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Merge pull request #28 from frc937/heading-snapping
Heading snapping
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88 changes: 88 additions & 0 deletions
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src/main/java/frc/robot/commands/drive/DriveFieldOrientedHeadingSnapping.java
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// 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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/* | ||
* Asimov's Laws: | ||
* The First Law: A robot may not injure a human being or, through inaction, allow a human being to come to harm. | ||
* The Second Law: A robot must obey the orders given it by human beings except where such orders would conflict with the First Law. | ||
* The Third Law: A robot must protect its own existence as long as such protection does not conflict with the First or Second Law. | ||
*/ | ||
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package frc.robot.commands.drive; | ||
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import edu.wpi.first.math.geometry.Translation2d; | ||
import edu.wpi.first.math.kinematics.ChassisSpeeds; | ||
import edu.wpi.first.wpilibj.XboxController; | ||
import edu.wpi.first.wpilibj2.command.Command; | ||
import frc.robot.Constants; | ||
import frc.robot.RobotContainer; | ||
import frc.robot.subsystems.Drive; | ||
import swervelib.SwerveController; | ||
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/** | ||
* Drives robot in field oriented mode with shortcuts to snap to field relative angles in increments | ||
* of 90º using dpad | ||
*/ | ||
public class DriveFieldOrientedHeadingSnapping extends Command { | ||
private Drive drive; | ||
private XboxController controller; | ||
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/** Creates a new DriveFieldOrientedHeadingSnapping. */ | ||
public DriveFieldOrientedHeadingSnapping() { | ||
this.controller = RobotContainer.driverController.getHID(); | ||
this.drive = RobotContainer.drive; | ||
addRequirements(RobotContainer.drive); | ||
} | ||
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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() { | ||
double headingX = 0; | ||
double headingY = 0; | ||
if (controller.getPOV() == 0) { | ||
headingY = -1; | ||
} | ||
if (controller.getPOV() == 90) { | ||
headingX = 1; | ||
} | ||
if (controller.getPOV() == 180) { | ||
headingY = 1; | ||
} | ||
if (controller.getPOV() == 270) { | ||
headingX = -1; | ||
} | ||
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ChassisSpeeds desiredSpeeds = | ||
drive.getTargetSpeeds( | ||
RobotContainer.getScaledControllerLeftXAxis(), | ||
RobotContainer.getScaledControllerLeftYAxis(), | ||
headingX, | ||
headingY); | ||
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Translation2d translation = SwerveController.getTranslation2d(desiredSpeeds); | ||
if (headingX == 0 | ||
&& headingY == 0 | ||
&& Math.abs(RobotContainer.getScaledControllerRightXAxis()) > 0) { | ||
drive.driveFieldOriented( | ||
translation, | ||
(RobotContainer.getScaledControllerRightXAxis() * Constants.Drive.MAX_ANGULAR_SPEED)); | ||
} else { | ||
drive.driveFieldOriented(translation, desiredSpeeds.omegaRadiansPerSecond); | ||
} | ||
} | ||
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// Called once the command ends or is interrupted. | ||
@Override | ||
public void end(boolean interrupted) {} | ||
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// Returns true when the command should end. | ||
@Override | ||
public boolean isFinished() { | ||
return false; | ||
} | ||
} |
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