Team4388/2022NoWayHome
1
0
Fork 0
mirror of https://github.com/Team4388/2022NoWayHome.git synced 2026-06-09 00:38:05 -06:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'testRoboReveal' of https://github.com/Team4388/2022NoWayHome into testRoboReveal

Browse Source
This commit is contained in:
Ryan Manley
2022-03-12 20:40:07 -07:00
parent ae9890f34b e23ad1c0b6
commit 26fe6f6500
8 changed files with 105 additions and 57 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/RobotContainer.java
+17 -38
View File
@@ -29,7 +29,6 @@ import java.util.regex.Matcher;
import java.util.regex.Pattern;
import java.util.stream.Collectors;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.diffplug.common.base.Errors;
import com.pathplanner.lib.PathPlanner;
@@ -58,11 +57,11 @@ import edu.wpi.first.wpilibj2.command.NotifierCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.LEDConstants;
import frc4388.robot.Constants.OIConstants;
import frc4388.robot.Constants.StorageConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.robot.commands.AimToCenter;
import frc4388.robot.commands.RunMiddleSwitch;
import frc4388.robot.commands.Shoot;
import frc4388.robot.commands.TrackTarget;
import frc4388.robot.subsystems.BoomBoom;
@@ -116,7 +115,7 @@ public class RobotContainer {
/* Controllers */
private final XboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
private final XboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
private final ButtonBox m_buttonFox = new ButtonBox(OIConstants.BUTTON_FOX_ID);
private final ButtonBox m_buttonBox = new ButtonBox(OIConstants.BUTTON_BOX_ID);
/* Autonomous */
private PathPlannerTrajectory loadedPathTrajectory = null;
@@ -226,19 +225,14 @@ public class RobotContainer {
// .whenPressed(() -> m_robotMap.leftBack.reset())
// .whenPressed(() -> m_robotMap.rightBack.reset());
/* Operator Buttons */
// X > Extend Intake
/*new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
.whenPressed(() -> m_robotIntake.runExtender(true));
new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
.whenPressed(new InstantCommand(() -> m_robotVisionOdometry.setLEDs(true), m_robotVisionOdometry));
// Y > Retract Intake
new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
.whenPressed(() -> m_robotIntake.runExtender(false));*/
// new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
// .whenPressed(() -> m_robotIntake.runExtender(false));
// new JoystickButton(getOperatorController(), XboxController.Button.kA.value) //8ft
// .whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.425)))
@@ -263,7 +257,7 @@ public class RobotContainer {
.whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.0)));
new JoystickButton(getOperatorController(), XboxController.Button.kLeftBumper.value)
.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-0.9), m_robotStorage))
.whenPressed(new RunCommand(() -> m_robotStorage.runStorage(-0.9), m_robotStorage))
.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
new JoystickButton(getOperatorController(), XboxController.Button.kRightBumper.value)
@@ -286,7 +280,6 @@ public class RobotContainer {
// .whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-StorageConstants.STORAGE_SPEED)))
// .whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0)));
// A > Shoot with Odo
/*new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
.whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood));*/
@@ -296,37 +289,23 @@ public class RobotContainer {
// .whenPressed(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotSwerveDrive, m_robotVisionOdometry));
/* Button Box Buttons */
new JoystickButton(getButtonFox(), ButtonBox.Button.kLeftSwitch.value)
.whenPressed(new RunCommand(() -> setManual(true)))
.whenReleased(new RunCommand(() -> setManual(false)));
new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftSwitch.value)
.whileHeld(new RunCommand(() -> RunMiddleSwitch.setManual(true)))
.whenReleased(new RunCommand(() -> RunMiddleSwitch.setManual(false)));
// new JoystickButton(getButtonFox(), ButtonBox.Button.kMiddleSwitch.value)
// .whileHeld(new RunCommand(() -> System.out.println("MiddleSwitch")));
new JoystickButton(getButtonBox(), ButtonBox.Button.kMiddleSwitch.value)
.whileHeld(new RunMiddleSwitch());
new JoystickButton(getButtonFox(), ButtonBox.Button.kRightSwitch.value)
new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value)
.whileHeld(new RunCommand(() -> System.out.println("RightSwitch")));
new JoystickButton(getButtonFox(), ButtonBox.Button.kLeftButton.value)
new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftButton.value)
.whileHeld(new RunCommand(() -> System.out.println("LeftButton")));
new JoystickButton(getButtonFox(), ButtonBox.Button.kRightButton.value)
new JoystickButton(getButtonBox(), ButtonBox.Button.kRightButton.value)
.whileHeld(new RunCommand(() -> System.out.println("RightButton")));
}
public void configureManualButtonBindings() {
new JoystickButton(getButtonFox(), ButtonBox.Button.kMiddleSwitch.value)
.whileHeld(new RunCommand(() -> System.out.println("MANUAL")));
}
public void configureAutomaticButtonBindings() {
new JoystickButton(getButtonFox(), ButtonBox.Button.kMiddleSwitch.value)
.whileHeld(new RunCommand(() -> System.out.println("AUTOMATIC")));
}
/**
* Use this to pass the autonomous command to the main {@link Robot} class.
*
@@ -363,8 +342,8 @@ public class RobotContainer {
return m_operatorXbox;
}
public ButtonBox getButtonFox() {
return m_buttonFox;
public ButtonBox getButtonBox() {
return m_buttonBox;
}
public void setManual(boolean set) {