From d70a64603d1ed858665ff4a830879828b4f5b99d Mon Sep 17 00:00:00 2001 From: 0x5b62656e5d Date: Mon, 17 Mar 2025 20:42:41 +0800 Subject: [PATCH 1/4] Change strobe interval based on swerve speed modifier --- src/main/java/raidzero/robot/RobotContainer.java | 10 ++++++++-- .../raidzero/robot/subsystems/LEDStrip/ArmStrip.java | 9 +++++++++ 2 files changed, 17 insertions(+), 2 deletions(-) diff --git a/src/main/java/raidzero/robot/RobotContainer.java b/src/main/java/raidzero/robot/RobotContainer.java index d2390b1..f027d33 100644 --- a/src/main/java/raidzero/robot/RobotContainer.java +++ b/src/main/java/raidzero/robot/RobotContainer.java @@ -134,8 +134,14 @@ private void configureBindings() { arm.moveWithDelay(Constants.TelescopingArm.Positions.INTAKE_POS_M_BLUE) ); - joystick.rightBumper().onTrue(new InstantCommand(() -> swerve.setSpeedModifier(1.0))); - joystick.leftBumper().onTrue(new InstantCommand(() -> swerve.setSpeedModifier(0.67))); + joystick.rightBumper().onTrue( + new InstantCommand(() -> swerve.setSpeedModifier(1.0)) + .andThen(new InstantCommand(() -> armStrip.setStrobeInterval(0.75))) + ); + joystick.leftBumper().onTrue( + new InstantCommand(() -> swerve.setSpeedModifier(0.67)) + .andThen(new InstantCommand(() -> armStrip.setStrobeInterval(0.25))) + ); // * Operator controls operator.button(Constants.Bindings.TOP_LEFT).onTrue(new InstantCommand(() -> arm.decreaseIntakeYOffset(0.01), arm)); diff --git a/src/main/java/raidzero/robot/subsystems/LEDStrip/ArmStrip.java b/src/main/java/raidzero/robot/subsystems/LEDStrip/ArmStrip.java index f9d14d4..548ff28 100644 --- a/src/main/java/raidzero/robot/subsystems/LEDStrip/ArmStrip.java +++ b/src/main/java/raidzero/robot/subsystems/LEDStrip/ArmStrip.java @@ -352,6 +352,15 @@ public void matchEndAnimation() { candle.animate(new RainbowAnimation(255, 0.75, -1)); } + /** + * Sets the strobe interval + * + * @param interval The interval in seconds + */ + public void setStrobeInterval(double interval) { + strobeInterval = interval; + } + /** * Sets the LED to red, green, blue in alternating sequence */ From 3ce99b3ba109f3898e2431be8e9c7ca26a0f98b3 Mon Sep 17 00:00:00 2001 From: 0x5b62656e5d Date: Tue, 18 Mar 2025 13:15:58 +0800 Subject: [PATCH 2/4] Rename swerve speed limit dashboard entry --- src/main/java/raidzero/robot/subsystems/drivetrain/Swerve.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/raidzero/robot/subsystems/drivetrain/Swerve.java b/src/main/java/raidzero/robot/subsystems/drivetrain/Swerve.java index fdbbba2..9bb1b55 100644 --- a/src/main/java/raidzero/robot/subsystems/drivetrain/Swerve.java +++ b/src/main/java/raidzero/robot/subsystems/drivetrain/Swerve.java @@ -440,7 +440,7 @@ public void periodic() { botpose.set(this.getState().Pose); field.setRobotPose(this.getState().Pose); - SmartDashboard.putNumber("Bot Speed", speedModifier * 100.0); + SmartDashboard.putNumber("Speed cap", speedModifier * 100.0); } /** From 9a4bc1386e7235686a3fb25e26333223050eec29 Mon Sep 17 00:00:00 2001 From: 0x5b62656e5d Date: Tue, 18 Mar 2025 13:16:09 +0800 Subject: [PATCH 3/4] Fix LED strobe intervals --- src/main/java/raidzero/robot/RobotContainer.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/raidzero/robot/RobotContainer.java b/src/main/java/raidzero/robot/RobotContainer.java index f027d33..1bfdad3 100644 --- a/src/main/java/raidzero/robot/RobotContainer.java +++ b/src/main/java/raidzero/robot/RobotContainer.java @@ -136,11 +136,11 @@ private void configureBindings() { joystick.rightBumper().onTrue( new InstantCommand(() -> swerve.setSpeedModifier(1.0)) - .andThen(new InstantCommand(() -> armStrip.setStrobeInterval(0.75))) + .andThen(new InstantCommand(() -> armStrip.setStrobeInterval(0.15))) ); joystick.leftBumper().onTrue( new InstantCommand(() -> swerve.setSpeedModifier(0.67)) - .andThen(new InstantCommand(() -> armStrip.setStrobeInterval(0.25))) + .andThen(new InstantCommand(() -> armStrip.setStrobeInterval(0.50))) ); // * Operator controls From 2717ab8deb13bedd8c6a168c829857f02a22d72b Mon Sep 17 00:00:00 2001 From: 0x5b62656e5d Date: Tue, 18 Mar 2025 13:16:18 +0800 Subject: [PATCH 4/4] Update Elastic layout for swerve speed cap --- src/main/deploy/elastic-layout.json | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/src/main/deploy/elastic-layout.json b/src/main/deploy/elastic-layout.json index ea19618..85fd3d4 100644 --- a/src/main/deploy/elastic-layout.json +++ b/src/main/deploy/elastic-layout.json @@ -55,6 +55,19 @@ "red_start_time": 15, "yellow_start_time": 30 } + }, + { + "title": "Speed cap", + "x": 0.0, + "y": 384.0, + "width": 512.0, + "height": 256.0, + "type": "Large Text Display", + "properties": { + "topic": "/SmartDashboard/Speed cap", + "period": 0.06, + "data_type": "double" + } } ] }