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mapping state transitions #49

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Merged
TaylerUva merged 7 commits into from
May 31, 2026
+195 −0
Merged

mapping state transitions #49

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b2e3be2
mapping states
FRCTeam3255-Shared-K1-10 May 31, 2026
db51602
mapped states
FRCTeam3255-Shared-K1-10 May 31, 2026
3e98a37
statev machine button mapping
FRCTeam3255-Shared-K1-10 May 31, 2026
ccaf3dd
map states
FRCTeam3255-Shared-K1-10 May 31, 2026
83156df
mapping states
FRCTeam3255-Shared-K1-10 May 31, 2026
16586cd
Merge branch 'main' into 25-map-states-to-buttons
FRCTeam3255-Shared-K1-10 May 31, 2026
c92e3d7
states mapping
FRCTeam3255-Shared-K1-10 May 31, 2026
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195 changes: 195 additions & 0 deletions src/main/java/frc/robot/subsystems/StateMachine.java
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,13 @@
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.commands.states.EjectingHopper;
import frc.robot.commands.states.Intaking;
import frc.robot.commands.states.None;
import frc.robot.commands.states.RetractIntake;
import frc.robot.commands.states.ReversingShooter;
import frc.robot.commands.states.*;
import frc.robot.commands.states.preps.*;

@Logged
public class StateMachine extends SubsystemBase {
Expand All @@ -22,6 +28,7 @@ public StateMachine() {

public void setRobotState(RobotState robotState) {
currentRobotState = robotState;

}

public RobotState getRobotState() {
Expand All @@ -33,9 +40,197 @@ public Command tryState(RobotState desiredState) {
case NONE:
switch (currentRobotState) {
case NONE:
case INTAKING:
case REVERSING_SHOOTER:
case SHOOTING:
case EJECTING_HOPPER:
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return new None();
}
break;
case INTAKING:
switch (currentRobotState) {
case NONE:
case RETRACT_INTAKE:
case PREP_ANYWHERE:
case PREP_CORNER:
case PREP_HUB:
case PREP_NEUTRAL_TO_ALLIANCE:
case PREP_OPPONENT_TO_ALLIANCE:
case PREP_TOWER:
case PREP_TRENCH:
return new Intaking();
}
break;
case SHOOTING:
switch (currentRobotState) {
case RETRACT_INTAKE:
case PREP_ANYWHERE:
case PREP_CORNER:
case PREP_HUB:
case PREP_NEUTRAL_TO_ALLIANCE:
case PREP_OPPONENT_TO_ALLIANCE:
case PREP_TOWER:
case PREP_TRENCH:
return new Shooting();
}
case RETRACT_INTAKE:
switch (currentRobotState) {
case NONE:
case SHOOTING:
case EJECTING_HOPPER:
case REVERSING_SHOOTER:
case INTAKING:
case PREP_ANYWHERE:
case PREP_CORNER:
case PREP_HUB:
case PREP_NEUTRAL_TO_ALLIANCE:
case PREP_OPPONENT_TO_ALLIANCE:
case PREP_TRENCH:

return new RetractIntake();
}
break;
case REVERSING_SHOOTER:
switch (currentRobotState) {
case NONE:
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case RETRACT_INTAKE:
case PREP_ANYWHERE:
case PREP_CORNER:
case PREP_HUB:
case PREP_NEUTRAL_TO_ALLIANCE:
case PREP_OPPONENT_TO_ALLIANCE:
case PREP_TOWER:
case PREP_TRENCH:
return new ReversingShooter();
}
break;
case PREP_ANYWHERE:
switch (currentRobotState) {
case NONE:
case RETRACT_INTAKE:
case PREP_ANYWHERE:
case PREP_CORNER:
case PREP_HUB:
case PREP_NEUTRAL_TO_ALLIANCE:
case PREP_OPPONENT_TO_ALLIANCE:
case PREP_TOWER:
case PREP_TRENCH:
case REVERSING_SHOOTER:
case INTAKING:
return new PrepAnywhere();
}
break;
case PREP_HUB:
switch (currentRobotState) {
case NONE:
case RETRACT_INTAKE:
case PREP_ANYWHERE:
case PREP_CORNER:
case PREP_HUB:
case PREP_NEUTRAL_TO_ALLIANCE:
case PREP_OPPONENT_TO_ALLIANCE:
case PREP_TOWER:
case PREP_TRENCH:
case REVERSING_SHOOTER:
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case INTAKING:
return new PrepHub();
}
break;
case PREP_CORNER:
switch (currentRobotState) {
case NONE:
case RETRACT_INTAKE:
case PREP_ANYWHERE:
case PREP_CORNER:
case PREP_HUB:
case PREP_NEUTRAL_TO_ALLIANCE:
case PREP_OPPONENT_TO_ALLIANCE:
case PREP_TOWER:
case PREP_TRENCH:
case REVERSING_SHOOTER:
case INTAKING:
return new PrepCorner();
}
break;
case PREP_NEUTRAL_TO_ALLIANCE:
switch (currentRobotState) {
case NONE:
case RETRACT_INTAKE:
case PREP_ANYWHERE:
case PREP_CORNER:
case PREP_HUB:
case PREP_NEUTRAL_TO_ALLIANCE:
case PREP_OPPONENT_TO_ALLIANCE:
case PREP_TOWER:
case PREP_TRENCH:
case REVERSING_SHOOTER:
case INTAKING:
return new PrepNeutralToAlliance();
}
break;
case PREP_OPPONENT_TO_ALLIANCE:
switch (currentRobotState) {
case NONE:
case RETRACT_INTAKE:
case PREP_ANYWHERE:
case PREP_CORNER:
case PREP_HUB:
case PREP_NEUTRAL_TO_ALLIANCE:
case PREP_OPPONENT_TO_ALLIANCE:
case PREP_TOWER:
case PREP_TRENCH:
case REVERSING_SHOOTER:
case INTAKING:
return new PrepOpponentToAlliance();
}
break;
case PREP_TOWER:
switch (currentRobotState) {
case NONE:
case RETRACT_INTAKE:
case PREP_ANYWHERE:
case PREP_CORNER:
case PREP_HUB:
case PREP_NEUTRAL_TO_ALLIANCE:
case PREP_OPPONENT_TO_ALLIANCE:
case PREP_TOWER:
case PREP_TRENCH:
case REVERSING_SHOOTER:
case INTAKING:
return new PrepTower();
}
break;
case PREP_TRENCH:
switch (currentRobotState) {
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case NONE:
case RETRACT_INTAKE:
case PREP_ANYWHERE:
case PREP_CORNER:
case PREP_HUB:
case PREP_NEUTRAL_TO_ALLIANCE:
case PREP_OPPONENT_TO_ALLIANCE:
case PREP_TOWER:
case PREP_TRENCH:
case REVERSING_SHOOTER:
case INTAKING:
return new PrepTrench();
}
break;
case EJECTING_HOPPER:
switch (currentRobotState) {
case NONE:
case RETRACT_INTAKE:
case PREP_ANYWHERE:
case PREP_CORNER:
case PREP_HUB:
case PREP_NEUTRAL_TO_ALLIANCE:
case PREP_OPPONENT_TO_ALLIANCE:
case PREP_TOWER:
case PREP_TRENCH:
case INTAKING:
return new EjectingHopper();
}

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}
return Commands
.print("ITS SO OVER D: Invalid State Provided, Blame Eli. Attempted to go to: " + desiredState.toString()
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