New Button Mapping for pilot and operator #50

JosephBye · 2025-02-12T00:55:48Z

No description provided.

Additional things: add last years vision files in, limelight and maybe limelightcommands add reef and intake station in sim, expand size create a sendable chooser for triggers

cycIes · 2025-02-12T21:46:11Z

src/main/java/frc/robot/pilot/Pilot.java

-    public final Trigger score_RB = rightBumper.and(noFn, teleop);
-    public final Trigger climbPrep_RDP = rightDpad.and(noFn, teleop);
+    public final Trigger stationIntake_LT = A.and(noFn, teleop);
+    public final Trigger stationExtendedIntake_LT = A.and(fn, teleop);


should probably be named with _LB_LT

cycIes · 2025-02-12T21:57:18Z

Do you want to add the states for ground intaking with the corAl? Also I think the original plan was to keep the coral intaking on the left side and the algae intaking on the right side, but I assume you changed that to accommodate the station extended intaking. What are your thoughts?

cycIes · 2025-02-12T22:53:55Z

src/main/java/frc/robot/coralIntake/CoralIntakeStates.java

        coralIntake.setDefaultCommand(
-                log(coralIntake.runStop().ignoringDisable(true).withName("intake.default")));
+                log(coralIntake.runVelocityTcFocRpm(() -> -500).withName("intake.default")));


minor change if you want: intake should be coralIntake

From what I know about intaking on the corAl, I think moving the motor one way intakes coral and ejects algae, while moving the motor the other way ejects coral and intakes algae, so this may have to be an adaptable value (otherwise it wouldn't hold one of the game pieces)

I'm probably gonna make coralIntake and Coraleject different from algaeIntake and algaeEject as like different command, I think that's the easiest way to fix this?

But what about the default command? It would have to know whether to run a positive or negative velocity depending on what it's holding

cycIes · 2025-02-12T22:59:50Z

src/main/java/frc/robot/coralIntake/CoralIntakeStates.java


        coastMode.whileTrue(log(coastMode()));
        coastMode.onFalse(log(ensureBrakeMode()));
    }

-    private static Command handOffAlgae() {
+    private static Command handOff() {


For the reason I stated above, you may have to make two handOff and two score commands for coralIntake

cycIes · 2025-02-12T23:06:35Z

src/main/java/frc/robot/elbow/ElbowStates.java

+        scoreState.and(L3Coral).and(backwardMode).onTrue(log(score3()));
+        scoreState.and(L4Coral).and(backwardMode.not()).onTrue(log(score4()));
+        scoreState.and(L4Coral).and(backwardMode).onTrue(log(score4()));
+
        L2Algae.and(backwardMode.not()).whileTrue(log(l2Algae()));


do you have to also implement action ready stuff with retrieving algae?

Nope, the idea for retrieving algae, atleast based on my understanding, is that we're going to be doing it as basically a pilot intake command, so pilot presses a button, and then drives in, so there's no need for a operator to control sm

But wouldn't the arm be moving and the robot be aligning for this? Would the operator have to stage the arm for the reef algae before the pilot drives in?

cycIes · 2025-02-12T23:09:40Z

src/main/java/frc/robot/elbow/ElbowStates.java

    }

    public static DoubleSupplier getPosition() {
        return () -> elbow.getPositionPercentage();
    }

+    public static DoubleSupplier switchSigns(DoubleSupplier supplier) {


Do you still need this?

nope, deleted, ty

cycIes · 2025-02-12T23:12:08Z

src/main/java/frc/robot/elbow/ElbowStates.java

@@ -87,10 +126,6 @@ public static Command l4Coral() {
                .withName("Elbow.l4Coral");
    }

-    public static Command barge() {
-        return elbow.moveToPercentage(() -> elbow.checkReversed(config::getBarge))


I think I actually need this for the position reversing. Sorry for not catching this earlier!

The barge command? I'll add it back

Just the check reversed part. Ty!

cycIes · 2025-02-12T23:21:52Z

src/main/java/frc/robot/elevator/ElevatorStates.java

@@ -83,6 +96,15 @@ private static Command fullExtend() {
        return elevator.moveToRotations(config::getFullExtend).withName("Elevator.fullExtend");
    }

+    private static Command score() {


I'm not entirely sure if this could happen, but if the pilot accidentally presses the actionready button and then releases it while the elevator is at zero, would that cause issues?

Not really, I've tested it and it kinda just spins the coralIntake, nothing too bad happens, and if the operator presses home again everything goes back to being fine

cycIes · 2025-02-12T23:28:22Z

src/main/java/frc/robot/inClimb/InClimbStates.java

@@ -15,18 +14,20 @@ public class InClimbStates {

    public static void setupDefaultCommand() {
        inClimb.setDefaultCommand(
-                log(inClimb.runHoldInClimb().ignoringDisable(true).withName("InClimb.default")));
+                log(InClimbStates.home().ignoringDisable(true).withName("InClimb.default")));


Just checking, if the operator tries to prep for climbing and lets go of the button, the default would send the climber home, so the operator needs to hold prep climb at all times? That might make it weird for the transition to finishing the climb on pilot.

I orginally changed it to auto go back home, so that after the intake of the coral or the algae it automatically folds back on itself, or in emergencies if the operator is caught in the open or smth, they can just let go of the button to bring back inclimb instead of trying to press smth else
On the other hand good point, I'll change it so that default command is changed when you press prepclimb

You can just have an onFalse for the intaking commands so that the inClimb goes back after the button is released

cycIes · 2025-02-12T23:32:21Z

src/main/java/frc/robot/pilot/Pilot.java

-    public final Trigger eject_fA = A.and(fn, teleop);
-    public final Trigger score_RB = rightBumper.and(noFn, teleop);
-    public final Trigger climbPrep_RDP = rightDpad.and(noFn, teleop);
+    public final Trigger stationIntake_LT = A.and(noFn, teleop);


Do you want to keep this as A for now?

Nah, I'll change it back, testing seems fine.

cycIes · 2025-02-12T23:34:30Z

src/main/java/frc/robot/shoulder/ShoulderStates.java

@@ -35,9 +46,10 @@ public static void setStates() {
        L3Coral.and(backwardMode).whileTrue(log(reverse(l3Coral())));
        L4Coral.and(backwardMode.not()).whileTrue(log(l4Coral()));
        L4Coral.and(backwardMode).whileTrue(log(reverse(l4Coral())));
-        barge.and(backwardMode.not()).whileTrue(log(barge()));


Why was barge removed?

barge wasn't removed, just shifted to another place in the setup commands, right below the other algae things

cycIes · 2025-02-12T23:39:41Z

src/main/java/frc/robot/coralIntake/CoralIntakeStates.java

-        score.whileTrue(log(intake()));
-        handOffAlgae.whileTrue(log(handOffAlgae()));
+        stationExtendedIntake.whileTrue(log(intake()));
+        scoreState.whileTrue(log(score()));


I think this will try to score as long as the action button isn't being pressed? That means that the default will never run and might cause issues when scheduling other commands that require coralIntake? (But I haven't tested it so I'm not sure)

In the definition I wrote for score, and the new def I wrote for algaeScore, there will be triggers to prevent the coralIntake from running forever, in this case they check to see if the coral/algae is still there and if not they stop the command

cycIes · 2025-02-12T23:42:12Z

src/main/java/frc/robot/elbow/ElbowStates.java

        L2Coral.and(backwardMode.not()).whileTrue(log(l2Coral()));
        L2Coral.and(backwardMode).whileTrue(log(reverse(l2Coral())));
        L3Coral.and(backwardMode.not()).whileTrue(log(l3Coral()));
        L3Coral.and(backwardMode).whileTrue(log(reverse(l3Coral())));
        L4Coral.and(backwardMode.not()).whileTrue(log(l4Coral()));
        L4Coral.and(backwardMode).whileTrue(log(reverse(l4Coral())));
+
        barge.and(backwardMode.not()).whileTrue(log(barge()));


Same question about action ready with barge. I think action ready isn't just for scoring, but any action that might require prep and alignment like intaking.

I think I mentioned that barge is the only algae command that'll use action ready, the other two can just be pilot commands and then the pilot drives in and intakes cuz they aren't as complicated or take as long of a time to do as the other score commands

JosephBye · 2025-02-13T21:21:51Z

Do you want to add the states for ground intaking with the corAl? Also I think the original plan was to keep the coral intaking on the left side and the algae intaking on the right side, but I assume you changed that to accommodate the station extended intaking. What are your thoughts?

I dont think states for ground intakign with corAl is necessary for our first events? I remember Allen saying something like having that might be too complicated and require too confusing mapping, however they could be added later. Like having 3 ways to intake two game pieces means like 6 different intake buttons which seems kinda insane for right now.

@JosephBye

@JosephBye some minor fixes for things I noticed in testing If these look okay to you, I'll go ahead and pull the branch (finally! sorry for taking so long) Also you can use axis 2 and axis 3 of keyboard0 to simulate the controller triggers in simulation

SpectrumFRC3847 and others added 15 commits February 6, 2025 20:40

Start on correct button mapping

55d8854

more mapping fixes

5b15417

further updates to operator

7296097

Merge branch 'main' into button-mapping

eda31b6

pilot button mapping before solving score issue

a8cd8ab

handoff commands added

4f01ecd

pilot scoring button

6213316

auto intake and eject, see when robot has coral

39bc0b9

rename

697cd93

notes

2190b82

branch mainly finished

44fdbe5

Additional things: add last years vision files in, limelight and maybe limelightcommands add reef and intake station in sim, expand size create a sendable chooser for triggers

Merge branch 'main' into button-mapping

39a1cec

Merge branch 'main' into button-mapping

9680315

merge conflicts

73aa1e3

additional twist state fixes for pull request

6302702

JosephBye requested a review from cycIes February 12, 2025 00:58

cycIes reviewed Feb 12, 2025

View reviewed changes

SpectrumFRC3847 and others added 4 commits February 13, 2025 16:47

happy merge changes

85e83bb

inclimb default command change + score to onTrue

c26997d

merge requests

4cbbe2c

minor edits

914e850

@JosephBye some minor fixes for things I noticed in testing If these look okay to you, I'll go ahead and pull the branch (finally! sorry for taking so long) Also you can use axis 2 and axis 3 of keyboard0 to simulate the controller triggers in simulation

JosephBye merged commit d6ef383 into main Feb 14, 2025
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New Button Mapping for pilot and operator #50

New Button Mapping for pilot and operator #50

JosephBye commented Feb 12, 2025

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JosephBye commented Feb 13, 2025

New Button Mapping for pilot and operator #50

New Button Mapping for pilot and operator #50

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