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beginnings of FunctionTesting Command #150

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beginnings of FunctionTesting Command #150

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985793b
beginnings of FunctionTesting Command
Apr 10, 2024
e082ed4
Made a few minor tweaks and changed the order in the periodic function
ChasingCode34 Apr 22, 2024
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23 changes: 23 additions & 0 deletions src/main/java/frc/robot/commands/FunctionTestingCommand.java
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Original file line number Diff line number Diff line change
@@ -0,0 +1,23 @@
package frc.robot.commands;

import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import frc.robot.constants.ScoringConstants.ScoringLocation;
import frc.robot.subsystems.ScoringElevator.ElevatorSetpoints;

public class FunctionTestingCommand extends SequentialCommandGroup {
public FunctionTestingCommand() {
this.addCommands(
new ScoringElevatorPositionCommand(ElevatorSetpoints.Trap),
new ScoringElevatorPositionCommand(ElevatorSetpoints.Ground),
new AcquireCommand(5),
new TransitionRunCommand(),
new StorageRunCommand(),
new ScoringElevatorPositionCommand(ElevatorSetpoints.Amp),
new ScoreNoteCommand(ScoringLocation.Amp, 2),
new DrawbridgeDownCommand(),
new LiftUpCommand(),
new DrawbridgeUpCommand(),
new LiftDownCommand(),
new ShootPasserCommand(5));
}
}
13 changes: 13 additions & 0 deletions src/main/java/frc/robot/subsystems/Dashboard.java
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.autons.AutonSelector.AutonChoices;
import frc.robot.commands.FunctionTestingCommand;
import frc.robot.constants.ScoringConstants;

public class Dashboard extends SubsystemBase {
Expand Down Expand Up @@ -49,6 +50,11 @@ public enum Cameras {
.withPosition(0, 0)
.withWidget(BuiltInWidgets.kToggleButton)
.getEntry();
private GenericEntry functionTesting = controlsTab.add("Full Function Testing", false)
.withSize(1, 1)
.withPosition(5, 2)
.withWidget(BuiltInWidgets.kToggleButton)
.getEntry();

// Drivers Tab Inputs
private GenericEntry feedAmpSpeed = driversTab.add("Feed Amp Speed", ScoringConstants.feedAmpSpeed)
Expand Down Expand Up @@ -145,8 +151,15 @@ public void periodic() {
driveTrain.zeroHeading();
resetGyro.setBoolean(false);
}

field.setRobotPose(driveTrain.getPose());
scoring.setFeedAmpSpeed(feedAmpSpeed.getDouble(ScoringConstants.feedAmpSpeed));

if (functionTesting.getBoolean(false)) {
new FunctionTestingCommand();
functionTesting.setBoolean(false);
}

}

/**
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