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* Create Demo Commands * Fix Translate.java & Add JavaDocs * Bontia Sim
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,50 @@ | ||
| // 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.commands; | ||
|
|
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| import edu.wpi.first.units.Units; | ||
| import edu.wpi.first.wpilibj2.command.Commands; | ||
| import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; | ||
| import frc.robot.subsystems.Drivetrain; | ||
|
|
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| public class ExampleAuto extends SequentialCommandGroup { | ||
| Drivetrain subDrivetrain; | ||
|
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| /** Creates a new ExampleAuto. */ | ||
| public ExampleAuto(Drivetrain subDrivetrain) { | ||
| /* | ||
| * @formatter:off | ||
| * | ||
| * Self-Driving Robot Workshop Usage: | ||
| * 1. Build your self-driving robot command using the following commands: | ||
| * a. RotateInPlace | ||
| * b. Translate | ||
| * c. Commands.waitSeconds | ||
| * An example is already done for you below, but feel free to remove it and get creative! | ||
| * | ||
| * 2. View a simulation of your robot driving! | ||
| * a. Press Ctrl+Shift+P or click the WPILib logo in the top right to open the command pallette. | ||
| * b. Type or select "WPILib: Simulate Robot Code". | ||
| * c. Once the code is done building, select "SIM GUI" from the pop-up window. | ||
| * d. Use Field2d or AdvantageScope to view your robot | ||
| * e. Run the autonomous by selecting "Autonomous" from Glass | ||
| * | ||
| * 3. Run your path on the real robot | ||
| * a. Place the robot in our specified starting location | ||
| * b. Connect to the robot using a DriverStation laptop | ||
| * c. Run FRC DriverStation | ||
| * d. When you're ready, enable the robot in Autonomous | ||
| * | ||
| * @formatter:on | ||
| */ | ||
|
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| addCommands( | ||
| new Translate(subDrivetrain, Units.Meters.of(1), Units.Degrees.of(45), Units.Percent.of(1)), | ||
| Commands.waitSeconds(0.5), | ||
| new RotateInPlace(subDrivetrain, Units.Degrees.of(45)), | ||
| Commands.waitSeconds(0.5), | ||
| new Translate(subDrivetrain, Units.Meters.of(2), Units.Degrees.of(-45), Units.Percent.of(0.5))); | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,69 @@ | ||
| // 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. | ||
|
|
||
| package frc.robot.commands; | ||
|
|
||
| import edu.wpi.first.math.geometry.Translation2d; | ||
| import edu.wpi.first.units.Angle; | ||
| import edu.wpi.first.units.Measure; | ||
| import edu.wpi.first.units.Units; | ||
| import edu.wpi.first.units.Velocity; | ||
| import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | ||
| import edu.wpi.first.wpilibj2.command.Command; | ||
| import frc.robot.Constants.constDrivetrain; | ||
| import frc.robot.subsystems.Drivetrain; | ||
|
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| public class RotateInPlace extends Command { | ||
| Drivetrain subDrivetrain; | ||
| Measure<Angle> desiredRotation; | ||
| Measure<Velocity<Angle>> rVelocity; | ||
| final boolean isOpenLoop = false; | ||
|
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| /** | ||
| * Rotates the robot in place to face a given Field-Relative rotation. | ||
| * | ||
| * @param subDrivetrain The instance of the subsystem we are making run this | ||
| * command | ||
| * @param desiredRotation The desired angle you would like to rotate towards | ||
| * (Field-Relative Angle) | ||
| * | ||
| * @see <a href= | ||
| * "https://docs.wpilib.org/en/stable/docs/software/basic-programming/coordinate-system.html">Field | ||
| * Coordinate System</a> | ||
| * | ||
| */ | ||
| public RotateInPlace(Drivetrain subDrivetrain, Measure<Angle> desiredRotation) { | ||
| this.subDrivetrain = subDrivetrain; | ||
| this.desiredRotation = desiredRotation; | ||
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| // Use addRequirements() here to declare subsystem dependencies. | ||
| addRequirements(subDrivetrain); | ||
| } | ||
|
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| // Called when the command is initially scheduled. | ||
| @Override | ||
| public void initialize() { | ||
| } | ||
|
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| // Called every time the scheduler runs while the command is scheduled. | ||
| @Override | ||
| public void execute() { | ||
| rVelocity = subDrivetrain.getVelocityToRotate(desiredRotation); | ||
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| subDrivetrain.drive(new Translation2d(0, 0), rVelocity.in(Units.RadiansPerSecond), isOpenLoop); | ||
| } | ||
|
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| // Called once the command ends or is interrupted. | ||
| @Override | ||
| public void end(boolean interrupted) { | ||
| subDrivetrain.drive(new Translation2d(0, 0), 0, isOpenLoop); | ||
| } | ||
|
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| // Returns true when the command should end. | ||
| @Override | ||
| public boolean isFinished() { | ||
| return subDrivetrain.getRotationMeasure().isNear(desiredRotation, | ||
| constDrivetrain.AT_ROTATION_TOLERANCE); | ||
| } | ||
| } |
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