Hanger Module Organization

[dlezcan1]

This is a good start! Here's some suggestions

For the HangerModule class, can you implement the following:

• MoveUp() -> Moves hanger module up
• MoveDown() -> Moves hanger module down
• Implement the initSendable(Builder) function for better modularity in implementing the ShuffleBoard elements

For the Hanger class, do the following

• In HangStop() function, call the HangerModule.HangStop() functions instead of Move(0)
• Implement GetLeftModule(), GetRightModule() to return access to the left and right hanger submoudles
• Remove the (Left/Right)Hang(Up/Down/Stop/IsDown) commands and replace any bindings with Hanger.Get(Left/Right)Module().. This is a neater way to do this.
• Change the Hanger.initSendable to use the HangerModule.initSenable with the Left/Right submodules named.
• Change Hanger Speed variables to be static final

[dlezcan1]

Almost there @jforchheimer25. Some things that will cause issue with the command scheduler is with your debug controller bindings.

2024_Official/src/main/java/frc/robot/RobotContainer.java

Lines 263 to 287 in e152885

	debugController
	.leftBumper() // Left Hanger arm down
	.whileTrue(
	m_Hanger.runEnd(
	() -> m_Hanger.leftHangerModule().MoveHangDown(),
	() -> m_Hanger.leftHangerModule().HangStop()));
	debugController
	.a() // Left Hanger arm up
	.whileTrue(
	m_Hanger.runEnd(
	() -> m_Hanger.leftHangerModule().MoveHangUp(),
	() -> m_Hanger.leftHangerModule().HangStop()));
	debugController
	.rightBumper() // Right Hanger arm down
	.whileTrue(
	m_Hanger.runEnd(
	() -> m_Hanger.rightHangerModule().MoveHangDown(),
	() -> m_Hanger.leftHangerModule().HangStop()));
	debugController
	.b() // Right Hanger arm up
	.whileTrue(
	m_Hanger.runEnd(
	() -> m_Hanger.rightHangerModule().MoveHangUp(),
	() -> m_Hanger.leftHangerModule().HangStop()));

Here, the Hanger submodule will cause a lock on the commands running and you won't be able to run each hanger arm at the same time. Thus, you would want to change it as an example:

debugController
        .leftBumper() // Left Hanger arm down
        .whileTrue(
            m_Hanger.leftHangerModule().runEnd(
                m_Hanger.leftHangerModule()::MoveHangDown,
                m_Hanger.leftHangerModule()::HangStop
             )
        );

This way, this won't cause for issues with the bindings.

[dlezcan1]

Similarly, with the auto hang feature in the commands, it's missing the requirements needed to hold each of those hanger modules.

2024_Official/src/main/java/frc/robot/subsystems/Hanger.java

Lines 77 to 93 in e152885

	public Command LowerHangAuto() {
	Command cmd =
	Commands.parallel(
	Commands.runEnd(
	() -> rightHangerModule().MoveHangDown(),
	() -> rightHangerModule().HangStop())
	.until(() -> rightHangerModule().HangIsDown()),
	Commands.runEnd(
	() -> leftHangerModule().MoveHangDown(),
	() -> leftHangerModule().HangStop())
	.until(() -> leftHangerModule().HangIsDown()))
	.finallyDo(this::StopHangers);
	cmd.addRequirements(this);
	return cmd;
	}

Here, we would need to change it so that we are running

leftHangerModule().runEnd(leftHangerModule()::MoveHangDown, leftHangerModule()::HangStop)

and similary with the rightHangerModule.

Finally, you would need to require the hanger subsystem, so finally, you would take the Command cmd and addRequirements(this) inside this function to ensure that the hanger doesn't run anymore code.

Same with the Hanger.RaiseHangAuto function.

[dlezcan1]

Finally, I think this might be a better method for adding the data to SmartDashboard.

2024_Official/src/main/java/frc/robot/subsystems/Intake.java

Lines 167 to 170 in e152885

	public void initSendable(SendableBuilder builder) {
	super.initSendable(builder);
	m_IntakeWheels.initSendable(builder);

This can be changed in DriveTrain and Hanger and I believe that would be best. Double check it looks alright with the simulation when you're done.

This should be updated:

2024_Official/src/main/java/frc/robot/subsystems/Hanger.java

Lines 96 to 100 in e152885

	public void initSendable(SendableBuilder builder) {
	super.initSendable(builder);
	SmartDashboard.putData("Hanger/" + leftHangerModule().getName(), leftHangerModule());
	SmartDashboard.putData("Hanger/" + rightHangerModule().getName(), rightHangerModule());
	}

[jforchheimer25]

Almost there @jforchheimer25. Some things that will cause issue with the command scheduler is with your debug controller bindings.

2024_Official/src/main/java/frc/robot/RobotContainer.java

Lines 263 to 287 in e152885

	debugController
	.leftBumper() // Left Hanger arm down
	.whileTrue(
	m_Hanger.runEnd(
	() -> m_Hanger.leftHangerModule().MoveHangDown(),
	() -> m_Hanger.leftHangerModule().HangStop()));
	debugController
	.a() // Left Hanger arm up
	.whileTrue(
	m_Hanger.runEnd(
	() -> m_Hanger.leftHangerModule().MoveHangUp(),
	() -> m_Hanger.leftHangerModule().HangStop()));
	debugController
	.rightBumper() // Right Hanger arm down
	.whileTrue(
	m_Hanger.runEnd(
	() -> m_Hanger.rightHangerModule().MoveHangDown(),
	() -> m_Hanger.leftHangerModule().HangStop()));
	debugController
	.b() // Right Hanger arm up
	.whileTrue(
	m_Hanger.runEnd(
	() -> m_Hanger.rightHangerModule().MoveHangUp(),
	() -> m_Hanger.leftHangerModule().HangStop()));

Here, the Hanger submodule will cause a lock on the commands running and you won't be able to run each hanger arm at the same time. Thus, you would want to change it as an example:

debugController
        .leftBumper() // Left Hanger arm down
        .whileTrue(
            m_Hanger.leftHangerModule().runEnd(
                m_Hanger.leftHangerModule()::MoveHangDown,
                m_Hanger.leftHangerModule()::HangStop
             )
        );

This way, this won't cause for issues with the bindings.

Jared: Since this command is requiring the same sub? But if thats the case, isnt using the two modules twice requiring the same sub? (If i create the object twice does that get around the scheduler?)

[dlezcan1]

That and you need to run it with the left/right hanger module subsystem, not the hanger subsystem.

[jforchheimer25]

Im gonna commit in a sec, almost done with updates (probably at 11:45/12)
Ill text you when I do
Are you saying to add reqs within the parell for each also?

[dlezcan1]

The only req you need to add with the parallel is the Hanger req. The others should run directly from the left/right hanger modules individually

[jforchheimer25]

2024_Official/src/main/java/frc/robot/subsystems/Hanger.java

Lines 90 to 93 in e152885

	cmd.addRequirements(this);
	return cmd;
	}

)

So your saying this is fine?

[dlezcan1]

That part, but the commands in parallel need to be updated.

[jforchheimer25]

This is fine right

[dlezcan1]

Should be fine.

[jforchheimer25]

I committed. Go check it out:
https://github.com/BLlakers/2024_Official/commit/a575ac568a2e76b5174d14fa24a329f5db8bd07b

[dlezcan1]

Create a pull request into Dev and I'll review there.

[jforchheimer25]

The PR was created.

[dlezcan1]

@jforchheimer25 I reviewed. Comments need to be addressed.

[dlezcan1]

Please address the comments on the PR first.