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button box thing hopefully done

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aarav18
2022-03-18 15:37:01 -06:00
parent 73f4aa12e4
commit 43e3a14c4d
5 changed files with 402 additions and 384 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+34 -16
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@@ -61,7 +61,7 @@ import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.subsystems.Claws;
import frc4388.robot.subsystems.ClimberRewrite;
import frc4388.robot.subsystems.Climber;
import frc4388.robot.subsystems.Claws.ClawType;
import frc4388.robot.Constants.OIConstants;
import frc4388.robot.Constants.ShooterConstants;
@@ -110,7 +110,7 @@ public class RobotContainer {
public final RobotMap m_robotMap = new RobotMap();
/* Subsystems */
public final ClimberRewrite m_robotClimber = new ClimberRewrite(m_robotMap.shoulder, m_robotMap.elbow, m_robotMap.gyro, false);
public final Climber m_robotClimber = new Climber(m_robotMap.shoulder, m_robotMap.elbow, m_robotMap.gyro, false);
public final Claws m_robotClaws = new Claws(m_robotMap.leftClaw, m_robotMap.rightClaw);
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront, m_robotMap.leftBack, m_robotMap.rightFront, m_robotMap.rightBack, m_robotMap.gyro);
public final Serializer m_robotSerializer = new Serializer(m_robotMap.serializerBelt, /*m_robotMap.serializerShooterBelt,*/ m_robotMap.serializerBeam);
@@ -149,6 +149,8 @@ public class RobotContainer {
.compile(".path")::matcher).andThen(m -> m.replaceFirst(""));
public static boolean softLimits = true;
public enum Mode {SHOOTER, CLIMBER};
public Mode currentMode = Mode.SHOOTER;
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
@@ -202,13 +204,29 @@ public class RobotContainer {
new RunCommand(() -> m_robotSerializer.setSerializer(getOperatorController().getLeftTriggerAxis() * 0.8),//m_robotSerializer.setSerializerStateWithBeam(),
m_robotSerializer).withName("Serializer setSerializerStateWithBeam defaultCommand"));
// Turret Manual
// m_robotTurret.setDefaultCommand(
// new RunCommand(() -> m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()),
// m_robotTurret).withName("Turret runTurretWithInput defaultCommand"));
m_robotTurret.setDefaultCommand(
new RunCommand(() -> m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()),
m_robotTurret).withName("Turret runTurretWithInput defaultCommand"));
new RunCommand(() -> {
if (this.currentMode.equals(Mode.SHOOTER)) { m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()); }
if (this.currentMode.equals(Mode.CLIMBER)) { m_robotTurret.runTurretWithInput(0); }
}, m_robotTurret));
m_robotHood.setDefaultCommand(
new RunCommand(() -> m_robotHood.runHood(getOperatorController().getRightY()), m_robotHood));
// m_robotTurret.setDefaultCommand(
new RunCommand(() -> {
if (this.currentMode.equals(Mode.SHOOTER)) { m_robotHood.runHood(getOperatorController().getRightY()); }
if (this.currentMode.equals(Mode.CLIMBER)) { m_robotHood.runHood(0); }
}, m_robotHood));
m_robotClimber.setDefaultCommand(
new RunCommand(() -> {
if (this.currentMode.equals(Mode.SHOOTER)) { m_robotClimber.setMotors(0, 0); }
if (this.currentMode.equals(Mode.CLIMBER)) { m_robotClimber.setMotors(-getOperatorController().getLeftX(), -getOperatorController().getRightY()); }
}, m_robotClimber));
// m_robotTurret.setDefaultCommand(
// new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry));
// continually sends updates to the Blinkin LED controller to keep the lights on
@@ -318,18 +336,18 @@ public class RobotContainer {
.whenReleased(new InstantCommand(() -> ExtenderIntakeGroup.setDirectionToOut(), m_robotIntake, m_robotExtender))
.whenReleased(new InstantCommand(() -> m_robotClimber.setEncoders(0), m_robotClimber));
new JoystickButton(getButtonBox(), ButtonBox.Button.kMiddleSwitch.value)
// new JoystickButton(getButtonBox(), ButtonBox.Button.kMiddleSwitch.value)
.whenPressed(new InstantCommand(() -> m_robotTurret.setDefaultCommand(null)))
.whenPressed(new InstantCommand(() -> m_robotHood.setDefaultCommand(null)))
.whenPressed(new InstantCommand(() -> m_robotClimber.setDefaultCommand(
new RunCommand(() -> m_robotClimber.setMotors(-getOperatorController().getLeftY(), -getOperatorController().getRightY()), m_robotClimber))))
// .whenPressed(new InstantCommand(() -> m_robotTurret.setDefaultCommand(null)))
// .whenPressed(new InstantCommand(() -> m_robotHood.setDefaultCommand(null)))
// .whenPressed(new InstantCommand(() -> m_robotClimber.setDefaultCommand(
// new RunCommand(() -> m_robotClimber.setMotors(-getOperatorController().getLeftY(), -getOperatorController().getRightY()), m_robotClimber))))
.whenReleased(new InstantCommand(() -> m_robotClimber.setDefaultCommand(null)))
.whenReleased(new InstantCommand(() -> m_robotTurret.setDefaultCommand(
new RunCommand(() -> m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()), m_robotTurret))))
.whenReleased(new InstantCommand(() -> m_robotHood.setDefaultCommand(
new RunCommand(() -> m_robotHood.runHood(getOperatorController().getRightY()), m_robotHood))));
// .whenReleased(new InstantCommand(() -> m_robotClimber.setDefaultCommand(null)))
// .whenReleased(new InstantCommand(() -> m_robotTurret.setDefaultCommand(
// new RunCommand(() -> m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()), m_robotTurret))))
// .whenReleased(new InstantCommand(() -> m_robotHood.setDefaultCommand(
// new RunCommand(() -> m_robotHood.runHood(getOperatorController().getRightY()), m_robotHood))));
// .whenPressed(new InstantCommand(() -> this.currentMode = CurrentMode.CLIMBER))
// .whenReleased(new InstantCommand(() -> this.currentMode = CurrentMode.TURRET));