2022-Robot
Robot code for 2022 FRC Season by Argos, FRC team #1756
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Public Member Functions | Private Member Functions | Private Attributes | List of all members
RobotContainer Class Reference

#include <RobotContainer.h>

Public Member Functions

 RobotContainer ()
 
frc2::Command * GetAutonomousCommand ()
 
void Disable ()
 Called once when robot is disabled. More...
 

Private Member Functions

void ConfigureButtonBindings ()
 

Private Attributes

std::shared_ptr< NetworkTablesWrapper > m_pNetworkTable
 
argos_lib::InterpolationMap< decltype(controllerMap::driveSpeed.front().inVal), controllerMap::driveSpeed.size()> m_driveSpeedMap
 
argos_lib::InterpolationMap< decltype(controllerMap::driveRotSpeed.front().inVal), controllerMap::driveRotSpeed.size()> m_driveRotSpeed
 
argos_lib::InterpolationMap< decltype(controllerMap::hookSpeed.front().inVal), controllerMap::hookSpeed.size()> m_hookSpeedMap
 
argos_lib::InterpolationMap< decltype(controllerMap::armSpeed.front().inVal), controllerMap::armSpeed.size()> m_armSpeedMap
 
argos_lib::InterpolationMap< decltype(controllerMap::turretSpeed.front().inVal), controllerMap::turretSpeed.size()> m_turretSpeedMap
 
argos_lib::InterpolationMap< decltype(controllerMap::hoodSpeed.front().inVal), controllerMap::hoodSpeed.size()> m_hoodSpeedMap
 
const argos_lib::RobotInstance m_instance
 
frc::Compressor m_compressor
 
argos_lib::SwappableControllersSubsystem m_controllers
 
SwerveDriveSubsystem m_swerveDrive
 
IntakeSubsystem m_intake
 
std::unique_ptr< ClimberSubsystem > m_pClimber
 
ShooterSubsystem m_shooter
 
HomeHoodCommand m_homeHoodCommand
 
HomeClimberArmCommand m_homeClimberArmCommand
 
HomeClimberHookCommand m_homeClimberHookCommand
 
ClimbCommand m_climbCommand
 
units::degree_t m_hoodTargetPosition
 
units::revolutions_per_minute_t m_shooterTargetVelocity
 
units::inch_t m_climberArmTargetExtension
 
units::inches_per_second_t m_climberArmCruiseVelocity
 
units::inches_per_second_squared_t m_climberArmAccel
 
units::inch_t m_climberHookTargetExtension
 
units::inches_per_second_t m_climberHookCruiseVelocity
 
units::inches_per_second_squared_t m_climberHookAccel
 
units::degree_t m_turretTargetPosition
 
units::inch_t m_targetShotDistance
 
argos_lib::NTSubscriber m_NTMonitor
 
double m_driveFollowerLinearkP
 
double m_driveFollowerLinearkI
 
double m_driveFollowerLinearkD
 
double m_driveFollowerRotationalkP
 
double m_driveFollowerRotationalkI
 
double m_driveFollowerRotationalkD
 
units::degrees_per_second_t m_driveFollowerRotationalVelocity
 
units::degrees_per_second_squared_t m_driveFollowerRotationalAcceleration
 
units::inch_t m_driveProfileDistX
 
units::inch_t m_driveProfileDistY
 
units::degree_t m_driveProfileRot
 
units::feet_per_second_t m_driveProfileMaxLinearVel
 
units::feet_per_second_squared_t m_driveProfileMaxLinearAccel
 
units::degrees_per_second_t m_driveProfileMaxRotationalVel
 
units::degrees_per_second_squared_t m_driveProfileMaxRotationalAccel
 
AutonomousCenter1ball m_autoCenter1ball
 
AutonomousCenter1ballDelay m_autoCenter1ballDelay
 
AutonomousCenterLeft2ball m_autoCenterLeft2Ball
 
AutonomousCenterLeft2ballDefense m_autoCenterLeft2BallDefense
 
AutonomousCenterLeft2ballDelay m_autoCenterLeft2BallDelay
 
AutonomousCenterRight2ball m_autoCenterRight2Ball
 
AutonomousCenterRight2ballDelay m_autoCenterRight2BallDelay
 
AutonomousRight2ball m_autoRight2Ball
 
AutonomousRight2ballDelay m_autoRight2BallDelay
 
AutonomousRight5ball m_autoRight5Ball
 
AutonomousRight5ballDef m_autoRight5BallDef
 
AutonomousRight5ballGap m_autoRight5BallGap
 
AutonomousNothing m_autoNothing
 
AutoSelector m_autoRoutineSelector
 

Detailed Description

Copyright
Copyright (c) Argos FRC Team 1756. Open Source Software; you can modify and/or share it under the terms of the license file in the root directory of this project. This class is where the bulk of the robot should be declared. Since Command-based is a "declarative" paradigm, very little robot logic should actually be handled in the Robot periodic methods (other than the scheduler calls). Instead, the structure of the robot (including subsystems, commands, and button mappings) should be declared here.

Constructor & Destructor Documentation

◆ RobotContainer()

RobotContainer::RobotContainer ( )
Copyright
Copyright (c) Argos FRC Team 1756. Open Source Software; you can modify and/or share it under the terms of the license file in the root directory of this project.

Member Function Documentation

◆ ConfigureButtonBindings()

void RobotContainer::ConfigureButtonBindings ( )
private

◆ Disable()

void RobotContainer::Disable ( )

Called once when robot is disabled.

◆ GetAutonomousCommand()

frc2::Command * RobotContainer::GetAutonomousCommand ( )

Member Data Documentation

◆ m_armSpeedMap

argos_lib::InterpolationMap<decltype(controllerMap::armSpeed.front().inVal), controllerMap::armSpeed.size()> RobotContainer::m_armSpeedMap
private

◆ m_autoCenter1ball

AutonomousCenter1ball RobotContainer::m_autoCenter1ball
private

◆ m_autoCenter1ballDelay

AutonomousCenter1ballDelay RobotContainer::m_autoCenter1ballDelay
private

◆ m_autoCenterLeft2Ball

AutonomousCenterLeft2ball RobotContainer::m_autoCenterLeft2Ball
private

◆ m_autoCenterLeft2BallDefense

AutonomousCenterLeft2ballDefense RobotContainer::m_autoCenterLeft2BallDefense
private

◆ m_autoCenterLeft2BallDelay

AutonomousCenterLeft2ballDelay RobotContainer::m_autoCenterLeft2BallDelay
private

◆ m_autoCenterRight2Ball

AutonomousCenterRight2ball RobotContainer::m_autoCenterRight2Ball
private

◆ m_autoCenterRight2BallDelay

AutonomousCenterRight2ballDelay RobotContainer::m_autoCenterRight2BallDelay
private

◆ m_autoNothing

AutonomousNothing RobotContainer::m_autoNothing
private

◆ m_autoRight2Ball

AutonomousRight2ball RobotContainer::m_autoRight2Ball
private

◆ m_autoRight2BallDelay

AutonomousRight2ballDelay RobotContainer::m_autoRight2BallDelay
private

◆ m_autoRight5Ball

AutonomousRight5ball RobotContainer::m_autoRight5Ball
private

◆ m_autoRight5BallDef

AutonomousRight5ballDef RobotContainer::m_autoRight5BallDef
private

◆ m_autoRight5BallGap

AutonomousRight5ballGap RobotContainer::m_autoRight5BallGap
private

◆ m_autoRoutineSelector

AutoSelector RobotContainer::m_autoRoutineSelector
private

◆ m_climbCommand

ClimbCommand RobotContainer::m_climbCommand
private

◆ m_climberArmAccel

units::inches_per_second_squared_t RobotContainer::m_climberArmAccel
private

◆ m_climberArmCruiseVelocity

units::inches_per_second_t RobotContainer::m_climberArmCruiseVelocity
private

◆ m_climberArmTargetExtension

units::inch_t RobotContainer::m_climberArmTargetExtension
private

◆ m_climberHookAccel

units::inches_per_second_squared_t RobotContainer::m_climberHookAccel
private

◆ m_climberHookCruiseVelocity

units::inches_per_second_t RobotContainer::m_climberHookCruiseVelocity
private

◆ m_climberHookTargetExtension

units::inch_t RobotContainer::m_climberHookTargetExtension
private

◆ m_compressor

frc::Compressor RobotContainer::m_compressor
private

◆ m_controllers

argos_lib::SwappableControllersSubsystem RobotContainer::m_controllers
private

◆ m_driveFollowerLinearkD

double RobotContainer::m_driveFollowerLinearkD
private

◆ m_driveFollowerLinearkI

double RobotContainer::m_driveFollowerLinearkI
private

◆ m_driveFollowerLinearkP

double RobotContainer::m_driveFollowerLinearkP
private

◆ m_driveFollowerRotationalAcceleration

units::degrees_per_second_squared_t RobotContainer::m_driveFollowerRotationalAcceleration
private

◆ m_driveFollowerRotationalkD

double RobotContainer::m_driveFollowerRotationalkD
private

◆ m_driveFollowerRotationalkI

double RobotContainer::m_driveFollowerRotationalkI
private

◆ m_driveFollowerRotationalkP

double RobotContainer::m_driveFollowerRotationalkP
private

◆ m_driveFollowerRotationalVelocity

units::degrees_per_second_t RobotContainer::m_driveFollowerRotationalVelocity
private

◆ m_driveProfileDistX

units::inch_t RobotContainer::m_driveProfileDistX
private

◆ m_driveProfileDistY

units::inch_t RobotContainer::m_driveProfileDistY
private

◆ m_driveProfileMaxLinearAccel

units::feet_per_second_squared_t RobotContainer::m_driveProfileMaxLinearAccel
private

◆ m_driveProfileMaxLinearVel

units::feet_per_second_t RobotContainer::m_driveProfileMaxLinearVel
private

◆ m_driveProfileMaxRotationalAccel

units::degrees_per_second_squared_t RobotContainer::m_driveProfileMaxRotationalAccel
private

◆ m_driveProfileMaxRotationalVel

units::degrees_per_second_t RobotContainer::m_driveProfileMaxRotationalVel
private

◆ m_driveProfileRot

units::degree_t RobotContainer::m_driveProfileRot
private

◆ m_driveRotSpeed

argos_lib::InterpolationMap<decltype(controllerMap::driveRotSpeed.front().inVal), controllerMap::driveRotSpeed.size()> RobotContainer::m_driveRotSpeed
private

◆ m_driveSpeedMap

argos_lib::InterpolationMap<decltype(controllerMap::driveSpeed.front().inVal), controllerMap::driveSpeed.size()> RobotContainer::m_driveSpeedMap
private

◆ m_homeClimberArmCommand

HomeClimberArmCommand RobotContainer::m_homeClimberArmCommand
private

◆ m_homeClimberHookCommand

HomeClimberHookCommand RobotContainer::m_homeClimberHookCommand
private

◆ m_homeHoodCommand

HomeHoodCommand RobotContainer::m_homeHoodCommand
private

◆ m_hoodSpeedMap

argos_lib::InterpolationMap<decltype(controllerMap::hoodSpeed.front().inVal), controllerMap::hoodSpeed.size()> RobotContainer::m_hoodSpeedMap
private

◆ m_hoodTargetPosition

units::degree_t RobotContainer::m_hoodTargetPosition
private

◆ m_hookSpeedMap

argos_lib::InterpolationMap<decltype(controllerMap::hookSpeed.front().inVal), controllerMap::hookSpeed.size()> RobotContainer::m_hookSpeedMap
private

◆ m_instance

const argos_lib::RobotInstance RobotContainer::m_instance
private

◆ m_intake

IntakeSubsystem RobotContainer::m_intake
private

◆ m_NTMonitor

argos_lib::NTSubscriber RobotContainer::m_NTMonitor
private

◆ m_pClimber

std::unique_ptr<ClimberSubsystem> RobotContainer::m_pClimber
private

◆ m_pNetworkTable

std::shared_ptr<NetworkTablesWrapper> RobotContainer::m_pNetworkTable
private

◆ m_shooter

ShooterSubsystem RobotContainer::m_shooter
private

◆ m_shooterTargetVelocity

units::revolutions_per_minute_t RobotContainer::m_shooterTargetVelocity
private

◆ m_swerveDrive

SwerveDriveSubsystem RobotContainer::m_swerveDrive
private

◆ m_targetShotDistance

units::inch_t RobotContainer::m_targetShotDistance
private

◆ m_turretSpeedMap

argos_lib::InterpolationMap<decltype(controllerMap::turretSpeed.front().inVal), controllerMap::turretSpeed.size()> RobotContainer::m_turretSpeedMap
private

◆ m_turretTargetPosition

units::degree_t RobotContainer::m_turretTargetPosition
private
The documentation for this class was generated from the following files: