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starting elevator states #33

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starting elevator states #33

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77 changes: 68 additions & 9 deletions src/main/java/frc/robot/subsystems/Elevator/Elevator.java
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Original file line number Diff line number Diff line change
Expand Up @@ -4,14 +4,22 @@

package frc.robot.subsystems.Elevator;

import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.interpolation.InterpolatingDoubleTreeMap;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants;
import frc.robot.subsystems.CommandSwerveDrivetrain;
import edu.wpi.first.wpilibj2.command.SubsystemBase;

import java.util.Collections;
import java.util.Map;
import java.util.Set;
import java.util.function.DoubleSupplier;
import java.util.function.Supplier;
import java.util.stream.Collectors;

import org.littletonrobotics.junction.Logger;

Expand Down Expand Up @@ -60,14 +68,65 @@ public double getElevatorHeightWithOffset(double height, DoubleSupplier tySuppli
public Command setElevatorHeightDynamic(double height, DoubleSupplier tySupplier) {
return Commands
.waitUntil(() -> tySupplier.getAsDouble() < 0.0) // TODO: replace
.andThen(Commands
.waitUntil(() -> {
return Math.abs(inputs.elevatorPosition - getElevatorHeightWithOffset(height, tySupplier)) <= 0.5;
})
.deadlineFor(
this.runEnd(
() -> io.setElevatorPostion(getElevatorHeightWithOffset(height, tySupplier)),
() -> io.setElevatorPostion(getElevatorHeightWithOffset(height, tySupplier)))));
.andThen(Commands
.waitUntil(() -> {
return Math.abs(
inputs.elevatorPosition - getElevatorHeightWithOffset(height, tySupplier)) <= 0.5;
})
.deadlineFor(
this.runEnd(
() -> io.setElevatorPostion(getElevatorHeightWithOffset(height, tySupplier)),
() -> io.setElevatorPostion(getElevatorHeightWithOffset(height, tySupplier)))));
}

private enum elevatorStates {
L1,
L2,
L3,
L4
}

private elevatorStates elevatorState = getElevatorState();

private final Map<elevatorStates, Command> ELEVATOR_HEIGHTS = Map.ofEntries(
Map.entry(elevatorStates.L1,
this.setElevatorHeight(Constants.SetPointConstants.ElevatorHeights.TELE_LEVEL_ONE)),
Map.entry(elevatorStates.L2,
this.setElevatorHeight(Constants.SetPointConstants.ElevatorHeights.TELE_LEVEL_TWO)),
Map.entry(elevatorStates.L3,
this.setElevatorHeight(Constants.SetPointConstants.ElevatorHeights.TELE_LEVEL_THREE)),
Map.entry(elevatorStates.L4,
this.setElevatorHeight(Constants.SetPointConstants.ElevatorHeights.TELE_LEVEL_FOUR)));

private Command raiseElevatorBasedOnDistance(Supplier<Pose2d> robotPose) {
final Set<Integer> REEF_TAG_IDS = Set.of(6, 7, 8, 9, 10, 11, 17, 18, 19, 20, 21, 22);

final Map<Integer, Pose2d> TAG_TO_POSITIONS = REEF_TAG_IDS.stream()
.map(tagID -> Map.entry(tagID, Constants.FIELD_LAYOUT.getTagPose(tagID).get().toPose2d()))
.collect(Collectors.toMap(
Map.Entry::getKey,
Map.Entry::getValue));

Pose2d closestTag = TAG_TO_POSITIONS.get(0);
double minDist = Double.MAX_VALUE;


//trying to go through all the tag positions and set the closest tag to the one thats closest
double distance = robotPose.getTranslation().getDistance(tag.pose.toPose2d().getTranslation());
if (distance < minDist) {
closestTag = tag;
minDist = distance;
}
}

}

public Command setElevatorHeightWithStates() {
return Commands.select(ELEVATOR_HEIGHTS, () -> this.elevatorState);
}

private elevatorStates getElevatorState() {
return elevatorState.L1;
}

/**
Expand Down Expand Up @@ -98,7 +157,7 @@ public Command zeroElevatorCmd() {
.andThen(this.runOnce(() -> io.setEncoder(0.0)));
}

public void zeroEncoder(){
public void zeroEncoder() {
io.setEncoder(0.0);
}

Expand Down