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Pushing Code from Vegas comp #6

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2ac5d5e
bogo sort
Mar 26, 2024
cbae6f4
bogo wrk
Mar 27, 2024
415ab9a
final comp code
Apr 11, 2024
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10 changes: 7 additions & 3 deletions src/main/java/frc/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -16,8 +16,10 @@
import frc.lib.autoUtil.AutoModeRunner;
import frc.lib.controllers.PlasmaJoystick;
import frc.robot.StateManager.robotState;
import frc.robot.auto.modes.AimShoot;
import frc.robot.auto.modes.DriveAndTurn;
import frc.robot.auto.modes.DriveY;
import frc.robot.auto.modes.FixedShoot;
import frc.robot.auto.modes.FourNear;
import frc.robot.auto.modes.DriveX;
import frc.robot.auto.modes.Nothing;
Expand Down Expand Up @@ -107,11 +109,13 @@ public void robotInit() {
autoModes[10] = new ThreeCenterFar(swerve, stateManager, photon);
autoModes[11] = new ThreeCenterNear(swerve, stateManager, photon);
autoModes[12] = new FourNear(swerve, stateManager, photon);
autoModes[13] = new Shoot(stateManager, photon);

autoModes[13] = new FixedShoot(stateManager, photon);
autoModes[14] = new AimShoot(stateManager, photon);


m_chooser.setDefaultOption("Nothing Auto", autoModes[0]);
m_chooser.addOption("Shoot", autoModes[13]);
m_chooser.addOption("Shoot (1)", autoModes[13]);
m_chooser.addOption("Aim Shoot (1)", m_autoSelected);
m_chooser.addOption("Middle Auto (2)", autoModes[5]);
m_chooser.addOption("Far Auto (2)", autoModes[6]);
m_chooser.addOption("Near Auto (2)", autoModes[7]);
Expand Down
19 changes: 17 additions & 2 deletions src/main/java/frc/robot/StateManager.java
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Original file line number Diff line number Diff line change
@@ -1,5 +1,7 @@
package frc.robot;

import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import frc.robot.subsystems.Climb;
import frc.robot.subsystems.Index;
Expand Down Expand Up @@ -39,7 +41,8 @@ public enum robotState{
CLIMB_HOOKS_DOWN,
CLIMBFALSE,
INDEXAUTO,
SHOOTAUTO
SHOOTAUTO,
FIXEDSHOOTAUTO

}
public StateManager(Intake intake, Shooter shooter, Index index, Climb climb, LEDs leds, Photon photon, Swerve swerve) {
Expand Down Expand Up @@ -73,7 +76,10 @@ public void logging() {

public void periodic() {
logging();
if(photon.isAligned() && hasGamePiece) {
if(DriverStation.isDisabled()) {
leds.setState(LEDState.BOGO);
}
else if(photon.isAligned() && hasGamePiece) {
leds.setState(LEDState.ALLIGNED);
}
else if(hasGamePiece) {
Expand Down Expand Up @@ -214,10 +220,19 @@ else if(hasGamePiece) {
hasGamePiece = false;
gamePieceInPos = false;
break;

case FIXEDSHOOTAUTO:
shooter.setState(shooterState.STATICSHOOTFRONT);
intake.setState(intakeState.STOW);
hasGamePiece = false;
gamePieceInPos = false;
break;

case INDEXAUTO:
index.setState(indexState.SHOOT);
hasGamePiece = false;
gamePieceInPos = false;
break;
}
}
}
45 changes: 45 additions & 0 deletions src/main/java/frc/robot/auto/modes/AimShoot.java
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Original file line number Diff line number Diff line change
@@ -0,0 +1,45 @@
package frc.robot.auto.modes;

import java.sql.DriverAction;
import java.util.Optional;

import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import frc.lib.autoUtil.AutoMode;
import frc.lib.autoUtil.AutoModeEndedException;
import frc.robot.StateManager;
import frc.robot.StateManager.robotState;
import frc.robot.auto.actions.AutoAllign;
import frc.robot.auto.actions.AutoRobotState;
import frc.robot.auto.actions.FollowTrejectory;
import frc.robot.auto.actions.Wait;
import frc.robot.subsystems.Photon;
import frc.robot.subsystems.Swerve;

public class AimShoot extends AutoMode {
private StateManager manager;
private String pathRed;
private String pathBlue;
private Photon photon;

public AimShoot(StateManager manager, Photon photon) {
this.manager = manager;
this.photon = photon;



}

@Override
protected void routine() throws AutoModeEndedException {
DriverStation.reportWarning("Starting Auto run", false);
runAction(new AutoRobotState(manager, robotState.SHOOTAUTO));
runAction(new Wait(1));
runAction(new AutoRobotState(manager, robotState.INDEXAUTO));
runAction(new Wait(1));
runAction(new AutoRobotState(manager, robotState.IDLE));

DriverStation.reportWarning("Ending Auto run", false);

}
}
42 changes: 42 additions & 0 deletions src/main/java/frc/robot/auto/modes/FixedShoot.java
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Original file line number Diff line number Diff line change
@@ -0,0 +1,42 @@
package frc.robot.auto.modes;

import java.sql.DriverAction;
import java.util.Optional;

import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import frc.lib.autoUtil.AutoMode;
import frc.lib.autoUtil.AutoModeEndedException;
import frc.robot.StateManager;
import frc.robot.StateManager.robotState;
import frc.robot.auto.actions.AutoAllign;
import frc.robot.auto.actions.AutoRobotState;
import frc.robot.auto.actions.FollowTrejectory;
import frc.robot.auto.actions.Wait;
import frc.robot.subsystems.Photon;
import frc.robot.subsystems.Swerve;

public class FixedShoot extends AutoMode {
private StateManager manager;
private String pathRed;
private String pathBlue;
private Photon photon;

public FixedShoot(StateManager manager, Photon photon) {
this.manager = manager;
this.photon = photon;
}

@Override
protected void routine() throws AutoModeEndedException {
DriverStation.reportWarning("Starting Auto run", false);
runAction(new AutoRobotState(manager, robotState.FIXEDSHOOTAUTO));
runAction(new Wait(1));
runAction(new AutoRobotState(manager, robotState.INDEXAUTO));
runAction(new Wait(1));
runAction(new AutoRobotState(manager, robotState.IDLE));

DriverStation.reportWarning("Ending Auto run", false);

}
}
4 changes: 1 addition & 3 deletions src/main/java/frc/robot/auto/modes/Shoot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -33,9 +33,7 @@ public Shoot(StateManager manager, Photon photon) {
@Override
protected void routine() throws AutoModeEndedException {
DriverStation.reportWarning("Starting Auto run", false);
runAction(new AutoRobotState(manager, robotState.SHOOTAUTO));
runAction(new Wait(1));
runAction(new AutoRobotState(manager, robotState.INDEXAUTO));
runAction(new AutoRobotState(manager, robotState.SHOOT));
runAction(new Wait(1));
runAction(new AutoRobotState(manager, robotState.IDLE));

Expand Down
100 changes: 99 additions & 1 deletion src/main/java/frc/robot/subsystems/LEDs.java
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Original file line number Diff line number Diff line change
@@ -1,14 +1,19 @@
package frc.robot.subsystems;

import java.util.Random;

import edu.wpi.first.wpilibj.AddressableLED;
import edu.wpi.first.wpilibj.AddressableLEDBuffer;

public class LEDs {
private AddressableLED LED ;
private AddressableLEDBuffer LEDBuffer;
private int bogoCycle;
// Store what the last hue of the first pixel is
private int firstPixelHue;

private bogo[] bogoArray;

public enum Color {
RED(0,255,128),
GREEN(60,255,128),
Expand All @@ -25,7 +30,37 @@ private Color (int h, int s, int v) {
}
}

public enum bogo {
RED1(0,255, 150, 1),
RED2(13, 255, 150, 2),
RED3(26, 255, 150, 3),
ORANGE1(39, 255, 150, 4),
ORANGE2(52, 255, 150, 5),
ORANGE3(65, 255, 150, 6),
YELLOW1(78, 255, 150, 7),
YELLOW2(91, 255, 150, 8),
YELLOW3(104, 255, 150, 9),
GREEN1(117, 255, 150, 10),
GREEN2(130, 255, 150, 11),
GREEN3(143, 255, 150, 12),
BLUE1(156, 255, 150, 13),
BLUE2(169, 255, 150, 14);

int h; // 0-180
int s; // 0-255
int v; // 0-255
int sorting;

private bogo (int h, int s, int v, int sorting) {
this.h = h;
this.s = s;
this.v = v;
this.sorting = sorting;
}
}

public enum LEDState {
BOGO,
ALLIGNED,
HASPEICE,
NOPEICE;
Expand All @@ -37,14 +72,44 @@ public LEDs() {
LED = new AddressableLED(0);
LEDBuffer = new AddressableLEDBuffer(27);
LED.setLength(LEDBuffer.getLength());


currentState = LEDState.NOPEICE;

LED.setData(LEDBuffer);
LED.start();
}

bogoArray = new bogo[]{
bogo.RED1,
bogo.RED2,
bogo.RED3,
bogo.ORANGE1,
bogo.ORANGE2,
bogo.ORANGE3,
bogo.YELLOW1,
bogo.YELLOW2,
bogo.YELLOW3,
bogo.GREEN1,
bogo.GREEN2,
bogo.GREEN3,
bogo.BLUE1,
bogo.BLUE2};
ShuffleArray(bogoArray);

bogoCycle = 0;
}

private void ShuffleArray(bogo[] ar) {
Random random = new Random();
for (int i = ar.length - 1; i > 0; i--)
{
int index = random.nextInt(i + 1);
// Simple swap
bogo a = ar[index];
ar[index] = ar[i];
ar[i] = a;
}
}
/**
* makes the leds do a rainbow pattern
*/
Expand All @@ -61,6 +126,32 @@ public void Rainbow() {
LED.start();
}

public boolean BogoSort() {
// check is sorted
boolean isSorted = true;
for(int i = 0; i < bogoArray.length - 1; i++) {
if(bogoArray[i].sorting > bogoArray[i+1].sorting) {
isSorted = false;
}
}

// randomize if not sorted
if (!isSorted) {
ShuffleArray(bogoArray);
}

// apply array
for (int i = 0; i < bogoArray.length; i++) {
setHSV(i*2, bogoArray[i].h, bogoArray[i].s, bogoArray[i].v);

if (i < bogoArray.length-1) {
setHSV(i*2+1, bogoArray[i].h, bogoArray[i].s, bogoArray[i].v);
}
}

return isSorted;
}


/**
* setting one of the leds a certian color in HS
Expand Down Expand Up @@ -154,6 +245,13 @@ public LEDState getState() {

public void periodic() {
switch (currentState) {
case BOGO:
bogoCycle++;
if(bogoCycle > 10) {
BogoSort();
bogoCycle = 0;
}
break;
case ALLIGNED:
setHSV(Color.GREEN.h, Color.GREEN.s, Color.GREEN.v);
break;
Expand Down
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