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Technolib try outs (DO NOT MERGE JUST YET!) #155

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4195e2a
Re-enabled all bots, fixed up for TechnoLib 1.3.0
kevinfrei Oct 13, 2023
4ad565a
No more CommandSchedule.getInstance(). Static Methods Unite
kevinfrei Oct 14, 2023
ddf4c32
Updated ForTeaching to new TechnoLib API
kevinfrei Oct 15, 2023
87c384c
Removed a bunch of 20403 commands and migrated to method-refs
kevinfrei Oct 15, 2023
d7231f3
Removed the last of the useless command classes. I like the new code.
kevinfrei Oct 15, 2023
10e0590
Updated to use the TrajectoryPath helper interface
kevinfrei Oct 15, 2023
edcbf77
Inconsequential change for TileMoving
kevinfrei Oct 15, 2023
b241d23
Added an unused Vision subsystem Proof-of-concept (no pipeline requir…
kevinfrei Oct 15, 2023
ae636c1
Removed the old Vision stuff, migrated to new Vision
kevinfrei Oct 15, 2023
30b0aad
Updated to make all the '::' (methodRef) stuff isolated to a single p…
kevinfrei Oct 20, 2023
e1b364a
A few more changes, but nothing new
kevinfrei Oct 21, 2023
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6 changes: 3 additions & 3 deletions ForTeaching/build.gradle
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Expand Up @@ -26,8 +26,8 @@ android {
dependencies {
implementation project(':FtcRobotController')
// Uncomment this to use a local version of TechnoLib
// implementation project(':RobotLibrary') // FLIP: TechnoLibLocal
// implementation project(':Path') // FLIP: TechnoLibLocal
// implementation project(':Vision') // FLIP: TechnoLibLocal
implementation project(':RobotLibrary') // FLIP: TechnoLibLocal
implementation project(':Path') // FLIP: TechnoLibLocal
implementation project(':Vision') // FLIP: TechnoLibLocal
annotationProcessor files('lib/OpModeAnnotationProcessor.jar')
}
19 changes: 0 additions & 19 deletions .../src/main/java/org/firstinspires/ftc/forteaching/TechnoBot/Commands/CloseClawCommand.java
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19 changes: 0 additions & 19 deletions ...g/src/main/java/org/firstinspires/ftc/forteaching/TechnoBot/Commands/LiftDownCommand.java
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19 changes: 0 additions & 19 deletions ...ing/src/main/java/org/firstinspires/ftc/forteaching/TechnoBot/Commands/LiftUpCommand.java
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19 changes: 0 additions & 19 deletions ...g/src/main/java/org/firstinspires/ftc/forteaching/TechnoBot/Commands/OpenClawCommand.java
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8 changes: 0 additions & 8 deletions ...aching/src/main/java/org/firstinspires/ftc/forteaching/TechnoBot/Commands/Operations.java
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32 changes: 0 additions & 32 deletions ...in/java/org/firstinspires/ftc/forteaching/TechnoBot/Commands/TestEncodedMotorCommand.java
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34 changes: 0 additions & 34 deletions .../src/main/java/org/firstinspires/ftc/forteaching/TechnoBot/Commands/TestMotorCommand.java
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32 changes: 0 additions & 32 deletions .../src/main/java/org/firstinspires/ftc/forteaching/TechnoBot/Commands/TestServoCommand.java
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62 changes: 24 additions & 38 deletions ForTeaching/src/main/java/org/firstinspires/ftc/forteaching/TechnoBot/Controls.java
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Expand Up @@ -2,20 +2,19 @@

import com.technototes.library.command.CommandScheduler;
import com.technototes.library.command.ParallelCommandGroup;
import com.technototes.library.command.SimpleCommand;
import com.technototes.library.command.SimpleRequiredCommand;
import com.technototes.library.control.CommandAxis;
import com.technototes.library.control.CommandButton;
import com.technototes.library.control.CommandGamepad;
import com.technototes.library.control.Stick;
import com.technototes.library.util.Alliance;
import org.firstinspires.ftc.forteaching.TechnoBot.Commands.CloseClawCommand;
import org.firstinspires.ftc.forteaching.TechnoBot.Commands.LiftDownCommand;
import org.firstinspires.ftc.forteaching.TechnoBot.Commands.LiftUpCommand;

import org.firstinspires.ftc.forteaching.TechnoBot.Commands.MecDriveCommand;
import org.firstinspires.ftc.forteaching.TechnoBot.Commands.OpenClawCommand;
import org.firstinspires.ftc.forteaching.TechnoBot.Commands.Operations;
import org.firstinspires.ftc.forteaching.TechnoBot.Commands.TestEncodedMotorCommand;
import org.firstinspires.ftc.forteaching.TechnoBot.Commands.TestMotorCommand;
import org.firstinspires.ftc.forteaching.TechnoBot.Commands.TestServoCommand;
import org.firstinspires.ftc.forteaching.TechnoBot.Subsystems.ClawSubsystem;
import org.firstinspires.ftc.forteaching.TechnoBot.Subsystems.LiftSubsystem;
import org.firstinspires.ftc.forteaching.TechnoBot.Subsystems.MotorAsServoSubsystem;
import org.firstinspires.ftc.forteaching.TechnoBot.Subsystems.MovementTestingSubsystem;

public class Controls {

Expand Down Expand Up @@ -94,64 +93,51 @@ public Controls(CommandGamepad gpad, TheBot bot, Alliance ally) {
}

public void bindClawControls() {
openClaw.whenPressed(new OpenClawCommand(robot.clawSubsystem));
closeClaw.whenPressed(new CloseClawCommand(robot.clawSubsystem));
openClaw.whenPressed(robot.clawSubsystem, ClawSubsystem::open);
closeClaw.whenPressed(robot.clawSubsystem, ClawSubsystem::close);
}

public void bindLiftControls() {
liftUp.whenPressed(new LiftUpCommand(robot.liftSubsystem));
liftDown.whenPressed(new LiftDownCommand(robot.liftSubsystem));
liftUp.whenPressed(robot.liftSubsystem, LiftSubsystem::moveUp);
liftDown.whenPressed(robot.liftSubsystem, LiftSubsystem::moveDown);
}

// Joysticks require a "scheduleJoystick" thing, so the commands are invoked all the time
private void bindDrivebaseControls() {
CommandScheduler
.getInstance()

.scheduleJoystick(
// new TankDriveCommand(robot.tankDriveBase, leftTankStick, rightTankStick, snapToAngle)
new MecDriveCommand(robot.mecanumDrivebase, leftMecDriveStick, rightMecDriveStick)
);
}

// Silly helpers to make the code more succinct below
private TestEncodedMotorCommand MakeEncCommand(Operations op) {
return new TestEncodedMotorCommand(robot.encodedMotorSubsystem, op);
}

private TestMotorCommand MakeMotorCommand(Operations op) {
return new TestMotorCommand(robot.movementTestingSubsystem, op);
}

private TestServoCommand MakeServoCommand(Operations op) {
return new TestServoCommand(robot.movementTestingSubsystem, op);
}

private void bindTesterControls() {
encMotorTestUp.whenPressed(MakeEncCommand(Operations.Increase));
encMotorTestDown.whenPressed(MakeEncCommand(Operations.Decrease));
encMotorTestUp.whenPressed(robot.encodedMotorSubsystem, MotorAsServoSubsystem::increaseEncMotor);
encMotorTestDown.whenPressed(robot.encodedMotorSubsystem, MotorAsServoSubsystem::decreaseEncMotor);

motorTestUp.whenPressed(MakeMotorCommand(Operations.Increase));
motorTestDown.whenPressed(MakeMotorCommand(Operations.Decrease));
motorTestUp.whenPressed(robot.movementTestingSubsystem, MovementTestingSubsystem::increaseMotorSpeed);
motorTestDown.whenPressed(robot.movementTestingSubsystem, MovementTestingSubsystem::decreaseMotorSpeed);

servoTestUp.whenPressed(MakeServoCommand(Operations.Increase));
servoTestDown.whenPressed(MakeServoCommand(Operations.Decrease));
servoTestUp.whenPressed(robot.movementTestingSubsystem, MovementTestingSubsystem::increaseServoMotor);
servoTestDown.whenPressed(robot.movementTestingSubsystem, MovementTestingSubsystem::decreaseServoMotor);

// For this stuff, ParallelCommandGroups or SequentialCommandGroups both work the same
// For command that take "time" you parallel command groups (as they will run at the same
// time as the other commands) but if you want "do A, then do B, then do C" you should
// use a sequential command group
stop.whenPressed(
new ParallelCommandGroup(
MakeEncCommand(Operations.Stop),
MakeMotorCommand(Operations.Stop),
MakeServoCommand(Operations.Stop)
new SimpleCommand(robot.movementTestingSubsystem::neutralMotorSpeed),
new SimpleCommand(robot.movementTestingSubsystem::neutralServoMotor),
new SimpleRequiredCommand<>(robot.encodedMotorSubsystem, MotorAsServoSubsystem::stop)
)
);
halt.whenPressed(
new ParallelCommandGroup(
MakeMotorCommand(Operations.Halt),
MakeEncCommand(Operations.Halt),
MakeServoCommand(Operations.Halt)
new SimpleCommand(robot.movementTestingSubsystem::brakeMotor),
new SimpleCommand(robot.movementTestingSubsystem::neutralServoMotor),
new SimpleRequiredCommand<>(robot.encodedMotorSubsystem, MotorAsServoSubsystem::halt)
)
);
}
Expand Down
2 changes: 1 addition & 1 deletion ...rc/main/java/org/firstinspires/ftc/forteaching/TechnoBot/OpModes/TechnoManualControl.java
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Expand Up @@ -25,7 +25,7 @@ public void uponInit() {
controls = new Controls(driverGamepad, robot, Alliance.RED);

if (TheBot.Connected.Camera) CommandScheduler
.getInstance()

.scheduleInit(new VisionCommand(robot.visionSystem, Alliance.RED));
}
}
6 changes: 3 additions & 3 deletions Sixteen750/build.gradle
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Expand Up @@ -26,8 +26,8 @@ android {
dependencies {
implementation project(':FtcRobotController')
// Uncomment this to use a local version of TechnoLib
// implementation project(':RobotLibrary') // FLIP: TechnoLibLocal
// implementation project(':Path') // FLIP: TechnoLibLocal
// implementation project(':Vision') // FLIP: TechnoLibLocal
implementation project(':RobotLibrary') // FLIP: TechnoLibLocal
implementation project(':Path') // FLIP: TechnoLibLocal
implementation project(':Vision') // FLIP: TechnoLibLocal
annotationProcessor files('lib/OpModeAnnotationProcessor.jar')
}
4 changes: 2 additions & 2 deletions Sixteen750/src/main/java/org/firstinspires/ftc/sixteen750/ControlsDriver.java
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Expand Up @@ -71,7 +71,7 @@ public ControlsDriver(CommandGamepad g, Robot r, Robot.SubsystemCombo combo) {
public void bindMecanumDriveControls() {
// Probably not a good idea to bind the drive controls to more than one gamepad
CommandScheduler
.getInstance()

.scheduleJoystick(new MecanumDriveCommand(robot.mecanumDriveSubsystem, gamepad.leftStick, gamepad.rightStick));
gamepad.leftStickButton.whenPressed(new ApplyTurboModeCommand(robot.mecanumDriveSubsystem));
gamepad.rightStickButton.whenPressed(new ApplyTurboModeCommand(robot.mecanumDriveSubsystem));
Expand All @@ -80,7 +80,7 @@ public void bindMecanumDriveControls() {

public void bindVisionCommand(){
CommandScheduler
.getInstance()

.scheduleForState(new VisionDuringTeleCommand(robot.visionSubsystem, gamepad.ps_share), CommandOpMode.OpModeState.RUN);
}

Expand Down
6 changes: 3 additions & 3 deletions Sixteen750/src/main/java/org/firstinspires/ftc/sixteen750/opmode/auto/LeftJustPark.java
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@jachninja jachninja Oct 17, 2023

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I like the fact that you got rid of getInstance. I'm not a fan of singletons. However, I cannot find the code reference for CommandScheduler, so my review is very limited

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@kevinfrei kevinfrei Oct 17, 2023

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Yeah, the javadoc comments are all you're going to find. I've been slowly trying to get more stuff documented, but it's just me typing when that's what I feel like doing 🤣

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@kevinfrei kevinfrei Oct 17, 2023

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BTW: You can find the source (with javadoc comments, as they are) for the custom TechnoLib branch I'm working with here: https://github.com/technototes/TechnoLib/blob/cleanup/RobotLibrary/src/main/java/com/technototes/library/command/CommandScheduler.java

Original file line number Diff line number Diff line change
Expand Up @@ -25,15 +25,15 @@ public void uponInit() {
hardware = new Hardware(hardwareMap, Robot.SubsystemCombo.VISION_M_DRIVE);
robot = new Robot(hardware, Robot.SubsystemCombo.VISION_M_DRIVE, Alliance.BLUE, StartingPosition.AWAY);
robot.mecanumDriveSubsystem.setPoseEstimate(AutoConstantsBlue.Away.START.toPose());
CommandScheduler.getInstance()
CommandScheduler
.scheduleForState(
new SequentialCommandGroup(
new LeftParkingSelectionCommandJustPark(
robot.visionSubsystem, robot.mecanumDriveSubsystem),
CommandScheduler.getInstance()::terminateOpMode),
CommandScheduler::terminateOpMode),
CommandOpMode.OpModeState.RUN);
if (Robot.RobotConstant.CAMERA_ENABLED) {
CommandScheduler.getInstance().scheduleInit(new VisionCommand(robot.visionSubsystem));
CommandScheduler.scheduleInit(new VisionCommand(robot.visionSubsystem));
}
}
}
6 changes: 3 additions & 3 deletions Sixteen750/src/main/java/org/firstinspires/ftc/sixteen750/opmode/auto/RightJustPark.java
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Expand Up @@ -25,15 +25,15 @@ public void uponInit() {
hardware = new Hardware(hardwareMap, Robot.SubsystemCombo.VISION_M_DRIVE);
robot = new Robot(hardware, Robot.SubsystemCombo.VISION_M_DRIVE, Alliance.BLUE, StartingPosition.HOME);
robot.mecanumDriveSubsystem.setPoseEstimate(AutoConstantsBlue.Home.START.toPose());
CommandScheduler.getInstance()
CommandScheduler
.scheduleForState(
new SequentialCommandGroup(
new RightParkingSelectionCommandJustPark(
robot.visionSubsystem, robot.mecanumDriveSubsystem),
CommandScheduler.getInstance()::terminateOpMode),
CommandScheduler::terminateOpMode),
CommandOpMode.OpModeState.RUN);
if (Robot.RobotConstant.CAMERA_ENABLED) {
CommandScheduler.getInstance().scheduleInit(new VisionCommand(robot.visionSubsystem));
CommandScheduler.scheduleInit(new VisionCommand(robot.visionSubsystem));
}
}
}
2 changes: 1 addition & 1 deletion ...en750/src/main/java/org/firstinspires/ftc/sixteen750/opmode/diagnosis/TeleVisionTest.java
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Expand Up @@ -35,7 +35,7 @@ public void uponInit() {
coDriverControls = new ControlsCoDriver(codriverGamepad, robot, Robot.SubsystemCombo.DEFAULT);
telemetry = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
if (false && Robot.RobotConstant.CAMERA_ENABLED) {
CommandScheduler.getInstance().scheduleInit(new VisionCommand(robot.visionSubsystem));
CommandScheduler.scheduleInit(new VisionCommand(robot.visionSubsystem));
}
}

Expand Down
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