Rush completion of the NewbieBot

.wpilib/wpilib_preferences.json

@@ -2,5 +2,5 @@
     "enableCppIntellisense": false,
     "currentLanguage": "java",
     "projectYear": "2023",
-    "teamNumber": 8719
+    "teamNumber": 9999
 }

src/main/java/frc/robot/Constants.java

@@ -13,7 +13,38 @@
  * constants are needed, to reduce verbosity.
  */
 public final class Constants {
-  public static class OperatorConstants {
-    public static final int kDriverControllerPort = 0;
+  // Hardware CAN IDs
+  public class HardwareConstants {
+    public static final int powerDistribution = 2;
+    public static final int pneumaticControl = 7;
+  }
+
+  // Drivetrain CAN IDs
+  public class DrivetrainConstants {
+    public static final int rightMotor1 = 3;
+    public static final boolean rightMotor1Inverted = true;
+
+    public static final int rightMotor2 = 4;
+    public static final boolean rightMotor2Inverted = true;
+
+    public static final int leftMotor1 = 5;
+    public static final boolean leftMotor1Inverted = false;
+
+    public static final int leftMotor2 = 6;
+    public static final boolean leftMotor2Inverted = false;
+  }
+
+  // PCM Ports for Pneumatics
+  public class PneumaticsConstants {
+    public static final int openSolenoid = 0;
+    public static final int closeSolenoid = 1;
+  }
+
+  // Controllers
+  public class ControllersConstants {
+    public static final int driverControllerPort = 0;
+    public static final int operatorControllerPort = 1;
+    public static final int pistonButtonOpen = 1;
+    public static final int pistonButtonClose = 2;
   }
 }

src/main/java/frc/robot/RobotContainer.java

@@ -7,10 +7,6 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
-import frc.robot.Constants.OperatorConstants;
-import frc.robot.commands.Autos;
-import frc.robot.commands.ExampleCommand;
-import frc.robot.subsystems.ExampleSubsystem;
 
 /**
  * This class is where the bulk of the robot should be declared. Since Command-based is a
@@ -20,11 +16,8 @@
  */
 public class RobotContainer {
   // The robot's subsystems and commands are defined here...
-  private final ExampleSubsystem m_exampleSubsystem = new ExampleSubsystem();
 
   // Replace with CommandPS4Controller or CommandJoystick if needed
-  private final CommandXboxController m_driverController =
-      new CommandXboxController(OperatorConstants.kDriverControllerPort);
 
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
@@ -41,15 +34,7 @@ public RobotContainer() {
    * PS4} controllers or {@link edu.wpi.first.wpilibj2.command.button.CommandJoystick Flight
    * joysticks}.
    */
-  private void configureBindings() {
-    // Schedule `ExampleCommand` when `exampleCondition` changes to `true`
-    new Trigger(m_exampleSubsystem::exampleCondition)
-        .onTrue(new ExampleCommand(m_exampleSubsystem));
-
-    // Schedule `exampleMethodCommand` when the Xbox controller's B button is pressed,
-    // cancelling on release.
-    m_driverController.b().whileTrue(m_exampleSubsystem.exampleMethodCommand());
-  }
+  private void configureBindings() {}
 
   /**
    * Use this to pass the autonomous command to the main {@link Robot} class.
@@ -58,6 +43,6 @@ private void configureBindings() {
    */
   public Command getAutonomousCommand() {
     // An example command will be run in autonomous
-    return Autos.exampleAuto(m_exampleSubsystem);
+    return null;
   }
 }

src/main/java/frc/robot/commands/Drive.java

@@ -0,0 +1,58 @@
+// 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.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.Constants;
+import frc.robot.subsystems.Drivetrain;
+
+public class Drive extends CommandBase {
+
+  // The subsystem the command runs on
+  private final Drivetrain m_subDrivetrain;
+
+  // The controller the command runs on
+  private final Joystick m_driverController =
+      new Joystick(Constants.ControllersConstants.driverControllerPort);
+
+  /**
+   * Creates a new Drive command.
+   *
+   * @param subsystem The subsystem used by this command.
+   */
+  public Drive(Drivetrain subsystem) {
+    m_subDrivetrain = subsystem;
+    addRequirements(subsystem);
+
+    SmartDashboard.putData(subsystem);
+  }
+
+  /** Called when the command is initially scheduled. */
+  @Override
+  public void initialize() {
+    System.out.println("Drive initialized");
+  }
+
+  /** Called every time the scheduler runs while the command is scheduled. */
+  @Override
+  public void execute() {
+    m_subDrivetrain.arcadeDrive(m_driverController.getX(), m_driverController.getY());
+  }
+
+  /** Called once the command ends or is interrupted. */
+  @Override
+  public void end(boolean interrupted) {
+    m_subDrivetrain.arcadeDrive(0, 0);
+    System.out.println("Drive ended");
+  }
+
+  /** Returns true when the command should end. */
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/PistonControl.java

@@ -0,0 +1,55 @@
+// 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.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.Constants;
+import frc.robot.subsystems.Pneumatics;
+
+public class PistonControl extends CommandBase {
+
+  private final Pneumatics m_subPneumatics;
+
+  private final Joystick m_operatorJoystick =
+      new Joystick(Constants.ControllersConstants.operatorControllerPort);
+
+  /** Creates a new PistonControl. */
+  public PistonControl(Pneumatics subsystem) {
+    m_subPneumatics = subsystem;
+    addRequirements(subsystem);
+
+    SmartDashboard.putData(subsystem);
+  }
+
+  /** Called when the command is initially scheduled. */
+  @Override
+  public void initialize() {
+    System.out.println("PistonControl initialized");
+  }
+
+  /** Called every time the scheduler runs while the command is scheduled. */
+  @Override
+  public void execute() {
+    if (m_operatorJoystick.getRawButton(Constants.ControllersConstants.pistonButtonOpen)) {
+      m_subPneumatics.open();
+    } else if (m_operatorJoystick.getRawButton(Constants.ControllersConstants.pistonButtonClose)) {
+      m_subPneumatics.close();
+    }
+  }
+
+  /** Called once the command ends or is interrupted. */
+  @Override
+  public void end(boolean interrupted) {
+    System.out.println("PistonControl ended");
+  }
+
+  /** Returns true when the command should end. */
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/subsystems/Drivetrain.java

@@ -0,0 +1,62 @@
+// 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.
+
+package frc.robot.subsystems;
+
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
+
+public class Drivetrain extends SubsystemBase {
+
+  /** The motors on the right side of the drive. */
+  private CANSparkMax rightMotor1 =
+      new CANSparkMax(Constants.DrivetrainConstants.rightMotor1, MotorType.kBrushed);
+
+  private CANSparkMax rightMotor2 =
+      new CANSparkMax(Constants.DrivetrainConstants.rightMotor2, MotorType.kBrushed);
+
+  /** The motors on the left side of the drive. */
+  private CANSparkMax leftMotor1 =
+      new CANSparkMax(Constants.DrivetrainConstants.leftMotor1, MotorType.kBrushed);
+
+  private CANSparkMax leftMotor2 =
+      new CANSparkMax(Constants.DrivetrainConstants.leftMotor2, MotorType.kBrushed);
+
+  /** Configuration for the motor controllers to run together in a group. */
+  MotorControllerGroup rightMotors = new MotorControllerGroup(rightMotor1, rightMotor2);
+
+  MotorControllerGroup leftMotors = new MotorControllerGroup(leftMotor1, leftMotor2);
+
+  /** The robot's drive. */
+  private final DifferentialDrive drive = new DifferentialDrive(leftMotors, rightMotors);
+
+  /** Creates a new Drivetrain subsystem. */
+  public Drivetrain() {
+    System.out.println("Drivetrain initialized");
+  }
+
+  /**
+   * Arcade drive method for differential drive platform. The calculated values will be squared to
+   * decrease sensitivity at low speeds.
+   *
+   * @param speed The robot's speed along the X axis [-1.0..1.0]. Forward is positive.
+   * @param rotation The robot's rotation rate around the Z axis [-1.0..1.0]. Clockwise is positive.
+   */
+  public void arcadeDrive(double speed, double rotation) {
+    drive.arcadeDrive(speed, rotation);
+  }
+
+  @Override
+  /**
+   * Periodic method for the drivetrain subsystem. This method will be called once per scheduler
+   * run.
+   */
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}