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Hotfix: Rebind swerve speed cap button #46

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Merged
0x5b62656e5d merged 6 commits into from
Mar 18, 2025
Merged

Hotfix: Rebind swerve speed cap button #46

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98b5468
add hold for speed boost instead of toggle
theos-ex-machina Mar 18, 2025
797b51a
Add code for smooth speed transition
0x5b62656e5d Mar 18, 2025
f34d145
Restore LED strobe interval based on swerve speed
0x5b62656e5d Mar 18, 2025
dd541b8
Merge branch 'main' into swerve.driver-fix
0x5b62656e5d Mar 18, 2025
c54f11d
Merge branch 'main' into swerve.driver-fix
0x5b62656e5d Mar 18, 2025
ba0d04a
Update Elastic layout
0x5b62656e5d Mar 18, 2025
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13 changes: 0 additions & 13 deletions src/main/deploy/elastic-layout.json
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Original file line number Diff line number Diff line change
Expand Up @@ -55,19 +55,6 @@
"red_start_time": 15,
"yellow_start_time": 30
}
},
{
"title": "Speed cap",
"x": 0.0,
"y": 384.0,
"width": 512.0,
"height": 256.0,
"type": "Large Text Display",
"properties": {
"topic": "/SmartDashboard/Speed cap",
"period": 0.06,
"data_type": "double"
}
}
]
}
Expand Down
25 changes: 14 additions & 11 deletions src/main/java/raidzero/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -86,8 +86,8 @@ private void configureBindings() {
swerve.setDefaultCommand(
swerve.applyRequest(
() -> fieldCentricDrive
.withVelocityX(-joystick.getLeftY() * MaxSpeed * swerve.getSpeedModifier() * (arm.isUp() ? 0.3 : 1.0))
.withVelocityY(-joystick.getLeftX() * MaxSpeed * swerve.getSpeedModifier() * (arm.isUp() ? 0.3 : 1.0))
.withVelocityX(-joystick.getLeftY() * MaxSpeed * 0.67 * (arm.isUp() ? 0.3 : 1.0))
.withVelocityY(-joystick.getLeftX() * MaxSpeed * 0.67 * (arm.isUp() ? 0.3 : 1.0))
.withRotationalRate(-joystick.getRightX() * MaxAngularRate)
)
);
Expand All @@ -102,6 +102,18 @@ private void configureBindings() {
climbWinch.setDefaultCommand(climbWinch.stop());

// * Driver controls
joystick.rightBumper().whileTrue(
swerve.applyRequest(
() -> fieldCentricDrive
.withVelocityX(-joystick.getLeftY() * MaxSpeed * (arm.isUp() ? 0.3 : 1.0))
.withVelocityY(-joystick.getLeftX() * MaxSpeed * (arm.isUp() ? 0.3 : 1.0))
.withRotationalRate(-joystick.getRightX() * MaxAngularRate)
)
);

joystick.rightBumper().onTrue(new InstantCommand(() -> armStrip.setStrobeInterval(0.15)));
joystick.rightBumper().negate().onTrue(new InstantCommand(() -> armStrip.setStrobeInterval(0.5)));

joystick.a().whileTrue(
swerve.applyRequest(
() -> robotCentricDrive.withVelocityY(slewRateLimiter.calculate(-joystick.getLeftX()) * MaxSpeed * 0.3)
Expand Down Expand Up @@ -134,15 +146,6 @@ private void configureBindings() {
arm.moveWithDelay(Constants.TelescopingArm.Positions.INTAKE_POS_M_BLUE)
);

joystick.rightBumper().onTrue(
new InstantCommand(() -> swerve.setSpeedModifier(1.0))
.andThen(new InstantCommand(() -> armStrip.setStrobeInterval(0.15)))
);
joystick.leftBumper().onTrue(
new InstantCommand(() -> swerve.setSpeedModifier(0.67))
.andThen(new InstantCommand(() -> armStrip.setStrobeInterval(0.50)))
);

// * Operator controls
operator.button(Constants.Bindings.TOP_LEFT).onTrue(new InstantCommand(() -> arm.decreaseIntakeYOffset(0.01), arm));
operator.button(Constants.Bindings.BOTTOM_LEFT).onTrue(new InstantCommand(() -> arm.decreaseIntakeYOffset(-0.01), arm));
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22 changes: 0 additions & 22 deletions src/main/java/raidzero/robot/subsystems/drivetrain/Swerve.java
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Original file line number Diff line number Diff line change
Expand Up @@ -69,8 +69,6 @@ public class Swerve extends TunerSwerveDrivetrain implements Subsystem {

private boolean waypointsTransformed = false;

private double speedModifier = 0.67;

private static Swerve system;

/*
Expand Down Expand Up @@ -391,24 +389,6 @@ public Command stop() {
);
}

/**
* Gets the current modifier for max speed
*
* @return the modifier for max speed
*/
public double getSpeedModifier() {
return speedModifier;
}

/**
* Sets the current modifi9er for max speed
*
* @param speedModifier the modifier for max speed
*/
public void setSpeedModifier(double speedModifier) {
this.speedModifier = speedModifier;
}

@Override
public void periodic() {
/*
Expand Down Expand Up @@ -439,8 +419,6 @@ public void periodic() {
modulePublisher.set(this.getState().ModuleStates);
botpose.set(this.getState().Pose);
field.setRobotPose(this.getState().Pose);

SmartDashboard.putNumber("Speed cap", speedModifier * 100.0);
}

/**
Expand Down