Fixes

.Glass/glass.json

@@ -0,0 +1,23 @@
+{
+ "NetworkTables": {
+ "transitory": {
+ "SmartDashboard": {
+ "Drivetrain": {
+ "open": true
+ },
+ "open": true
+ }
+ },
+ "types": {
+ "/FMSInfo": "FMSInfo",
+ "/SmartDashboard/Autonomous": "String Chooser"
+ }
+ },
+ "NetworkTables Info": {
+ "visible": true
+ },
+ "NetworkTables Settings": {
+ "mode": "Client (NT4)",
+ "serverTeam": "694"
+ }
+}

src/main/java/com/stuypulse/robot/RobotContainer.java

@@ -10,6 +10,7 @@
 import com.stuypulse.robot.commands.drivetrain.DrivetrainDrive;
 import com.stuypulse.robot.commands.drivetrain.DrivetrainDriveForever;
 import com.stuypulse.robot.commands.launcher.LaunchPrepare;
+import com.stuypulse.robot.commands.launcher.LauncherLaunch;
 import com.stuypulse.robot.commands.launcher.LauncherIntakeNote;
 import com.stuypulse.robot.commands.launcher.LauncherStop;
 import com.stuypulse.robot.commands.odometry.OdometryRealign;
@@ -24,6 +25,7 @@
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.WaitCommand;
 
 public class RobotContainer {
 
@@ -33,7 +35,7 @@ public class RobotContainer {
 
  // Subsystem
  public final AbstractDrivetrain drivetrain = AbstractDrivetrain.getInstance();
- // public final Launcher launcher = Launcher.getInstance();
+ public final Launcher launcher = Launcher.getInstance();
  //public final AbstractOdometry odometry = AbstractOdometry.getInstance();
  //public final AbstractVision vision = AbstractVision.getInstance();
 
@@ -66,23 +68,17 @@ private void configureButtonBindings() {
  }
 
  private void configureDriverBindings() {
- operator.getLeftBumper()
- .onTrue(new LauncherIntakeNote())
+ driver.getRightBumper()
+ .whileTrue(new LauncherIntakeNote())
  .onFalse(new LauncherStop());
 
- operator.getRightBumper()
+ driver.getBottomButton()
  .onTrue(new LaunchPrepare())
- .whileTrue(new LauncherIntakeNote())
+ .whileTrue(new WaitCommand(0.5).andThen(new LauncherLaunch()))
  .onFalse(new LauncherStop());
  }
 
  private void configureOperatorBindings() {
- // odometry
- //driver.getDPadUp().onTrue(new OdometryRealign(Rotation2d.fromDegrees(180)));
- //driver.getDPadLeft().onTrue(new OdometryRealign(Rotation2d.fromDegrees(-90)));
- //driver.getDPadDown().onTrue(new OdometryRealign(Rotation2d.fromDegrees(0)));
- //driver.getDPadRight().onTrue(new OdometryRealign(Rotation2d.fromDegrees(90)));
-
  driver.getLeftButton().onTrue(new DrivetrainDriveForever(2));
  }
 

src/main/java/com/stuypulse/robot/commands/drivetrain/DrivetrainDrive.java

@@ -19,18 +19,17 @@ public class DrivetrainDrive extends Command {
  public DrivetrainDrive(Gamepad driver) {
  this.drivetrain = AbstractDrivetrain.getInstance();
 
- this.speed = IStream.create(
- () -> driver.getRightY() - driver.getLeftY())
+ this.speed = IStream.create(() -> driver.getRightTrigger() - driver.getLeftTrigger())
  .filtered(
  x -> SLMath.deadband(x, 0),
  x -> SLMath.spow(x, 2)
  );
 
- this.angle = IStream.create(
- () -> driver.getRightX() - driver.getLeftX())
+ this.angle = IStream.create(() -> driver.getLeftX())
  .filtered(
  x -> SLMath.deadband(x, 0),
- x -> SLMath.spow(x, 2)
+ x -> SLMath.spow(x, 2),
+ x -> -x
  );
 
  addRequirements(drivetrain);
@@ -39,6 +38,6 @@ public DrivetrainDrive(Gamepad driver) {
 
  @Override
  public void execute() {
- drivetrain.arcadeDrive(speed.get(), angle.get());
+ drivetrain.curvatureDrive(speed.get(), angle.get(), true);
  }
 }

src/main/java/com/stuypulse/robot/commands/launcher/LaunchNote.java → src/main/java/com/stuypulse/robot/commands/launcher/LauncherLaunch.java

@@ -4,10 +4,10 @@
 
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 
-public class LaunchNote extends InstantCommand {
+public class LauncherLaunch extends InstantCommand {
  Launcher launcher;
 
- public LaunchNote() {
+ public LauncherLaunch() {
  launcher = Launcher.getInstance();
  addRequirements(launcher);
  }

src/main/java/com/stuypulse/robot/subsystems/drivetrain/AbstractDrivetrain.java

@@ -29,10 +29,11 @@ public static AbstractDrivetrain getInstance() {
 
  public abstract void tankDriveVolts(double leftVolts, double rightVolts);
  public abstract void arcadeDrive(double speed, double angle);
- // public abstract void curvatureDrive(double speed, double angle, boolean isQuickTurn);
+ public abstract void curvatureDrive(double speed, double angle, boolean isQuickTurn);
+
  public abstract void stop();
 
- public abstract void periodicChild();
+ public void periodicChild() {}
 
  @Override
  public void periodic() {

src/main/java/com/stuypulse/robot/subsystems/drivetrain/Drivetrain.java

@@ -77,7 +77,7 @@ public Angle getAngle() {
  //********** Drive Methods **********//
  public void tankDriveVolts(double leftVolts, double rightVolts) {
  leftFront.setVoltage(leftVolts);
- rightFront.setVoltage(-rightVolts);
+ rightFront.setVoltage(rightVolts);
  drivetrain.feed();
  }