chore: merge pull request #23 from frc6941/feat/stream-deck

feat: add stream deck as a controller

README.md

@@ -1 +1,18 @@
-### FRC 10541 IronPulse 2025 Competition Robot
+# FRC 10541 IronPulse 2025 Competition Robot
+
+## Troubleshooting
+
+- If Stream Deck doesn't work properly
+    - the profile of stream deck is in **profiles/FRC10541.streamDeckProfile**
+    - see https://github.com/ashupp/Streamdeck-vJoy
+- If simulation failed with **MSVC error**, set the project JDK to wpilib2025 and add simulate to gradle run/debug
+  config in IDEA, see https://www.chiefdelphi.com/t/error-when-running-simulation-wpilib-2025-2-1/481435
+
+## Stream Deck
+
+Configure it in *Configure vJoy*, monitor it in *vJoy Monitor*
+
+### Keyboard layout
+
+- ID 1-12: Start from the left branch of the two nearest branch(ID1), then go counter-clockwise.
+- ID 13-16: L1-4

src/main/java/frc/robot/Main.java

@@ -12,14 +12,15 @@
  * call.
  */
 public final class Main {
-  private Main() {}
+    private Main() {
+    }
 
-  /**
-   * Main initialization function. Do not perform any initialization here.
-   *
-   * <p>If you change your main robot class, change the parameter type.
-   */
-  public static void main(String... args) {
-    RobotBase.startRobot(Robot::new);
-  }
-}
+    /**
+     * Main initialization function. Do not perform any initialization here.
+     *
+     * <p>If you change your main robot class, change the parameter type.
+     */
+    public static void main(String... args) {
+        RobotBase.startRobot(Robot::new);
+    }
+}

src/main/java/frc/robot/RobotContainer.java

@@ -5,17 +5,16 @@
 package frc.robot;
 
 import com.pathplanner.lib.util.FileVersionException;
-
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.button.*;
-
 import frc.robot.auto.basics.AutoActions;
-import frc.robot.commands.*;
+import frc.robot.commands.ElevatorZeroingCommand;
+import frc.robot.commands.RumbleCommand;
 import frc.robot.display.Display;
 import frc.robot.subsystems.Superstructure;
 import frc.robot.subsystems.apriltagvision.AprilTagVision;
@@ -28,30 +27,30 @@
 import frc.robot.subsystems.swerve.Swerve;
 import frc.robot.utils.AllianceFlipUtil;
 import lombok.Getter;
-
 import org.frcteam6941.looper.UpdateManager;
 import org.json.simple.parser.ParseException;
 
+import java.io.IOException;
+import java.util.function.BooleanSupplier;
+
 import static edu.wpi.first.units.Units.Seconds;
-import static frc.robot.RobotConstants.BeamBreakConstants.*;
+import static frc.robot.RobotConstants.BeamBreakConstants.ENDEFFECTOR_EDGE_BEAMBREAK_ID;
+import static frc.robot.RobotConstants.BeamBreakConstants.ENDEFFECTOR_MIDDLE_BEAMBREAK_ID;
 import static frc.robot.RobotConstants.ElevatorConstants.*;
 
-import java.io.IOException;
-import java.util.function.*;
-
 /**
  * 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 {@link Robot}
  * periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
  * subsystems, commands, and trigger mappings) should be declared here.
  */
 public class RobotContainer {
+    @Getter
+    private final UpdateManager updateManager;
     CommandXboxController driverController = new CommandXboxController(0);
     CommandXboxController operatorController = new CommandXboxController(1);
     CommandXboxController testerController = new CommandXboxController(2);
-
-    @Getter
-    private final UpdateManager updateManager;
+    CommandGenericHID streamDeckController = new CommandGenericHID(3);
     double lastResetTime = 0.0;
 
     // The robot's subsystems and commands are defined here...
@@ -64,7 +63,7 @@ public class RobotContainer {
     ElevatorSubsystem elevatorSubsystem = new ElevatorSubsystem(new ElevatorIOReal());
     EndEffectorSubsystem endEffectorSubsystem = new EndEffectorSubsystem(new EndEffectorIOReal(), new BeambreakIOReal(ENDEFFECTOR_MIDDLE_BEAMBREAK_ID), new BeambreakIOReal(ENDEFFECTOR_EDGE_BEAMBREAK_ID));
 
-    Superstructure superstructure =  new Superstructure(endEffectorSubsystem);
+    Superstructure superstructure = new Superstructure(endEffectorSubsystem);
 
     /**
      * The container for the robot. Contains subsystems, OI devices, and commands.
@@ -77,6 +76,7 @@ public RobotContainer() {
         configureDriverBindings(driverController);
         configureOperatorBindings(operatorController);
         configureTesterBindings(testerController);
+        configureStreamDeckBindings(streamDeckController);
     }
 
     /**
@@ -138,13 +138,18 @@ private void configureTesterBindings(CommandXboxController controller) {
         new Trigger(controller.start())
                 .onTrue(superstructure.setWantedSuperStateCommand(Superstructure.WantedSuperState.STOPPED));
         //test of elevator heights
-        controller.a().onTrue(Commands.runOnce(() -> elevatorSubsystem.setPosition(L1_EXTENSION_METERS.get()),elevatorSubsystem).until(() ->elevatorSubsystem.isAtSetpoint(L1_EXTENSION_METERS.get())));
-        controller.b().onTrue(Commands.runOnce(() -> elevatorSubsystem.setPosition(L2_EXTENSION_METERS.get()),elevatorSubsystem).until(() ->elevatorSubsystem.isAtSetpoint(L2_EXTENSION_METERS.get())));
-        controller.x().onTrue(Commands.runOnce(() -> elevatorSubsystem.setPosition(L3_EXTENSION_METERS.get()),elevatorSubsystem).until(() ->elevatorSubsystem.isAtSetpoint(L3_EXTENSION_METERS.get())));
-        controller.y().onTrue(Commands.runOnce(() -> elevatorSubsystem.setPosition(L4_EXTENSION_METERS.get()),elevatorSubsystem).until(() ->elevatorSubsystem.isAtSetpoint(L4_EXTENSION_METERS.get())));
+        controller.a().onTrue(Commands.runOnce(() -> elevatorSubsystem.setPosition(L1_EXTENSION_METERS.get()), elevatorSubsystem).until(() -> elevatorSubsystem.isAtSetpoint(L1_EXTENSION_METERS.get())));
+        controller.b().onTrue(Commands.runOnce(() -> elevatorSubsystem.setPosition(L2_EXTENSION_METERS.get()), elevatorSubsystem).until(() -> elevatorSubsystem.isAtSetpoint(L2_EXTENSION_METERS.get())));
+        controller.x().onTrue(Commands.runOnce(() -> elevatorSubsystem.setPosition(L3_EXTENSION_METERS.get()), elevatorSubsystem).until(() -> elevatorSubsystem.isAtSetpoint(L3_EXTENSION_METERS.get())));
+        controller.y().onTrue(Commands.runOnce(() -> elevatorSubsystem.setPosition(L4_EXTENSION_METERS.get()), elevatorSubsystem).until(() -> elevatorSubsystem.isAtSetpoint(L4_EXTENSION_METERS.get())));
         controller.povDown().onTrue(new ElevatorZeroingCommand(elevatorSubsystem));
     }
 
+    //Configure all commands for Stream Deck
+    private void configureStreamDeckBindings(CommandGenericHID controller) {
+        controller.button(1).onTrue(Commands.runOnce(() -> System.out.println("Stream Deck Controller Test Successful!")));
+    }
+
     /**
      * Use this to pass the autonomous command to the main {@link Robot} class.
      *
@@ -162,7 +167,7 @@ public Command getAutonomousCommand() throws FileVersionException, IOException,
     }
 
     private Command rumbleDriver(double seconds) {
-            return new RumbleCommand(Seconds.of(seconds), driverController.getHID());
+        return new RumbleCommand(Seconds.of(seconds), driverController.getHID());
     }
 
     public FieldConstants.AprilTagLayoutType getAprilTagLayoutType() {

src/main/java/frc/robot/subsystems/apriltagvision/AprilTagVision.java

@@ -90,7 +90,6 @@ public void periodic() {
 
         serial.writeString("OK");
         serial.flush();
-        System.out.println("Test");
 
         // Loop over instances to process all frames and poses
         List<Pose2d> allRobotPoses = new ArrayList<>();