we are using a command based robot and we have used the metod when pressed for configure button bidings. but this metot is deprecated and doesnt exist on the new version of wpi lib. and i didn understand the substitute method.
private void configureButtonBindings() {
new JoystickButton(driverJoytick, 2).whenPressed(() → swerveSubsystem.zeroHeading());//arrumar
}
.whenPressed() → .onTrue()
The method onTrue(Command) in the type Trigger is not applicable for the arguments (void)Java(67108979)
i get this error
It is very hard for us to help you without seeing your code. A github link would be great. Fletch is right that onTrue is the proper replacement.
Can you post your full method or github link?
package frc.robot;
import java.util.List;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.controller.ProfiledPIDController;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.math.trajectory.TrajectoryConfig;
import edu.wpi.first.math.trajectory.TrajectoryGenerator;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.SwerveControllerCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc.robot.Constants.AutoConstants;
import frc.robot.Constants.DriveConstants;
import frc.robot.Constants.OIConstants;
import frc.robot.commands.SwerveJoystickCmd;
import frc.robot.subsystems.SwerveSubsystem;
//import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.XboxController;
public class RobotContainer {
//coloque seus subsystems aqui
private final SwerveSubsystem swerveSubsystem = new SwerveSubsystem();
private final Joystick driverJoytick = new Joystick(OIConstants.kDriverControllerPort);
static XboxController driverJoystick = new XboxController(OIConstants.kDriverControllerPort);
public RobotContainer() {
swerveSubsystem.setDefaultCommand(new SwerveJoystickCmd(//essa linha de código seta o command do swerve para sempre atuar
swerveSubsystem,
() -> -driverJoytick.getRawAxis(OIConstants.kDriverYAxis),// driverJoystick.getLeftY(),
() -> driverJoytick.getRawAxis(OIConstants.kDriverXAxis),//driverJoystick.getLeftX(),
() -> driverJoytick.getRawAxis(OIConstants.kDriverRotAxis),//driverJoystick.getRightX(),
() -> !driverJoytick.getRawButton(OIConstants.kDriverFieldOrientedButtonIdx) /* driverJoystick.getAButton()*/));
configureButtonBindings();
}
private void configureButtonBindings() {
new JoystickButton(driverJoytick, 2).whenPressed(() -> swerveSubsystem.zeroHeading());//arrumar depois
}
public Command getAutonomousCommand() {
// 1. Create trajectory settings
TrajectoryConfig trajectoryConfig = new TrajectoryConfig(
AutoConstants.kMaxSpeedMetersPerSecond,
AutoConstants.kMaxAccelerationMetersPerSecondSquared)
.setKinematics(DriveConstants.kDriveKinematics);
// 2. Generate trajectory
Trajectory trajectory = TrajectoryGenerator.generateTrajectory(
new Pose2d(0, 0, new Rotation2d(0)),//ponto inicial
List.of(
new Translation2d(1, 0),//pontos intermediarios
new Translation2d(1, -1)),
new Pose2d(2, -1, Rotation2d.fromDegrees(180)),//ponto final
trajectoryConfig);
// 3. Define PID controllers for tracking trajectory
PIDController xController = new PIDController(AutoConstants.kPXController, 0, 0);
PIDController yController = new PIDController(AutoConstants.kPYController, 0, 0);
ProfiledPIDController thetaController = new ProfiledPIDController(
AutoConstants.kPThetaController, 0, 0, AutoConstants.kThetaControllerConstraints);
thetaController.enableContinuousInput(-Math.PI, Math.PI);
// 4. Construct command to follow trajectory
SwerveControllerCommand swerveControllerCommand = new SwerveControllerCommand(
trajectory,
swerveSubsystem::getPose,
DriveConstants.kDriveKinematics,
xController,
yController,
thetaController,
swerveSubsystem::setModuleStates,
swerveSubsystem);
// 5. Add some init and wrap-up, and return everything
return new SequentialCommandGroup(
new InstantCommand(() -> swerveSubsystem.resetOdometry(trajectory.getInitialPose())),
swerveControllerCommand,
new InstantCommand(() -> swerveSubsystem.stopModules()));
}
}
above is robotcontainer
package frc.robot.subsystems;
//import edu.wpi.first.wpilibj.SPI;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
import edu.wpi.first.math.kinematics.SwerveDriveOdometry;
import edu.wpi.first.math.kinematics.SwerveModulePosition;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants.DriveConstants;
//import com.ctre.phoenix6.configs.Pigeon2Configuration;
//yhimport com.ctre.phoenix6.controls.DutyCycleOut;
import com.ctre.phoenix6.hardware.Pigeon2;
public class SwerveSubsystem extends SubsystemBase {
private final SwerveModule frontLeft = new SwerveModule(
DriveConstants.kFrontLeftDriveMotorPort,
DriveConstants.kFrontLeftTurningMotorPort,
DriveConstants.kFrontLeftDriveEncoderReversed,
DriveConstants.kFrontLeftTurningEncoderReversed,
DriveConstants.kFrontLeftDriveAbsoluteEncoderPort,
DriveConstants.kFrontLeftDriveAbsoluteEncoderOffsetRad,
DriveConstants.kFrontLeftDriveAbsoluteEncoderReversed);
private final SwerveModule frontRight = new SwerveModule(
DriveConstants.kFrontRightDriveMotorPort,
DriveConstants.kFrontRightTurningMotorPort,
DriveConstants.kFrontRightDriveEncoderReversed,
DriveConstants.kFrontRightTurningEncoderReversed,
DriveConstants.kFrontRightDriveAbsoluteEncoderPort,
DriveConstants.kFrontRightDriveAbsoluteEncoderOffsetRad,
DriveConstants.kFrontRightDriveAbsoluteEncoderReversed);
private final SwerveModule backLeft = new SwerveModule(
DriveConstants.kBackLeftDriveMotorPort,
DriveConstants.kBackLeftTurningMotorPort,
DriveConstants.kBackLeftDriveEncoderReversed,
DriveConstants.kBackLeftTurningEncoderReversed,
DriveConstants.kBackLeftDriveAbsoluteEncoderPort,
DriveConstants.kBackLeftDriveAbsoluteEncoderOffsetRad,
DriveConstants.kBackLeftDriveAbsoluteEncoderReversed);
private final SwerveModule backRight = new SwerveModule(
DriveConstants.kBackRightDriveMotorPort,
DriveConstants.kBackRightTurningMotorPort,
DriveConstants.kBackRightDriveEncoderReversed,
DriveConstants.kBackRightTurningEncoderReversed,
DriveConstants.kBackRightDriveAbsoluteEncoderPort,
DriveConstants.kBackRightDriveAbsoluteEncoderOffsetRad,
DriveConstants.kBackRightDriveAbsoluteEncoderReversed);
private final Pigeon2 gyro = new Pigeon2(5, "rio");
private final SwerveDriveOdometry odometer = new SwerveDriveOdometry(DriveConstants.kDriveKinematics, new Rotation2d(0),
new SwerveModulePosition[] { frontLeft.getPosition(), frontRight.getPosition(), backLeft.getPosition(),backRight.getPosition()});//(DriveConstants.kDriveKinematics, // arrumar isso aqui (se eu coloquei no chat gpt, provavelmente isso deu erro)
// new Rotation2d(0));
public SwerveSubsystem() {
new Thread(() -> {
try {
Thread.sleep(1000);
zeroHeading();
} catch (Exception e) {
}
}).start();
}
public void zeroHeading() {
gyro.reset();
}
public double getHeading() {
return Math.IEEEremainder(gyro.getAngle(), 360);
}
public Rotation2d getRotation2d() {
return Rotation2d.fromDegrees(getHeading());
}
public Pose2d getPose() {
return odometer.getPoseMeters();
}
public void resetOdometry(Pose2d pose) {
odometer.resetPosition(getRotation2d(), new SwerveModulePosition[] { frontLeft.getPosition(), frontRight.getPosition(), backLeft.getPosition(),
backRight.getPosition()}, pose)/*(pose, getRotation2d())*/; //também tem q arrumar isso
}
@Override
public void periodic() {
odometer.update(getRotation2d(), new SwerveModulePosition[] { frontLeft.getPosition(), frontRight.getPosition(), backLeft.getPosition(),
backRight.getPosition()});//
SmartDashboard.putNumber("Robot Heading", getHeading());
SmartDashboard.putString("Robot Location", getPose().getTranslation().toString());
}
public void stopModules() {
frontLeft.stop();
frontRight.stop();
backLeft.stop();
backRight.stop();
}
public void setModuleStates(SwerveModuleState[] desiredStates) {
SwerveDriveKinematics.desaturateWheelSpeeds(desiredStates, DriveConstants.kPhysicalMaxSpeedMetersPerSecond);
frontLeft.setDesiredState(desiredStates[0]);
frontRight.setDesiredState(desiredStates[1]);
backLeft.setDesiredState(desiredStates[2]);
backRight.setDesiredState(desiredStates[3]);
}
}
above is the swervesubsystem
Wrap your lambdas in Commands by using the run or runOnce method on the subsystem.
sorry, i didnt unsderstood how i do this, i’m new to programming commands
.onTrue(swerveSubsystem.runOnce(swerveSubsystem::zeroHeading))
Have you read this
It has multiple examples of ‘Commands.run’
i created a runnable metod that makes the same thing as the zeroheading
public Runnable heading0() {
gyro.reset();
return null;
}
and i put in the container:
private void configureButtonBindings() {
new JoystickButton(driverJoytick, 2).onTrue(swerveSubsystem.runOnce(swerveSubsystem.heading0()));
}
is it right ?
You should never be instantiating a Runnable. Try reading the links above.
Read the above documentation as stated, and also, look to moving from the XboxController to the CommandXboxController for your joystick class.
Then look at the WPILib examples that use CommandXboxControllers in CommandBased and you’ll see there is example code that does stuff very closely related to what you’re trying to do.
Hi I ran into a similar issue, I was using a Joystick rather than a Xbox controller. I hope it can solve your problem or at least put you in the right direction.
new JoystickButton(driverJoystick, 2).onTrue(swerveSubsystem.runOnce(swerveSubsystem::zeroHeading));
You will want to make that:
new JoystickButton(driverJoystick, 2).onTrue(swerveSubsystem.runOnce(()-> swerveSubsystem::zeroHeading));
Thank you!