
public final Conveyor conveyor = new Conveyor(colorSensor);
public final Drivetrain drivetrain = new Drivetrain();
public final IDrivetrain drivetrain = new Drivetrain();
public final Intake intake = new Intake(conveyor);
public final LEDController leds = new LEDController(this);
public final Pump pump = new Pump();
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7 changes: 4 additions & 3 deletions src/main/java/com/stuypulse/robot/commands/BetterShootAnywhere.java
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Expand Up @@ -17,8 +17,9 @@
import com.stuypulse.robot.constants.Settings.Limelight;
import com.stuypulse.robot.subsystems.Camera;
import com.stuypulse.robot.subsystems.Conveyor;
import com.stuypulse.robot.subsystems.Drivetrain;
import com.stuypulse.robot.subsystems.IDrivetrain;
import com.stuypulse.robot.subsystems.Shooter;
import com.stuypulse.robot.subsystems.IDrivetrain.Gear;

import edu.wpi.first.wpilibj2.command.CommandBase;

Expand All @@ -27,7 +28,7 @@ public class BetterShootAnywhere extends CommandBase {
// subsystems
private final Camera camera;
private final Conveyor conveyor;
private final Drivetrain drivetrain;
private final IDrivetrain drivetrain;
private final Shooter shooter;

// angle control
Expand Down Expand Up @@ -84,7 +85,7 @@ public BetterShootAnywhere(RobotContainer robot) {

@Override
public void initialize() {
drivetrain.setLowGear();
drivetrain.setGear(Gear.LOW);
shooter.retractHood();

angleError.initialize();
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8 changes: 4 additions & 4 deletions src/main/java/com/stuypulse/robot/commands/ShootAnywhere.java
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Expand Up @@ -13,21 +13,21 @@

import com.stuypulse.robot.RobotContainer;
import com.stuypulse.robot.commands.conveyor.modes.ConveyorMode;
import com.stuypulse.robot.constants.Settings;
import com.stuypulse.robot.constants.Settings.Alignment;
import com.stuypulse.robot.constants.Settings.Limelight;
import com.stuypulse.robot.constants.ShotMap;
import com.stuypulse.robot.subsystems.Conveyor;
import com.stuypulse.robot.subsystems.Drivetrain;
import com.stuypulse.robot.subsystems.IDrivetrain;
import com.stuypulse.robot.subsystems.Shooter;
import com.stuypulse.robot.subsystems.IDrivetrain.Gear;

import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandBase;

public class ShootAnywhere extends CommandBase {

private final Conveyor conveyor;
private final Drivetrain drivetrain;
private final IDrivetrain drivetrain;
private final Shooter shooter;

private final IFuser angleError;
Expand Down Expand Up @@ -76,7 +76,7 @@ public ShootAnywhere(RobotContainer robot) {

@Override
public void initialize() {
drivetrain.setLowGear();
drivetrain.setGear(Gear.LOW);
shooter.retractHood();
angleError.initialize();
distance.initialize();
Expand Down
7 changes: 2 additions & 5 deletions src/main/java/com/stuypulse/robot/commands/TestAlign.java
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Expand Up @@ -13,15 +13,12 @@
import com.stuypulse.stuylib.streams.filters.IFilter;
import com.stuypulse.stuylib.streams.filters.LowPassFilter;
import com.stuypulse.robot.RobotContainer;
import com.stuypulse.robot.commands.ThenShoot;
import com.stuypulse.robot.commands.conveyor.modes.ConveyorMode;
import com.stuypulse.robot.constants.Settings;
import com.stuypulse.robot.constants.Settings.Alignment;
import com.stuypulse.robot.constants.Settings.Limelight;
import com.stuypulse.robot.constants.Settings.Test;
import com.stuypulse.robot.subsystems.Camera;
import com.stuypulse.robot.subsystems.Conveyor;
import com.stuypulse.robot.subsystems.Drivetrain;
import com.stuypulse.robot.subsystems.IDrivetrain.Gear;

import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandBase;
Expand Down Expand Up @@ -80,7 +77,7 @@ public TestAlign(RobotContainer robot) {

@Override
public void initialize() {
robot.drivetrain.setLowGear();
robot.drivetrain.setGear(Gear.LOW);

speedAdjFilter = new LowPassFilter(Alignment.SPEED_ADJ_FILTER);

Expand Down
9 changes: 5 additions & 4 deletions src/main/java/com/stuypulse/robot/commands/drivetrain/DrivetrainAlign.java
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Expand Up @@ -20,14 +20,15 @@
import com.stuypulse.robot.constants.Settings.Limelight;
import com.stuypulse.robot.subsystems.Camera;
import com.stuypulse.robot.subsystems.Conveyor;
import com.stuypulse.robot.subsystems.Drivetrain;
import com.stuypulse.robot.subsystems.IDrivetrain;
import com.stuypulse.robot.subsystems.IDrivetrain.Gear;

import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandBase;

public class DrivetrainAlign extends CommandBase {

private final Drivetrain drivetrain;
private final IDrivetrain drivetrain;

private final BStream finished;

Expand All @@ -39,7 +40,7 @@ public class DrivetrainAlign extends CommandBase {
protected final Controller angleController;
protected final Controller distanceController;

public DrivetrainAlign(Drivetrain drivetrain, Camera camera) {
public DrivetrainAlign(IDrivetrain drivetrain, Camera camera) {
this.drivetrain = drivetrain;

// find errors
Expand Down Expand Up @@ -79,7 +80,7 @@ public DrivetrainAlign(Drivetrain drivetrain, Camera camera) {

@Override
public void initialize() {
drivetrain.setLowGear();
drivetrain.setGear(Gear.LOW);

speedAdjFilter = new LowPassFilter(Alignment.SPEED_ADJ_FILTER);

Expand Down
15 changes: 8 additions & 7 deletions src/main/java/com/stuypulse/robot/commands/drivetrain/DrivetrainDrive.java
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Expand Up @@ -14,19 +14,20 @@

import com.stuypulse.robot.constants.Settings;
import com.stuypulse.robot.constants.Settings.Drivetrain.Stalling;
import com.stuypulse.robot.subsystems.Drivetrain;
import com.stuypulse.robot.subsystems.IDrivetrain;
import com.stuypulse.robot.subsystems.IDrivetrain.Gear;

import edu.wpi.first.wpilibj2.command.CommandBase;

public class DrivetrainDrive extends CommandBase {

private final Drivetrain drivetrain;
private final IDrivetrain drivetrain;
private final Gamepad driver;

private final BStream stalling;
private final IStream speed, angle;

public DrivetrainDrive(Drivetrain drivetrain, Gamepad driver) {
public DrivetrainDrive(IDrivetrain drivetrain, Gamepad driver) {
this.drivetrain = drivetrain;
this.driver = driver;

Expand Down Expand Up @@ -54,14 +55,14 @@ public DrivetrainDrive(Drivetrain drivetrain, Gamepad driver) {

public void execute() {
if (driver.getRawLeftButton()) {
drivetrain.setLowGear();
drivetrain.setGear(Gear.LOW);
drivetrain.arcadeDrive(speed.get() - 0.1, angle.get());
} else if (driver.getRawRightButton() || stalling.get()) {
drivetrain.setLowGear();
drivetrain.setGear(Gear.LOW);
drivetrain.arcadeDrive(speed.get(), angle.get());
} else {
drivetrain.setHighGear();
drivetrain.curvatureDrive(speed.get(), angle.get());
drivetrain.setGear(Gear.HIGH);
drivetrain.arcadeDrive(speed.get(), angle.get());
}
}

Expand Down
4 changes: 2 additions & 2 deletions src/main/java/com/stuypulse/robot/commands/drivetrain/DrivetrainDriveDistance.java
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Expand Up @@ -5,7 +5,7 @@

package com.stuypulse.robot.commands.drivetrain;

import com.stuypulse.robot.subsystems.Drivetrain;
import com.stuypulse.robot.subsystems.IDrivetrain;
import com.stuypulse.robot.util.TrajectoryLoader;

/**
Expand All @@ -17,7 +17,7 @@
*/
public class DrivetrainDriveDistance extends DrivetrainRamsete {

public DrivetrainDriveDistance(Drivetrain drivetrain, double distance) {
public DrivetrainDriveDistance(IDrivetrain drivetrain, double distance) {
super(drivetrain, TrajectoryLoader.getLine(distance));
}

Expand Down
7 changes: 4 additions & 3 deletions src/main/java/com/stuypulse/robot/commands/drivetrain/DrivetrainDriveForever.java
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Expand Up @@ -5,15 +5,15 @@

package com.stuypulse.robot.commands.drivetrain;

import com.stuypulse.robot.subsystems.Drivetrain;
import com.stuypulse.robot.subsystems.IDrivetrain;

import edu.wpi.first.wpilibj2.command.CommandBase;

public class DrivetrainDriveForever extends CommandBase {
private final Drivetrain drivetrain;
private final IDrivetrain drivetrain;
private final double speed;

public DrivetrainDriveForever(Drivetrain drivetrain, double speed) {
public DrivetrainDriveForever(IDrivetrain drivetrain, double speed) {
this.drivetrain = drivetrain;
this.speed = speed;

Expand All @@ -24,4 +24,5 @@ public DrivetrainDriveForever(Drivetrain drivetrain, double speed) {
public void execute() {
drivetrain.curvatureDrive(speed, 0);
}

}
9 changes: 5 additions & 4 deletions src/main/java/com/stuypulse/robot/commands/drivetrain/DrivetrainHighGear.java
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Expand Up @@ -5,21 +5,22 @@

package com.stuypulse.robot.commands.drivetrain;

import com.stuypulse.robot.subsystems.Drivetrain;
import com.stuypulse.robot.subsystems.IDrivetrain;
import com.stuypulse.robot.subsystems.IDrivetrain.Gear;

import edu.wpi.first.wpilibj2.command.InstantCommand;

public class DrivetrainHighGear extends InstantCommand {
private Drivetrain drivetrain;
private IDrivetrain drivetrain;

public DrivetrainHighGear(Drivetrain drivetrain) {
public DrivetrainHighGear(IDrivetrain drivetrain) {
this.drivetrain = drivetrain;

addRequirements(this.drivetrain);
}

@Override
public void initialize() {
drivetrain.setHighGear();
drivetrain.setGear(Gear.HIGH);
}
}
9 changes: 5 additions & 4 deletions src/main/java/com/stuypulse/robot/commands/drivetrain/DrivetrainLowGear.java
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Expand Up @@ -5,21 +5,22 @@

package com.stuypulse.robot.commands.drivetrain;

import com.stuypulse.robot.subsystems.Drivetrain;
import com.stuypulse.robot.subsystems.IDrivetrain;
import com.stuypulse.robot.subsystems.IDrivetrain.Gear;

import edu.wpi.first.wpilibj2.command.InstantCommand;

public class DrivetrainLowGear extends InstantCommand {

private Drivetrain drivetrain;
private IDrivetrain drivetrain;

public DrivetrainLowGear(Drivetrain drivetrain) {
public DrivetrainLowGear(IDrivetrain drivetrain) {
this.drivetrain = drivetrain;
addRequirements(drivetrain);
}

@Override
public void initialize() {
drivetrain.setLowGear();
drivetrain.setGear(Gear.LOW);
}
}
9 changes: 5 additions & 4 deletions src/main/java/com/stuypulse/robot/commands/drivetrain/DrivetrainPadAlign.java
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Expand Up @@ -17,21 +17,22 @@
import com.stuypulse.robot.constants.Settings.Limelight;
import com.stuypulse.robot.subsystems.Camera;
import com.stuypulse.robot.subsystems.Conveyor;
import com.stuypulse.robot.subsystems.Drivetrain;
import com.stuypulse.robot.subsystems.IDrivetrain;
import com.stuypulse.robot.subsystems.IDrivetrain.Gear;

import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandBase;

public class DrivetrainPadAlign extends CommandBase {

private final Drivetrain drivetrain;
private final IDrivetrain drivetrain;

private final BStream finished;

private final IFuser angleError;
protected final Controller angleController;

public DrivetrainPadAlign(Drivetrain drivetrain, Camera camera) {
public DrivetrainPadAlign(IDrivetrain drivetrain, Camera camera) {
this.drivetrain = drivetrain;

// find errors
Expand All @@ -58,7 +59,7 @@ public DrivetrainPadAlign(Drivetrain drivetrain, Camera camera) {

@Override
public void initialize() {
drivetrain.setLowGear();
drivetrain.setGear(Gear.LOW);

angleError.initialize();
}
Expand Down
9 changes: 5 additions & 4 deletions src/main/java/com/stuypulse/robot/commands/drivetrain/DrivetrainPadAlignV2.java
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Expand Up @@ -20,14 +20,15 @@
import com.stuypulse.robot.constants.Settings.Limelight;
import com.stuypulse.robot.subsystems.Camera;
import com.stuypulse.robot.subsystems.Conveyor;
import com.stuypulse.robot.subsystems.Drivetrain;
import com.stuypulse.robot.subsystems.IDrivetrain;
import com.stuypulse.robot.subsystems.IDrivetrain.Gear;

import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandBase;

public class DrivetrainPadAlignV2 extends CommandBase {

private final Drivetrain drivetrain;
private final IDrivetrain drivetrain;

private final BStream finished;

Expand All @@ -39,7 +40,7 @@ public class DrivetrainPadAlignV2 extends CommandBase {
protected final Controller angleController;
protected final Controller distanceController;

public DrivetrainPadAlignV2(Drivetrain drivetrain, Camera camera) {
public DrivetrainPadAlignV2(IDrivetrain drivetrain, Camera camera) {
this.drivetrain = drivetrain;

// find errors
Expand Down Expand Up @@ -79,7 +80,7 @@ public DrivetrainPadAlignV2(Drivetrain drivetrain, Camera camera) {

@Override
public void initialize() {
drivetrain.setLowGear();
drivetrain.setGear(Gear.LOW);

speedAdjFilter = new LowPassFilter(Alignment.SPEED_ADJ_FILTER);

Expand Down
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