README file for CreeperCleanup

This is the 2025 Sprint 1 code. This code will be used In Sprint 1a), starting 2025-09-04.

Main components: RobotContainer.java:

• The RobotContainer class is the central hub for the robot's subsystems, commands, and input bindings.

• It initializes and manages the robot's subsystems, commands, and operator interface (OI) devices.

• Key Responsibilities:

• • Declare and initialize subsystems (e.g., DriveTrainSubSystem, HammerSubsystem).
• • Set default commands for subsystems.
• • Configure input bindings (e.g., joystick buttons and axes).
• • Provide the autonomous command to the Robot class.

• Key Components:

• • Subsystems: DriveTrainSubSystem, HammerSubsystem.
• • Commands: TankDriveCommand, HammerMoveCommand.
• • Input Devices: XboxController for driver and manipulator.

  Constants.java:

  • The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean

• constants. This class should not be used for any other purpose. All constants should be declared

• globally (i.e. public static). Do not put anything functional in this class.

• It is advised to statically import this class (or one of its inner classes) wherever the

• constants are needed, to reduce verbosity.

• Key Components:

• • Motor IDs: MOTOR_LEFT_1_ID, MOTOR_RIGHT_1_ID.
• • Controller IDs: CONTROLLER_DRIVER_ID, CONTROLLER_MANIPULATOR_ID.
• • Axis Mappings: LEFT_STICK_Y, RIGHT_STICK_Y.
• • Subsystem-Specific Constants: HammerConstants, DriveConstants, AutoConstants.

Subsystems: -- Hammer Subsystem:

• The HammerSubsystem class represents the hammer mechanism of the robot.
• It interacts with the hardware through the HammerInterface and provides methods for controlling the hammer.
• Key Responsibilities:
• • Update and monitor hammer inputs (e.g., position, velocity, applied voltage).
• • Provide methods to control the hammer (e.g., runVoltage, swingForward, swingBackward, stop).
• Key Components:
• • Interface: HammerInterface for hardware abstraction.
• • Inputs: HammerInterfaceInputs for storing sensor data.
• • Methods: runVoltage, swingForward, swingBackward, stop.
• Lifecycle:
• • periodic(): Called periodically by the WPILib scheduler to update inputs and send data to the dashboard.

DriveTrainSubsystem:

• The DriveTrainSubSystem interface defines the contract for controlling the drivetrain.
• It provides methods for setting the speed of the left and right motors.
• Key Responsibilities:
• • Define methods for controlling the drivetrain motors (setLeftMotors, setRightMotors).
• Key Components:
• • Methods: setLeftMotors, setRightMotors.

DriveInterface:

• The DriveInterface defines the contract for interacting with the drivetrain hardware.
• It provides methods for controlling the left and right motors.
• Key Responsibilities:
• • Define methods for controlling the drivetrain motors (setLeftMotors, setRightMotors).
• Key Components:
• • Methods: setLeftMotors, setRightMotors.

HammerInterface:

• The HammerInterface defines the contract for interacting with the hammer hardware.
• It provides methods for controlling the hammer and updating its inputs.
• Key Responsibilities:
• • Define methods for controlling the hammer (e.g., setVoltage, swingForward, swingBackward, stop).
• • Provide a structure for storing hammer inputs (HammerInterfaceInputs).
• Key Components:
• • HammerInterfaceInputs: Stores position, velocity, applied voltage, and current.
• • Default Methods: Provide default implementations for hardware control methods.

HammerinterfaceReal: The HammerInterfaceReal implements the functions defined in the contract for interacting

• with the hammer hardware.
• It provides methods for controlling the hammer and updating its inputs.
• Key Responsibilities:
• • Implements methods for controlling the hammer (e.g., setVoltage, swingForward, swingBackward, stop).
• Key Components:
• • HammerInterfaceInputs: Stores position, velocity, applied voltage, and current.
• • Methods: setVoltage, swingForward, swingBackward, stop.

TankDriveCommand: The TankDriveCommand class controls the drivetrain subsystem using tank drive logic.

• It is a command in the WPILib Command-based framework.
• Key Responsibilities:
• • Read joystick input for left and right stick Y-axes.
• • Apply squared inputs to the drivetrain motors for smoother control.
• Key Components:
• • Subsystem: DriveTrainSubSystem.
• • Input: XboxController for joystick values.
• Lifecycle:
• • execute(): Called repeatedly to read joystick input and control the drivetrain.
• • end(): Stops the drivetrain motors when the command ends.
• • isFinished(): Always returns false to keep the command running.

HammerMoveCommand:

• The HammerMoveCommand class controls the hammer subsystem by applying voltage based on joystick input.
• It is a command in the WPILib Command-based framework.
• Key Responsibilities:
• • Read joystick input (voltage supplier) and apply voltage to the hammer subsystem.
• • Stop the hammer when the command ends.
• Key Components:
• • Subsystem: HammerSubsystem.
• • Input: DoubleSupplier for joystick voltage.
• Lifecycle:
• • initialize(): Called once when the command starts.
• • execute(): Called repeatedly while the command is active.
• • end(): Called once when the command ends or is interrupted.

HammerSwingForwardCommand and HammerSwingBackwardCommand are not implemented yet.