mirror of
https://github.com/Team4388/2022NoWayHome.git
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Upgrade to 2022
* Update license * Remove arcade drive * Correct indentation * Disable RobotGyro (new gyro is untested)
This commit is contained in:
nathanrsxtn
@@ -1,9 +1,6 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc4388.robot;
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@@ -13,7 +10,6 @@ import edu.wpi.first.wpilibj2.command.InstantCommand;
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import edu.wpi.first.wpilibj2.command.RunCommand;
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import edu.wpi.first.wpilibj2.command.button.JoystickButton;
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import frc4388.robot.Constants.*;
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import frc4388.robot.subsystems.ArcadeDrive;
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import frc4388.robot.subsystems.LED;
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import frc4388.robot.subsystems.SwerveDrive;
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import frc4388.utility.LEDPatterns;
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@@ -28,105 +24,94 @@ import frc4388.utility.controller.XboxController;
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* commands, and button mappings) should be declared here.
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*/
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public class RobotContainer {
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/* RobotMap */
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private final RobotMap m_robotMap = new RobotMap();
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/* RobotMap */
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private final RobotMap m_robotMap = new RobotMap();
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/* Subsystems */
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//private final ArcadeDrive m_robotArcadeDrive = new ArcadeDrive(m_robotMap.leftFrontMotor, m_robotMap.rightFrontMotor,
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// m_robotMap.leftBackMotor, m_robotMap.rightBackMotor, m_robotMap.driveTrain, m_robotMap.gyroDrive);
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/* Subsystems */
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private final SwerveDrive m_robotSwerveDrive = new SwerveDrive(
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m_robotMap.leftFrontSteerMotor, m_robotMap.leftFrontWheelMotor,
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m_robotMap.rightFrontSteerMotor, m_robotMap.rightFrontWheelMotor,
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m_robotMap.leftBackSteerMotor, m_robotMap.leftBackWheelMotor,
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m_robotMap.rightBackSteerMotor, m_robotMap.rightBackWheelMotor,
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m_robotMap.leftFrontEncoder,
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m_robotMap.rightFrontEncoder,
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m_robotMap.leftBackEncoder,
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m_robotMap.rightBackEncoder
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);
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private final SwerveDrive m_robotSwerveDrive = new SwerveDrive(
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m_robotMap.leftFrontSteerMotor, m_robotMap.leftFrontWheelMotor,
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m_robotMap.rightFrontSteerMotor, m_robotMap.rightFrontWheelMotor,
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m_robotMap.leftBackSteerMotor, m_robotMap.leftBackWheelMotor,
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m_robotMap.rightBackSteerMotor, m_robotMap.rightBackWheelMotor,
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m_robotMap.leftFrontEncoder,
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m_robotMap.rightFrontEncoder,
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m_robotMap.leftBackEncoder,
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m_robotMap.rightBackEncoder
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);
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private final LED m_robotLED = new LED(m_robotMap.LEDController);
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private final LED m_robotLED = new LED(m_robotMap.LEDController);
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/* Controllers */
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private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
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private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
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/* Controllers */
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private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
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private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
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/**
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* The container for the robot. Contains subsystems, OI devices, and commands.
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*/
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public RobotContainer() {
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configureButtonBindings();
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/**
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* The container for the robot. Contains subsystems, OI devices, and commands.
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*/
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public RobotContainer() {
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configureButtonBindings();
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/* Default Commands */
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// drives the swerve drive with a two-axis input from the driver controller
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m_robotSwerveDrive.setDefaultCommand(
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new RunCommand(() -> m_robotSwerveDrive.driveWithInput(getDriverController().getLeftXAxis(),
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getDriverController().getLeftYAxis(), getDriverController().getRightXAxis(), false), m_robotSwerveDrive));
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/* Default Commands */
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// drives the arcade drive with a two-axis input from the driver controller
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/*m_robotArcadeDrive.setDefaultCommand(
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new RunCommand(() -> m_robotArcadeDrive.driveWithInput(getDriverController().getLeftYAxis(),
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getDriverController().getRightXAxis()), m_robotArcadeDrive));*/
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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));
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}
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// drives the swerve drive with a two-axis input from the driver controller
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m_robotSwerveDrive.setDefaultCommand(
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new RunCommand(() -> m_robotSwerveDrive.driveWithInput(getDriverController().getLeftXAxis(),
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getDriverController().getLeftYAxis(), getDriverController().getRightXAxis(), false), m_robotSwerveDrive));
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/**
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* Use this method to define your button->command mappings. Buttons can be
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* created by instantiating a {@link GenericHID} or one of its subclasses
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* ({@link edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then
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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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/* Driver Buttons */
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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));
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}
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/* Operator Buttons */
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// activates "Lit Mode"
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new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
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.whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
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.whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
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}
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/**
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* Use this method to define your button->command mappings. Buttons can be
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* created by instantiating a {@link GenericHID} or one of its subclasses
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* ({@link edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then
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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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/* Driver Buttons */
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// test command to spin the robot while pressing A on the driver controller
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//new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
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//.whileHeld(() -> m_robotArcadeDrive.driveWithInput(0, 1));
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/**
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* Use this to pass the autonomous command to the main {@link Robot} class.
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*
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* @return the command to run in autonomous
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*/
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public Command getAutonomousCommand() {
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// no auto
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return new InstantCommand();
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}
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/* Operator Buttons */
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// activates "Lit Mode"
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new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
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.whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
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.whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
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}
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/**
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* Add your docs here.
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*/
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public IHandController getDriverController() {
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return m_driverXbox;
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}
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/**
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* Use this to pass the autonomous command to the main {@link Robot} class.
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*
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* @return the command to run in autonomous
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*/
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public Command getAutonomousCommand() {
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// no auto
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return new InstantCommand();
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}
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/**
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* Add your docs here.
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*/
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public IHandController getOperatorController() {
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return m_operatorXbox;
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}
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/**
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* Add your docs here.
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*/
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public IHandController getDriverController() {
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return m_driverXbox;
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}
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/**
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* Add your docs here.
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*/
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public Joystick getOperatorJoystick() {
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return m_operatorXbox.getJoyStick();
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}
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/**
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* Add your docs here.
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*/
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public IHandController getOperatorController() {
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return m_operatorXbox;
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}
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/**
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* Add your docs here.
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*/
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public Joystick getOperatorJoystick() {
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return m_operatorXbox.getJoyStick();
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}
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/**
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* Add your docs here.
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*/
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public Joystick getDriverJoystick() {
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return m_driverXbox.getJoyStick();
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}
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/**
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* Add your docs here.
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*/
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public Joystick getDriverJoystick() {
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return m_driverXbox.getJoyStick();
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}
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}
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