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Controls and IDs

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This commit is contained in:
ryan123rudder
2022-03-06 00:48:38 -07:00
parent 74fa148c08
commit 7cadbf5025
3 changed files with 42 additions and 56 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+30 -46
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@@ -126,16 +126,7 @@ public class RobotContainer {
configureButtonBindings();
/* Default Commands */
// continually sends updates to the Blinkin LED controller to keep the lights on
// m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED,
// m_robotLED));
// Turret default command
//m_robotTurret.setDefaultCommand(new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry));
m_robotTurret.setDefaultCommand(new RunCommand(() -> m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()), m_robotTurret));
//Swerve Drive
// Swerve Drive with Input
m_robotSwerveDrive.setDefaultCommand(
new RunCommand(() -> m_robotSwerveDrive.driveWithInput(
getDriverController().getLeftX(),
@@ -144,20 +135,27 @@ public class RobotContainer {
getDriverController().getRightY(),
true),
m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand"));
//Intake with Triggers
// Intake with Triggers
m_robotIntake.setDefaultCommand(
new RunCommand(() -> m_robotIntake.runWithTriggers(
getOperatorController().getLeftTriggerAxis(),
getOperatorController().getRightTriggerAxis()),
m_robotIntake).withName("Intake runWithTriggers defaultCommand"));
//Storage Management
// Storage Management
m_robotStorage.setDefaultCommand(
new RunCommand(() -> m_robotStorage.manageStorage(),
m_robotStorage).withName("Storage manageStorage defaultCommand"));
//Serializer Management
// Serializer Management
m_robotSerializer.setDefaultCommand(
new RunCommand(() -> 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 AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry));
// continually sends updates to the Blinkin LED controller to keep the lights on
/*
@@ -178,60 +176,46 @@ public class RobotContainer {
private void configureButtonBindings() {
/* Driver Buttons */
// "XboxController.Button.kBack" was undefined yet, 7 works just fine
new JoystickButton(getDriverController(), XboxController.Button.kBack.value)
.whenPressed(m_robotSwerveDrive::resetGyro);
// Start > Calibrate Odometry
new JoystickButton(getDriverController(), XboxController.Button.kStart.value)
.whenPressed(m_robotSwerveDrive::resetGyro)
.whenPressed(() -> resetOdometry(new Pose2d(0, 0, new Rotation2d(0))));
// Left Bumper > Shift Down
new JoystickButton(getDriverController(), XboxController.Button.kLeftBumper.value)
// new XboxControllerRawButton(m_driverXbox,
// XboxControllerRaw.LEFT_BUMPER_BUTTON)
.whenPressed(() -> m_robotSwerveDrive.highSpeed(false));
// Right Bumper > Shift Up
new JoystickButton(getDriverController(), XboxController.Button.kRightBumper.value)
// new XboxControllerRawButton(m_driverXbox,
// XboxControllerRaw.RIGHT_BUMPER_BUTTON)
.whenPressed(() -> m_robotSwerveDrive.highSpeed(true));
new JoystickButton(getDriverController(), XboxController.Button.kA.value)
.whenPressed(() -> resetOdometry(new Pose2d(0, 0, new Rotation2d(0))));
// new JoystickButton(getDriverController(), XboxController.Button.kA.value)
// .whenPressed(() -> resetOdometry(new Pose2d(0, 0, new Rotation2d(0))));
new JoystickButton(getDriverController(), XboxController.Button.kX.value) //Temp
.whenPressed(() -> m_robotMap.leftFront.reset())
.whenPressed(() -> m_robotMap.rightFront.reset())
.whenPressed(() -> m_robotMap.leftBack.reset())
.whenPressed(() -> m_robotMap.rightBack.reset());
// new JoystickButton(getDriverController(), XboxController.Button.kX.value) //Temp
// .whenPressed(() -> m_robotMap.leftFront.reset())
// .whenPressed(() -> m_robotMap.rightFront.reset())
// .whenPressed(() -> m_robotMap.leftBack.reset())
// .whenPressed(() -> m_robotMap.rightBack.reset());
/* Operator Buttons */
/*
* // activates "BoomBoom"
* new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
* .whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret,
* m_robotHood));
*/
//Extender
// X > Extend Intake
new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
.whenPressed(() -> m_robotIntake.runExtender(true));
// Y > Retract Intake
new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
.whenPressed(() -> m_robotIntake.runExtender(false));
//Storage
// Right Bumper > Storage In
new JoystickButton(getOperatorController(), XboxController.Button.kRightBumper.value)
.whenPressed(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED))
.whenReleased(() -> m_robotStorage.runStorage(0.0));
// Left Bumper > Storage Out (note: neccessary?)
new JoystickButton(getOperatorController(), XboxController.Button.kLeftBumper.value)
.whenPressed(() -> m_robotStorage.runStorage(-StorageConstants.STORAGE_SPEED))
.whenReleased(() -> m_robotStorage.runStorage(0.0));
//Shooter
// A > Shoot with Odo
new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
.whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood));
// B > Shoot with Lime
new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
.whenPressed(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotSwerveDrive, m_robotVisionOdometry));
}