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Fix button bindings

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Allow extender commands to run in sim
This commit is contained in:
nathanrsxtn
2022-04-20 17:12:00 -06:00
parent af8e6dff14
commit 0ec68ed151
4 changed files with 27 additions and 23 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+21 -21
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@@ -190,19 +190,19 @@ public class RobotContainer {
/* Right Stick > Unbound */
new JoystickButton(getDriverController(), XboxController.Button.kRightStick.value)
.whenPressed(new PrintCommand("Unbound"));
/* A > Unbound */
/* A > Toggle Climber */
new JoystickButton(getDriverController(), XboxController.Button.kA.value)
.whenPressed(this::switchControlMode)
.whenReleased(this::switchControlMode);
/* B > Unbound */
.whenPressed(this::toggleClimberControlMode)
.whenReleased(this::toggleClimberControlMode);
/* B > Switch Drive Mode */
new JoystickButton(getDriverController(), XboxController.Button.kB.value)
.whenPressed(this::switchDriveMode)
.whenReleased(this::switchDriveMode);
/* X > Unbound */
/* X > Run Extender Out */
new JoystickButton(getDriverController(), XboxController.Button.kX.value)
.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(1.0), m_robotExtender))
.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
/* Y > Unbound */
/* Y > Run Extender In */
new JoystickButton(getDriverController(), XboxController.Button.kY.value)
.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender))
.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
@@ -225,37 +225,37 @@ public class RobotContainer {
private void configureOperatorButtonBindings() {
/* Left Bumper > Storage In */
new JoystickButton(getDriverController(), XboxController.Button.kLeftBumper.value).whileHeld(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED)))
new JoystickButton(getOperatorController(), XboxController.Button.kLeftBumper.value).whileHeld(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED)))
.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0)));
/* Right Bumper > Storage Out */
new JoystickButton(getDriverController(), XboxController.Button.kRightBumper.value).whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-StorageConstants.STORAGE_SPEED)))
new JoystickButton(getOperatorController(), XboxController.Button.kRightBumper.value).whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-StorageConstants.STORAGE_SPEED)))
.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0)));
/* Left Stick > Unbound */
new JoystickButton(getDriverController(), XboxController.Button.kLeftStick.value).whenPressed(new PrintCommand("Unbound"));
new JoystickButton(getOperatorController(), XboxController.Button.kLeftStick.value).whenPressed(new PrintCommand("Unbound"));
/* Right Stick > Unbound */
new JoystickButton(getDriverController(), XboxController.Button.kRightStick.value).whenPressed(new PrintCommand("Unbound"));
new JoystickButton(getOperatorController(), XboxController.Button.kRightStick.value).whenPressed(new PrintCommand("Unbound"));
/* A > Spit Out Ball */
new JoystickButton(getDriverController(), XboxController.Button.kA.value).whileHeld(new RunCommand(m_robotTurret::gotoMidpoint, m_robotTurret))
new JoystickButton(getOperatorController(), XboxController.Button.kA.value).whileHeld(new RunCommand(m_robotTurret::gotoMidpoint, m_robotTurret))
.whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.25)));
/* B > Toggle Claws */
new JoystickButton(getDriverController(), XboxController.Button.kB.value).whenPressed(m_robotClaws::toggleClaws, m_robotClaws);
new JoystickButton(getOperatorController(), XboxController.Button.kB.value).whenPressed(m_robotClaws::toggleClaws, m_robotClaws);
/* X > Toggle Extender Deployment */
new JoystickButton(getDriverController(), XboxController.Button.kX.value).whenPressed(new ConditionalCommand(new DeployExtender(m_robotExtender, m_robotIntake), new RetractExtender(m_robotExtender), m_robotExtender::isRetracted));
new JoystickButton(getOperatorController(), XboxController.Button.kX.value).whenPressed(new ConditionalCommand(new DeployExtender(m_robotExtender, m_robotIntake), new RetractExtender(m_robotExtender), m_robotExtender::isRetracted));
/* Y > Track Target */
new JoystickButton(getDriverController(), XboxController.Button.kY.value).whileHeld(new TrackTarget(m_robotVisionOdometry, m_robotTurret, m_robotHood, m_robotBoomBoom));
new JoystickButton(getOperatorController(), XboxController.Button.kY.value).whileHeld(new TrackTarget(m_robotVisionOdometry, m_robotTurret, m_robotHood, m_robotBoomBoom));
/* Back > Unbound */
new JoystickButton(getDriverController(), XboxController.Button.kBack.value).whenPressed(new PrintCommand("Unbound"));
new JoystickButton(getOperatorController(), XboxController.Button.kBack.value).whenPressed(new PrintCommand("Unbound"));
/* Start > Unbound */
new JoystickButton(getDriverController(), XboxController.Button.kStart.value).whenPressed(new PrintCommand("Unbound"));
new JoystickButton(getOperatorController(), XboxController.Button.kStart.value).whenPressed(new PrintCommand("Unbound"));
/* D-pad Up > Unbound */
new POVButton(getDriverController(), 0).whenPressed(new PrintCommand("Unbound"));
new POVButton(getOperatorController(), 0).whenPressed(new PrintCommand("Unbound"));
/* D-pad Right > Unbound */
new POVButton(getDriverController(), 90).whenPressed(new PrintCommand("Unbound"));
new POVButton(getOperatorController(), 90).whenPressed(new PrintCommand("Unbound"));
/* D-pad Down > Unbound */
new POVButton(getDriverController(), 180).whenPressed(new PrintCommand("Unbound"));
new POVButton(getOperatorController(), 180).whenPressed(new PrintCommand("Unbound"));
/* D-pad Left > Unbound */
new POVButton(getDriverController(), 270).whenPressed(new PrintCommand("Unbound"));
new POVButton(getOperatorController(), 270).whenPressed(new PrintCommand("Unbound"));
}
private void configureBoxButtonBindings() {
@@ -306,7 +306,7 @@ public class RobotContainer {
return m_robotTurret.isLockedOn() || m_robotHood.isLockedOn() || m_robotBoomBoom.isLockedOn();
}
public void switchControlMode() {
public void toggleClimberControlMode() {
isClimberControlMode = !isClimberControlMode;
}
src/main/java/frc4388/robot/commands/AutonomousBuilder.java
+2
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@@ -32,6 +32,7 @@ public class AutonomousBuilder {
private final Turret m_turret;
private final Hood m_hood;
private final VisionOdometry m_visionOdometry;
public AutonomousBuilder(RobotContainer robotContainer) {
m_robotContainer = robotContainer;
m_drive = m_robotContainer.m_robotSwerveDrive;
@@ -44,6 +45,7 @@ public class AutonomousBuilder {
m_hood = m_robotContainer.m_robotHood;
m_visionOdometry = m_robotContainer.m_robotVisionOdometry;
}
public Command buildOneBallCommand() {
return CommandGroupBase.sequence(
buildStartupCommandPart(),
src/main/java/frc4388/robot/commands/extender/DeployExtender.java
+2 -1
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@@ -1,5 +1,6 @@
package frc4388.robot.commands.extender;
import edu.wpi.first.wpilibj.RobotBase;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.subsystems.Extender;
import frc4388.robot.subsystems.Intake;
@@ -28,6 +29,6 @@ public class DeployExtender extends CommandBase {
@Override
public boolean isFinished() {
return m_extender.isDeployed();
return RobotBase.isSimulation() || m_extender.isDeployed();
}
}
src/main/java/frc4388/robot/commands/extender/RetractExtender.java
+2 -1
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@@ -1,5 +1,6 @@
package frc4388.robot.commands.extender;
import edu.wpi.first.wpilibj.RobotBase;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.subsystems.Extender;
@@ -23,6 +24,6 @@ public class RetractExtender extends CommandBase {
@Override
public boolean isFinished() {
return m_extender.isRetracted();
return RobotBase.isSimulation() || m_extender.isRetracted();
}
}