Add button to lock wheels

simgui-ds.json

@@ -1,4 +1,9 @@
 {
+  "Keyboard 0 Settings": {
+    "window": {
+      "visible": true
+    }
+  },
   "keyboardJoysticks": [
     {
       "axisConfig": [
@@ -42,7 +47,7 @@
           "key270": 324,
           "key315": 327,
           "key45": 329,
-          "key90": 326
+          "key90": 54
         }
       ],
       "povCount": 1
@@ -83,7 +88,7 @@
         51,
         52,
         53,
-        54
+        -1
       ],
       "povCount": 0
     },
@@ -94,11 +99,6 @@
     }
   ],
   "robotJoysticks": [
-    {
-      "guid": "78696e70757401000000000000000000",
-      "useGamepad": true
-    },
-    {},
     {
       "guid": "Keyboard0"
     }

src/main/java/frc/robot/Robot.java

@@ -74,6 +74,8 @@ public void robotPeriodic() {
         // block in order for anything in the Command-based framework to work.
         CommandScheduler.getInstance().run();
         logPowerDistribution();
+
+        Logger.recordOutput("Drive/WheelsLocked", m_robotContainer.getBraking());
     }
 
     private void logPowerDistribution() {

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

@@ -102,6 +102,7 @@ public class RobotContainer {
     private final SlewRateLimiter robotYSlewFilter = new SlewRateLimiter(Constants.SlewLimits.slewTranslateLimit.in(MetersPerSecondPerSecond));
     private final SlewRateLimiter robotRotateSlewFilter = new SlewRateLimiter(Constants.SlewLimits.slewRotateLimit.in(RadiansPerSecondPerSecond));
     private boolean simRobotCentricMode = false;
+    private boolean braking = false;
 
     private final SubsystemCommands subsystemCommands = new SubsystemCommands(
         swerve,
@@ -384,41 +385,8 @@ private void configureBindings() {
     }
 
     private void configureSimBindings() {
-        swerve.setDefaultCommand(
-            swerve.applyRequest(() -> {
-                if (!isSimControllerConnected() && !isDriverControllerConnected()) {
-                    return fieldCentricDrive.withVelocityX(0.0).withVelocityY(0.0).withRotationalRate(0.0);
-                }
-
-                double exponentVelocity =
-                    Constants.SimConstants.controllerVelocityCurveExponent;
-                double exponentRotation =
-                    Constants.SimConstants.controllerRotationCurveExponent;
-
-                if (!simRobotCentricMode) {
-                    double fieldX = fieldXSlewFilter.calculate(
-                        Constants.Driving.kMaxSpeed.in(MetersPerSecond)
-                            * ExponentialConvert(getSimLeftInput(), exponentVelocity));
-                    double fieldY = fieldYSlewFilter.calculate(
-                        Constants.Driving.kMaxSpeed.in(MetersPerSecond)
-                            * ExponentialConvert(getSimForwardInput(), exponentVelocity));
-                    double fieldRotate = fieldRotateSlewFilter.calculate(
-                        Constants.Driving.kMaxRotationalRate.in(RadiansPerSecond)
-                            * ExponentialConvert(getSimRotationInput(), exponentRotation));
-                    return fieldCentricDrive.withVelocityX(fieldX).withVelocityY(fieldY).withRotationalRate(fieldRotate);
-                } else {
-                    double robotX = robotXSlewFilter.calculate(
-                        Constants.Driving.kMaxSpeed.in(MetersPerSecond)
-                            * ExponentialConvert(getSimLeftInput(), exponentVelocity));
-                    double robotY = robotYSlewFilter.calculate(
-                        Constants.Driving.kMaxSpeed.in(MetersPerSecond)
-                            * ExponentialConvert(getSimForwardInput(), exponentVelocity));
-                    double robotRotate = robotRotateSlewFilter.calculate(
-                        Constants.Driving.kMaxRotationalRate.in(RadiansPerSecond)
-                            * ExponentialConvert(getSimRotationInput(), exponentRotation));
-                    return robotCentricDrive.withVelocityX(robotX).withVelocityY(robotY).withRotationalRate(robotRotate);
-                }
-            }));
+        configureManualDriveBindings();
+
         // Mirror driver-facing bindings on the sim joystick so the same features exist in sim.
         simButton(Constants.SimControllerButtons.kAutoAim)
             .or(driverRightStickButton())
@@ -447,9 +415,9 @@ private void configureSimBindings() {
         simButton(Constants.SimControllerButtons.kHangerUp)
             .or(driverPovLeft())
             .onTrue(hanger.positionCommand(Hanger.Position.HANGER_EXTEND));
-        simButton(Constants.SimControllerButtons.kHangerDown)
-            .or(driverPovRight())
-            .onTrue(hanger.positionCommand(Hanger.Position.HANGER_HOME));
+        // simButton(Constants.SimControllerButtons.kHangerDown)
+        //     .or(driverPovRight())
+        //     .onTrue(hanger.positionCommand(Hanger.Position.HANGER_HOME));
         simButton(Constants.SimControllerButtons.kHoodForward)
             .or(driver.y())
             .onTrue(hood.positionCommand(0.75));
@@ -561,6 +529,13 @@ private void configureManualDriveBindings() {
         );
         swerve.setDefaultCommand(manualDriveCommand);
         driver.back().onTrue(Commands.runOnce(() -> manualDriveCommand.seedFieldCentric()));
+
+        Command brakeCommand = swerve.applyRequest(() -> new SwerveRequest.SwerveDriveBrake())
+            .beforeStarting(() -> braking = true)
+            .finallyDo((interrupted) -> braking = false);
+
+        driver.povRight().toggleOnTrue(brakeCommand);
+
     }
 
     public static double ExponentialConvert(double controllerValue, double exponent) {
@@ -583,6 +558,10 @@ public void logSwerveStickyFaults() {
         swerve.logStickyFaults();
     }
 
+    public boolean getBraking() {
+        return braking;
+    }
+
     public void autonomousInit() {
         Logger.recordOutput("Auto/CurrentAuto", autoChooser.getSelected().getName());
     }

src/main/java/frc/robot/commands/ManualDriveCommand.java

@@ -148,15 +148,17 @@ public void execute() {
             previousInput = input;
             return;
         }
+
+        currentState = State.IDLING;
         if (input.hasRotation()) {
-            currentState = State.DRIVING_WITH_MANUAL_ROTATION;
+        currentState = State.DRIVING_WITH_MANUAL_ROTATION;
         } else if (input.hasTranslation()) {
             currentState = lockedHeading.isPresent() ? State.DRIVING_WITH_LOCKED_HEADING : State.DRIVING_WITH_MANUAL_ROTATION;
         } else if (previousInput.hasRotation() || previousInput.hasTranslation()) {
             currentState = State.IDLING;
         }
+
         previousInput = input;
-
         switch (currentState) {
             case IDLING:
                 swerve.setControl(idleRequest);