Pink Robotics 2020

Controls

Autonomous

Command	Action
AutoDriveAndShoot()	Aims and Shoots 3 Balls Before Driving 40 Encoder Counts off the Line
AutoShootOnly()	Aims and Shoots 3 Balls

private void configureAutoChooser() {
  m_chooser.setDefaultOption("Drive and shoot", m_autoDriveShoot);
  m_chooser.addOption("Shoot only", m_autoShootOnly);
  Shuffleboard.getTab("Autonomous").add(m_chooser);
}

Teleop

For the teleoperated control period we make use of two Logitech F310 controllers in Ports 0 and 1 of our driver station

// Controller Definitions  
Joystick mainJS   = new Joystick(0);
Joystick gunnerJS = new Joystick(1);

Base

Control	Action
Left Joystick (Raw Axis 1)	Left Side Base Tank Drive
Right Joystick (Raw Axis 3)	Right Side Base Tank Drive
X (Button 1)	Close Shot Automated Backup
A (Button 2)	Limelight Aim
B (Button 3)	Close Shot Automated Shoot
Y (Button 4)	Eject Magazine and Collector
Left Bumper (Button 5)	Automated Aim and Spin Up (0.5 Power)
Right Bumper (Button 6)	Automated Collect

private void configureBaseController() {
  m_base.setDefaultCommand(new DriveManual(m_base, () -> mainJS.getRawAxis(1), () -> mainJS.getRawAxis(3)));
  new JoystickButton(mainJS, 1).whenPressed(new DriveStraightByEncoder(m_base, 1.5, -0.75));
  new JoystickButton(mainJS, 2).whenHeld(new ShooterAim(m_shooter));
  new JoystickButton(mainJS, 3).whenHeld(new ShooterCloseAutomatic(m_shooter, m_conveyor));
  new JoystickButton(mainJS, 4).whenHeld(new Eject(m_conveyor, m_collector));
  new JoystickButton(mainJS, 5).whenHeld(new SpinUpAndAim(m_shooter));
  new JoystickButton(mainJS, 6).whenHeld(new CollectorManual(m_collector));
}

Operator

Control	Action
Left Joystick (Raw Axis 1)	Left Side Climber
Right Joystick (Raw Axis 3)	Right Side Climber
X (Button 1)	Climb Preset Left
A (Button 2)	Climb Preset Mid
B (Button 3)	Climb Preset Right
Left Bumper (Button 5)	Rotate Turret Counterclockwise
Right Bumper (Button 6)	Rotate Turret Clockwise
Left Trigger (Button 7)	Mid Shot Automated Aim and Shoot
Right Trigger (Button 8)	Far Shot Automated Aim and Shoot
Back (Button 9)	Toggle Climbers Lock/Unlock Solenoid

private void configureOperatorController() {
  m_climber.setDefaultCommand(new ClimbersManual(m_climber, () -> gunnerJS.getRawAxis(1), () -> gunnerJS.getRawAxis(3)));
  new JoystickButton(gunnerJS, 1).whenPressed(new ClimbersUp(m_climber, Constants.climbToLeft));
  new JoystickButton(gunnerJS, 2).whenPressed(new ClimbersUp(m_climber, Constants.climbToMid));
  new JoystickButton(gunnerJS, 3).whenPressed(new ClimbersUp(m_climber, Constants.climbToRight));
  new JoystickButton(gunnerJS, 5).whenHeld(new TurretRotate(m_shooter, Constants.turretLeft));
  new JoystickButton(gunnerJS, 6).whenHeld(new TurretRotate(m_shooter, Constants.turretRight));
  new JoystickButton(gunnerJS, 7).whenHeld(new ShootandAimMid(m_shooter, m_conveyor));
  new JoystickButton(gunnerJS, 8).whenHeld(new ShootandAimFar(m_shooter, m_conveyor));
  new JoystickButton(gunnerJS, 9).toggleWhenPressed(new ClimbersUnlock(m_climber));
}

Passive

Command	Action
ConveyorAutomated()	Automatically Runs Conveyor Based on Breakbeam Sensors
LightsController()	Sets Lights to Varied Patterns Based on Robot State

private void configurePassiveCommands() {
  m_conveyor.setDefaultCommand(new ConveyorAutomated(m_conveyor));
  m_lights.setDefaultCommand(new LightsController(m_lights, m_conveyor));
}

Robot Map

Motors

Motor	CAN ID
Right Front Base	40
Right Back Base	10
Left Front Base	12
Left Back Base	41
Collector Roller	50
Magazine Conveyor Belt	62
Turret	60
Flywheel	31
Left Climber	21
Right Climber	13
Color Wheel Spinner	30

// Motors
public static int baseRightFrontCANID   = 40; // Brushless
public static int baseRightBackCANID    = 10; // Brushless
public static int baseLeftFrontCANID    = 12; // Brushless
public static int baseLeftBackCANID     = 41; // Brushless
public static int collectorRollerCANID  = 50; // Brushless
public static int conveyorBeltCANID     = 62; // Brushless
public static int shooterRotateCANID    = 60; // Brushed
public static int shooterFlywheelCANID  = 31; // Brushless
public static int climberLeftCANID      = 21; // Brushless
public static int climberRightCANID     = 13; // Brushless
public static int panelSpinnerCANID     = 30; // Brushed

Solenoids

Solenoid	Port
Climber Lock/Unlock	0
Collector Extend/Retract	1

// Solenoids
public static int climberLeftSolPort = 0;
public static int collectorSolPort   = 1;

PWM Devices

PWM Device	Port
Left Hood	0
Right Hood	1
Lights Controller	2

// PWM Devices
public static int shooterLeftServoPort  = 0;
public static int shooterRightServoPort = 1;
public static int lightsPWMPort         = 2;

Digital Input Devices

DIO Devices	Port
Magazine Breakbeam 1	9
Magazine Breakbeam 2	8
Shoot Breakbeam	5
Left Climber Limit Switch	6
Right Climber Limit Switch	7

// DIO Devices
public static int breakbeam1DIOPort          = 9;
public static int breakbeam2DIOPort          = 8;
public static int breakbeam3DIOPort          = 5;
public static int climberLeftLowLimitSwitch  = 6;
public static int climberRightLowLimitSwitch = 7;