mirror of
https://github.com/Team4388/2022NoWayHome.git
synced 2026-06-09 00:38:05 -06:00
Significantly improve logging
Allow System.out.print messages to appear Binding cleanup
This commit is contained in:
nathanrsxtn
@@ -18,6 +18,7 @@ import edu.wpi.first.wpilibj.XboxController;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.InstantCommand;
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import edu.wpi.first.wpilibj2.command.PrintCommand;
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import edu.wpi.first.wpilibj2.command.RunCommand;
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import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
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import edu.wpi.first.wpilibj2.command.button.JoystickButton;
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@@ -71,42 +72,33 @@ public class RobotContainer {
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configureButtonBindings();
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/* Default Commands */
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// Swerve Drive with Input
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// Swerve Drive with Input
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m_robotSwerveDrive.setDefaultCommand(
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new RunCommand(() -> m_robotSwerveDrive.driveWithInput(
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getDriverController().getLeftX(),
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getDriverController().getLeftY(),
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//getDriverController().getRightX(),
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getDriverController().getRightX(),
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getDriverController().getRightY(),
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getDriverController().getRightY(),
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true),
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m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand"));
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// Intake with Triggers
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m_robotSwerveDrive));
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// Intake with Triggers
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m_robotIntake.setDefaultCommand(
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new RunCommand(() -> m_robotIntake.runWithTriggers(
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getOperatorController().getLeftTriggerAxis(),
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getOperatorController().getRightTriggerAxis()),
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m_robotIntake).withName("Intake runWithTriggers defaultCommand"));
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// Storage Management
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/*m_robotStorage.setDefaultCommand(
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new RunCommand(() -> m_robotStorage.manageStorage(),
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m_robotStorage).withName("Storage manageStorage defaultCommand"));*/
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// Serializer Management
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// m_robotSerializer.setDefaultCommand(
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// new RunCommand(() -> m_robotSerializer.setSerializer(0.8),//m_robotSerializer.setSerializerStateWithBeam(),
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// m_robotSerializer).withName("Serializer setSerializerStateWithBeam defaultCommand"));
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// Turret Manual
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m_robotTurret.setDefaultCommand(
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new RunCommand(() -> m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()),
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m_robotTurret).withName("Turret runTurretWithInput defaultCommand"));
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m_robotHood.setDefaultCommand(
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new RunCommand(() -> m_robotHood.runHood(getOperatorController().getRightY() * 0.1), m_robotHood));
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// m_robotTurret.setDefaultCommand(
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// new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry));
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m_robotIntake));
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// Storage Management
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// m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.manageStorage(), m_robotStorage).withName("Storage manageStorage defaultCommand"));
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// Serializer Management
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// m_robotSerializer.setDefaultCommand(new RunCommand(() -> m_robotSerializer.setSerializer(0.8),//m_robotSerializer.setSerializerStateWithBeam(), m_robotSerializer).withName("Serializer setSerializerStateWithBeam defaultCommand"));
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// Turret Manual
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m_robotTurret.setDefaultCommand(new RunCommand(() -> m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()), m_robotTurret));
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m_robotHood.setDefaultCommand(new RunCommand(() -> m_robotHood.runHood(getOperatorController().getRightY() * 0.1), m_robotHood));
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// m_robotTurret.setDefaultCommand(new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry));
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// continually sends updates to the Blinkin LED controller to keep the lights on
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// m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, m_robotLED).withName("LED update defaultCommand"));
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// Creates a button on the SmartDashboard that will record the path of the robot.
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SmartDashboard.putData("Path Recording", m_pathChooser);
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}
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@@ -118,6 +110,7 @@ public class RobotContainer {
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* passing it to a {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
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*/
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private void configureButtonBindings() {
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// Iterate over all Xbox controller buttons.
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for (XboxController.Button binding : XboxController.Button.values()) {
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/* ------------------------------------ Driver ------------------------------------ */
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JoystickButton button = new JoystickButton(getDriverController(), binding.value);
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@@ -126,13 +119,13 @@ public class RobotContainer {
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else if (binding == XboxController.Button.kRightBumper)
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/* Right Bumper > Shift Up */ button.whenPressed(() -> m_robotSwerveDrive.highSpeed(true));
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else if (binding == XboxController.Button.kLeftStick)
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/* Left Stick > Unbound */ {/* No Commands */}
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/* Left Stick > Unbound */ button.whenPressed(new PrintCommand("Unbound"));
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else if (binding == XboxController.Button.kRightStick)
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/* Right Stick > Unbound */ {/* No Commands */}
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/* Right Stick > Unbound */ button.whenPressed(new PrintCommand("Unbound"));
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else if (binding == XboxController.Button.kA)
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/* A > Unbound */ {/* No Commands */}
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/* A > Unbound */ button.whenPressed(new PrintCommand("Unbound"));
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else if (binding == XboxController.Button.kB)
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/* B > Unbound */ {/* No Commands */}
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/* B > Unbound */ button.whenPressed(new PrintCommand("Unbound"));
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else if (binding == XboxController.Button.kX)
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/* X > TEMP */ button.whenPressed(() -> {
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m_robotMap.leftFront.reset();
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@@ -141,45 +134,37 @@ public class RobotContainer {
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m_robotMap.rightBack.reset();
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});
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else if (binding == XboxController.Button.kY)
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/* Y > Unbound */ {/* No Commands */}
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/* Y > Unbound */ button.whenPressed(new PrintCommand("Unbound"));
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else if (binding == XboxController.Button.kBack)
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/* Start > Reset Odometry */ button.whenPressed(() -> resetOdometry(new Pose2d(0, 0, new Rotation2d(0))));
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/* Back > Reset Odometry */ button.whenPressed(() -> resetOdometry(new Pose2d(0, 0, new Rotation2d(0))));
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else if (binding == XboxController.Button.kStart)
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/* Start > Reset Gyro */ button.whenPressed(m_robotSwerveDrive::resetGyro);
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/* ------------------------------------ Operator ------------------------------------ */
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button = new JoystickButton(getDriverController(), binding.value);
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if (binding == XboxController.Button.kLeftBumper)
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/* Left Bumper > Storage Out */ button
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.whileHeld(() -> m_robotStorage.runStorage(-StorageConstants.STORAGE_SPEED), m_robotStorage)
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.whenReleased(() -> m_robotStorage.runStorage(0.0), m_robotStorage);
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/* Left Bumper > Storage Out */ button.whileHeld(() -> m_robotStorage.runStorage(-StorageConstants.STORAGE_SPEED), m_robotStorage)
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.whenReleased(() -> m_robotStorage.runStorage(0.0), m_robotStorage);
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else if (binding == XboxController.Button.kRightBumper)
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/* Right Bumper > Storage In */ button
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.whileHeld(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage)
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.whenReleased(() -> m_robotStorage.runStorage(0.0), m_robotStorage);
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/* Right Bumper > Storage In */ button.whileHeld(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage)
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.whenReleased(() -> m_robotStorage.runStorage(0.0), m_robotStorage);
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else if (binding == XboxController.Button.kLeftStick)
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/* Left Stick > Unbound */ {/* No Commands */}
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/* Left Stick > Unbound */ button.whenPressed(new PrintCommand("Unbound"));
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else if (binding == XboxController.Button.kRightStick)
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/* Right Stick > Unbound */ {/* No Commands */}
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/* Right Stick > Unbound */ button.whenPressed(new PrintCommand("Unbound"));
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else if (binding == XboxController.Button.kA)
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// /* A > Shoot with Odo */ // button.whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood))
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/* A > Unbound */ {/* No Commands */}
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/* A > Unbound */ button.whenPressed(new PrintCommand("Unbound"));
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else if (binding == XboxController.Button.kB)
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// /* B > Shoot with Lime */ // button.whenPressed(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotSwerveDrive, m_robotVisionOdometry))
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/* B > Reset Hood*/
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button.whenPressed(new InstantCommand(() -> m_robotHood.m_angleEncoder.setPosition(0)));
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/* B > Reset Hood*/ button.whenPressed(new InstantCommand(() -> m_robotHood.m_angleEncoder.setPosition(0)));
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else if (binding == XboxController.Button.kX)
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// /* X > Extend Intake */ // button.whenPressed(() -> m_robotIntake.runExtender(true))
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/* X > Run Shooter */ button
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.whileHeld(() -> m_robotBoomBoom.runDrumShooter(0.3))
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.whenReleased(() -> m_robotBoomBoom.runDrumShooter(0.0));
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/* X > Run Shooter */ button.whileHeld(() -> m_robotBoomBoom.runDrumShooter(0.3))
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.whenReleased(() -> m_robotBoomBoom.runDrumShooter(0.0));
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else if (binding == XboxController.Button.kY)
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// /* Y > Retract Intake */ // operatorButton.whenPressed(() -> m_robotIntake.runExtender(false))
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/* Y > Unbound */ {/* No Commands */}
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/* Y > Unbound */ button.whenPressed(new PrintCommand("Unbound"));
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else if (binding == XboxController.Button.kBack)
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/* Back > Unbound */ {/* No Commands */}
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/* Back > Unbound */ button.whenPressed(new PrintCommand("Unbound"));
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else if (binding == XboxController.Button.kStart)
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/* Start > Unbound */ {/* No Commands */}
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/* Start > Unbound */ button.whenPressed(new PrintCommand("Unbound"));
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}
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}
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@@ -215,6 +200,10 @@ public class RobotContainer {
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return m_driverXbox;
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}
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public XboxController getOperatorController() {
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return m_operatorXbox;
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}
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/**
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* Get odometry.
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*
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@@ -232,8 +221,4 @@ public class RobotContainer {
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public void resetOdometry(Pose2d pose) {
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m_robotSwerveDrive.resetOdometry(pose);
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}
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public XboxController getOperatorController() {
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return m_operatorXbox;
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}
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}
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