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Rory add operator control #35

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082df8a
added operator control
rorylimligon-glitch Nov 18, 2025
76b9618
Merge branch 'main' into rory-add-operator-control
rorylimligon-glitch Nov 18, 2025
1b471b2
Funbot can only drive when right trigger is pressed
rorylimligon-glitch Nov 19, 2025
46339d4
saved changes
rorylimligon-glitch Nov 19, 2025
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6 changes: 3 additions & 3 deletions src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -29,9 +29,9 @@ public static class MotorIdConstants {
public static final int LEFT_FRONT_ID = 1;
public static final int RIGHT_BACK_ID = 4;
public static final int LEFT_BACK_ID = 2;
}

public static class MotorConstants {
public static final Current NEO_CURRENT_LIMIT = Amps.of(50);
}
public static class MotorConstants {
public static final Current NEO_CURRENT_LIMIT = Amps.of(50);
}
}
6 changes: 3 additions & 3 deletions src/main/java/frc/robot/RobotContainer.java
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Expand Up @@ -23,6 +23,7 @@ public class RobotContainer {
// The robot's subsystems and commands are defined here...
private final Drivetrain drivetrain = new Drivetrain();
public final CommandXboxController commandxboxcontroller = new CommandXboxController(0);
public final CommandXboxController operatorXboxController = new CommandXboxController(1);

/*added array bc the code did not repeat the action when it was set to null.
/*it fixed it bc it told the code that there was nothing there.
Expand All @@ -37,22 +38,21 @@ public RobotContainer() {

private void setUpDefaultCommands() {
drivetrain.setDefaultCommand(
drivetrain.tankDrive(() -> commandxboxcontroller.getRightY(), () -> commandxboxcontroller.getLeftY())
drivetrain.tankDrive(() -> commandxboxcontroller.getRightY(), () -> commandxboxcontroller.getLeftY(), () -> operatorXboxController.rightTrigger().getAsBoolean())
);


}

private void setUpDriverButtonBindings() {
commandxboxcontroller.a().whileTrue(Commands.run(() -> System.out.println("yay we did it")));
commandxboxcontroller.b().whileTrue(Commands.run(() -> System.out.println("yay we did it")));
}




private void setUpOperatorButtonBindings() {

operatorXboxController.a().onTrue(Commands.none()).onFalse(Commands.none());
}

}
208 changes: 110 additions & 98 deletions src/main/java/frc/robot/subsystems/Drivetrain.java
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Expand Up @@ -5,6 +5,7 @@
import static edu.wpi.first.units.Units.Meters;
import static edu.wpi.first.units.Units.MetersPerSecond;

import java.util.function.BooleanSupplier;
import java.util.function.DoubleSupplier;

import com.revrobotics.spark.SparkBase.ControlType;
Expand All @@ -19,104 +20,115 @@
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants.MotorIdConstants;
import frc.robot.Constants.MotorIdConstants.MotorConstants;
import frc.robot.Constants.MotorConstants;

public class Drivetrain extends SubsystemBase {
private SparkMax rightFrontMotorController = new SparkMax(MotorIdConstants.RIGHT_FRONT_ID, SparkLowLevel.MotorType.kBrushless);
private SparkMax leftFrontMotorController = new SparkMax(MotorIdConstants.LEFT_FRONT_ID, SparkLowLevel.MotorType.kBrushless);
private SparkMax rightBackMotorController = new SparkMax(MotorIdConstants.RIGHT_BACK_ID, SparkLowLevel.MotorType.kBrushless);
private SparkMax leftBackMotorController = new SparkMax(MotorIdConstants.LEFT_BACK_ID, SparkLowLevel.MotorType.kBrushless);

private final SparkClosedLoopController motorRightClosedLoopController;
private final SparkClosedLoopController motorLeftClosedLoopController;

private final Distance ENCODER_POSITION_FACTOR = Inches.of(8 * Math.PI * (10./52.) * (30./68.));
private final Distance ENCODER_VELOCITY_FACTOR = Inches.of((8 * Math.PI * (10./52.) * (30./68.)) / 60.0); //inches per rotation

private final double drivetrainP = 0.08;

private final double MAX_SPEED_METERS_PER_SECOND = 4.0;

public Drivetrain() {
SparkMaxConfig rightFrontConfig = new SparkMaxConfig();
SparkMaxConfig leftFrontConfig = new SparkMaxConfig();
SparkMaxConfig rightBackConfig = new SparkMaxConfig();
SparkMaxConfig leftBackConfig = new SparkMaxConfig();

rightFrontConfig.idleMode(IdleMode.kBrake);
leftFrontConfig.idleMode(IdleMode.kBrake);
rightBackConfig.idleMode(IdleMode.kBrake);
leftBackConfig.idleMode(IdleMode.kBrake);

rightFrontConfig.inverted(false);
rightBackConfig.inverted(false);
leftFrontConfig.inverted(true);
leftBackConfig.inverted(true);

rightBackConfig.follow(rightFrontMotorController,false);
leftBackConfig.follow(leftFrontMotorController,false);

rightFrontConfig.smartCurrentLimit((int) MotorConstants.NEO_CURRENT_LIMIT.in(Amps));
leftFrontConfig.smartCurrentLimit((int) MotorConstants.NEO_CURRENT_LIMIT.in(Amps));
rightBackConfig.smartCurrentLimit((int) MotorConstants.NEO_CURRENT_LIMIT.in(Amps));
leftBackConfig.smartCurrentLimit((int) MotorConstants.NEO_CURRENT_LIMIT.in(Amps));


rightFrontConfig.encoder.positionConversionFactor(ENCODER_POSITION_FACTOR.in(Meters));
leftFrontConfig.encoder.positionConversionFactor(ENCODER_POSITION_FACTOR.in(Meters));
rightBackConfig.encoder.positionConversionFactor(ENCODER_POSITION_FACTOR.in(Meters));
leftBackConfig.encoder.positionConversionFactor(ENCODER_POSITION_FACTOR.in(Meters));

rightFrontConfig.encoder.velocityConversionFactor(ENCODER_VELOCITY_FACTOR.in(Meters));
leftFrontConfig.encoder.velocityConversionFactor(ENCODER_VELOCITY_FACTOR.in(Meters));
rightBackConfig.encoder.velocityConversionFactor(ENCODER_VELOCITY_FACTOR.in(Meters));
leftBackConfig.encoder.velocityConversionFactor(ENCODER_VELOCITY_FACTOR.in(Meters));

rightFrontConfig.closedLoop.p(drivetrainP);
leftFrontConfig.closedLoop.p(drivetrainP);
rightBackConfig.closedLoop.p(drivetrainP);
leftBackConfig.closedLoop.p(drivetrainP);



rightFrontMotorController.configure(
rightFrontConfig,
SparkMax.ResetMode.kResetSafeParameters,
SparkMax.PersistMode.kPersistParameters);

leftFrontMotorController.configure(
leftFrontConfig,
SparkMax.ResetMode.kResetSafeParameters,
SparkMax.PersistMode.kPersistParameters);

rightBackMotorController.configure(
rightBackConfig,
SparkMax.ResetMode.kResetSafeParameters,
SparkMax.PersistMode.kPersistParameters);

leftBackMotorController.configure(
leftBackConfig,
SparkMax.ResetMode.kResetSafeParameters,
SparkMax.PersistMode.kPersistParameters);

motorRightClosedLoopController = rightFrontMotorController.getClosedLoopController();
motorLeftClosedLoopController = leftFrontMotorController.getClosedLoopController();

}

public void setRightSpeed(LinearVelocity speed) {
motorRightClosedLoopController.setReference(speed.in(MetersPerSecond), ControlType.kVelocity);
}

public void setLeftSpeed(LinearVelocity speed) {
motorLeftClosedLoopController.setReference(speed.in(MetersPerSecond), ControlType.kVelocity);
}
public Command tankDrive(DoubleSupplier rightSpeed, DoubleSupplier leftSpeed) {
return this.run(()->{
setLeftSpeed((MetersPerSecond.of(leftSpeed.getAsDouble() * MAX_SPEED_METERS_PER_SECOND)));
setRightSpeed((MetersPerSecond.of(rightSpeed.getAsDouble() * MAX_SPEED_METERS_PER_SECOND)));
} );
}
private SparkMax rightFrontMotorController = new SparkMax(MotorIdConstants.RIGHT_FRONT_ID,
SparkLowLevel.MotorType.kBrushless);
private SparkMax leftFrontMotorController = new SparkMax(MotorIdConstants.LEFT_FRONT_ID,
SparkLowLevel.MotorType.kBrushless);
private SparkMax rightBackMotorController = new SparkMax(MotorIdConstants.RIGHT_BACK_ID,
SparkLowLevel.MotorType.kBrushless);
private SparkMax leftBackMotorController = new SparkMax(MotorIdConstants.LEFT_BACK_ID,
SparkLowLevel.MotorType.kBrushless);

private final SparkClosedLoopController motorRightClosedLoopController;
private final SparkClosedLoopController motorLeftClosedLoopController;

private final Distance ENCODER_POSITION_FACTOR = Inches.of(8 * Math.PI * (10. / 52.) * (30. / 68.));
private final Distance ENCODER_VELOCITY_FACTOR = Inches.of((8 * Math.PI * (10. / 52.) * (30. / 68.)) / 60.0); // inches
// per
// rotation

private final double drivetrainP = 0.08;

private final double MAX_SPEED_METERS_PER_SECOND = 4.0;

public Drivetrain() {
SparkMaxConfig rightFrontConfig = new SparkMaxConfig();
SparkMaxConfig leftFrontConfig = new SparkMaxConfig();
SparkMaxConfig rightBackConfig = new SparkMaxConfig();
SparkMaxConfig leftBackConfig = new SparkMaxConfig();

rightFrontConfig.idleMode(IdleMode.kBrake);
leftFrontConfig.idleMode(IdleMode.kBrake);
rightBackConfig.idleMode(IdleMode.kBrake);
leftBackConfig.idleMode(IdleMode.kBrake);

rightFrontConfig.inverted(false);
rightBackConfig.inverted(false);
leftFrontConfig.inverted(true);
leftBackConfig.inverted(true);

rightBackConfig.follow(rightFrontMotorController, false);
leftBackConfig.follow(leftFrontMotorController, false);

rightFrontConfig.smartCurrentLimit((int) MotorConstants.NEO_CURRENT_LIMIT.in(Amps));
leftFrontConfig.smartCurrentLimit((int) MotorConstants.NEO_CURRENT_LIMIT.in(Amps));
rightBackConfig.smartCurrentLimit((int) MotorConstants.NEO_CURRENT_LIMIT.in(Amps));
leftBackConfig.smartCurrentLimit((int) MotorConstants.NEO_CURRENT_LIMIT.in(Amps));

rightFrontConfig.encoder.positionConversionFactor(ENCODER_POSITION_FACTOR.in(Meters));
leftFrontConfig.encoder.positionConversionFactor(ENCODER_POSITION_FACTOR.in(Meters));
rightBackConfig.encoder.positionConversionFactor(ENCODER_POSITION_FACTOR.in(Meters));
leftBackConfig.encoder.positionConversionFactor(ENCODER_POSITION_FACTOR.in(Meters));

rightFrontConfig.encoder.velocityConversionFactor(ENCODER_VELOCITY_FACTOR.in(Meters));
leftFrontConfig.encoder.velocityConversionFactor(ENCODER_VELOCITY_FACTOR.in(Meters));
rightBackConfig.encoder.velocityConversionFactor(ENCODER_VELOCITY_FACTOR.in(Meters));
leftBackConfig.encoder.velocityConversionFactor(ENCODER_VELOCITY_FACTOR.in(Meters));

rightFrontConfig.closedLoop.p(drivetrainP);
leftFrontConfig.closedLoop.p(drivetrainP);
rightBackConfig.closedLoop.p(drivetrainP);
leftBackConfig.closedLoop.p(drivetrainP);

rightFrontMotorController.configure(
rightFrontConfig,
SparkMax.ResetMode.kResetSafeParameters,
SparkMax.PersistMode.kPersistParameters);

leftFrontMotorController.configure(
leftFrontConfig,
SparkMax.ResetMode.kResetSafeParameters,
SparkMax.PersistMode.kPersistParameters);

rightBackMotorController.configure(
rightBackConfig,
SparkMax.ResetMode.kResetSafeParameters,
SparkMax.PersistMode.kPersistParameters);

leftBackMotorController.configure(
leftBackConfig,
SparkMax.ResetMode.kResetSafeParameters,
SparkMax.PersistMode.kPersistParameters);

motorRightClosedLoopController = rightFrontMotorController.getClosedLoopController();
motorLeftClosedLoopController = leftFrontMotorController.getClosedLoopController();

}

public void setRightSpeed(LinearVelocity speed) {
motorRightClosedLoopController.setReference(speed.in(MetersPerSecond), ControlType.kVelocity);
}

public void setLeftSpeed(LinearVelocity speed) {
motorLeftClosedLoopController.setReference(speed.in(MetersPerSecond), ControlType.kVelocity);
}

public Command tankDrive(DoubleSupplier rightSpeed, DoubleSupplier leftSpeed,
BooleanSupplier runWhenRightTriggerDown) {
return this.run(() -> {
if (runWhenRightTriggerDown.getAsBoolean()) {
setLeftSpeed((MetersPerSecond
.of(leftSpeed.getAsDouble() * MAX_SPEED_METERS_PER_SECOND)));
setRightSpeed((MetersPerSecond
.of(rightSpeed.getAsDouble() * MAX_SPEED_METERS_PER_SECOND)));
} else {
setLeftSpeed((MetersPerSecond.of(0)));
setRightSpeed((MetersPerSecond.of(0)));
}
});

}
}