Skeletonize subsystems

.vscode/settings.json

@@ -93,6 +93,9 @@
     "typeindex": "cpp",
     "typeinfo": "cpp",
     "valarray": "cpp",
-    "variant": "cpp"
+    "variant": "cpp",
+    "xmemory": "cpp",
+    "xstring": "cpp",
+    "xutility": "cpp"
   }
 }

README.md

@@ -84,14 +84,9 @@ Following the WPILib command based structure we have broken our robot up into a
 
 ## Digital Input Ports
 
-| Port  |            Device            |
-| :---: | :--------------------------: |
-|   1   |   Center Upper Beam Break    |
-|   2   | Lower Podium Side Beam Break |
-|   3   |   Lower Center Beam Break    |
-|   4   |  Lower Amp Side Beam Break   |
-|   5   |  Upper Amp Side Beam Break   |
-|   6   | Upper Podium Side Beam Break |
+| Port  |               Device             |
+| :---: | :------------------------------: |
+|   1   |   Lower Elevator Limit Switch    |
 
 ## Network Map
 

build.gradle

@@ -58,11 +58,12 @@ model {
 
             sources.cpp {
                 source {
-                    srcDir 'src/main/cpp'
+                    srcDirs 'src/main/cpp', 'SubZero-common/lib/cpp'
                     include '**/*.cpp', '**/*.cc'
+
                 }
                 exportedHeaders {
-                    srcDir 'src/main/include'
+                    srcDirs 'src/main/include', 'SubZero-common/lib/include', 'SubZero-common/lib/cpp'
                 }
             }
 

simgui-ds.json

@@ -88,5 +88,11 @@
       "buttonCount": 0,
       "povCount": 0
     }
+  ],
+  "robotJoysticks": [
+    {
+      "guid": "78696e70757401000000000000000000",
+      "useGamepad": true
+    }
   ]
 }

src/main/cpp/Robot.cpp

@@ -18,6 +18,11 @@ Robot::Robot() {}
  */
 void Robot::RobotPeriodic() {
   frc2::CommandScheduler::GetInstance().Run();
+  m_container.Periodic();
+}
+
+void Robot::RobotInit() {
+  m_container.Initialize();
 }
 
 /**

src/main/cpp/RobotContainer.cpp

@@ -17,10 +17,13 @@
 #include <frc/smartdashboard/SmartDashboard.h>
 #include <units/angle.h>
 #include <units/velocity.h>
+
 #include <iostream>
 
 #include "commands/Autos.h"
 #include "commands/ExampleCommand.h"
+#include "subsystems/AlgaeArmSubsystem.h"
+#include "subsystems/CoralArmSubsystem.h"
 
 RobotContainer::RobotContainer() {
   // Initialize all of your commands and subsystems here
@@ -52,9 +55,10 @@ RobotContainer::RobotContainer() {
 }
 
 void RobotContainer::ConfigureBindings() {
-  frc2::JoystickButton(&m_driverController,
-                       frc::XboxController::Button::kRightBumper)
-      .WhileTrue(new frc2::RunCommand([this] { m_drive.SetX(); }, {&m_drive}));
+  m_driverController.A().OnTrue(m_algaeArm.MoveToPositionAbsolute(50_deg));
+  m_driverController.B().OnTrue(m_algaeArm.MoveToPositionAbsolute(5_deg));
+  m_driverController.X().OnTrue(m_coralArm.MoveToPositionAbsolute(120_deg));
+  m_driverController.Y().OnTrue(m_coralArm.MoveToPositionAbsolute(5_deg));
 }
 
 frc2::CommandPtr RobotContainer::GetAutonomousCommand() {
@@ -70,3 +74,14 @@ frc2::CommandPtr RobotContainer::GetAutonomousCommand() {
   return pathplanner::PathPlannerAuto(m_autoSelected)
     .AndThen(frc2::InstantCommand([this, offset]() { m_drive.OffsetRotation(offset); }).ToPtr());
 }
+
+void RobotContainer::Periodic() {
+  frc::SmartDashboard::PutData("Robot Elevator", &m_elevatorMech);
+}
+
+void RobotContainer::Initialize() {
+  m_elevator.OnInit();
+  m_coralArm.OnInit();
+  m_algaeArm.OnInit();
+  m_climber.OnInit();
+}

src/main/cpp/subsystems/AlgaeArmSubsystem.cpp

@@ -0,0 +1,4 @@
+
+#include "subsystems/AlgaeArmSubsystem.h"
+
+#include <frc2/command/RunCommand.h>

src/main/cpp/subsystems/CoralArmSubsystem.cpp

@@ -0,0 +1,3 @@
+#include "subsystems/CoralArmSubsystem.h"
+
+#include <frc2/command/RunCommand.h>

src/main/cpp/subsystems/IntakeSubsystem.cpp

@@ -0,0 +1,34 @@
+#include <subsystems/IntakeSubsystem.h>
+
+#include <frc2/command/InstantCommand.h>
+#include <frc2/command/FunctionalCommand.h>
+
+frc2::CommandPtr IntakeSubsystem::MoveAtPercent(double percent) {
+    return frc2::FunctionalCommand(
+    // On init
+    []() {},
+    // On execute
+    [this, percent]() {
+        m_motor.Set(percent);
+    },
+    // On end
+    [this](bool interupted) {
+        m_motor.StopMotor();
+    },
+    // Is finished
+    []() {
+        return false;
+    },
+    // Requirements
+    {this}
+    ).ToPtr();
+}
+
+frc2::CommandPtr IntakeSubsystem::Stop() {
+    return frc2::InstantCommand(
+        [this]() {
+            m_motor.StopMotor();
+        },
+        {this}
+    ).ToPtr();
+}

src/main/include/CommonCompile.h

@@ -0,0 +1,6 @@
+#pragma once
+
+#include <subzero/motor/PidMotorController.cpp>
+#include <subzero/singleaxis/BaseSingleAxisSubsystem.cpp>
+#include <subzero/singleaxis/RotationalSingleAxisSubsystem.cpp>
+#include <subzero/singleaxis/LinearSingleAxisSubsystem.cpp>