Team4388/2022NoWayHome
1
0
Fork 0
mirror of https://github.com/Team4388/2022NoWayHome.git synced 2026-06-08 16:28:07 -06:00
Code Issues Packages Projects Releases Wiki Activity

Revert the new controller binding system

Browse Source
This commit is contained in:
nathanrsxtn
2022-04-20 16:51:50 -06:00
parent 91ab5650a3
commit af8e6dff14
1 changed files with 101 additions and 150 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/RobotContainer.java
+101 -150
View File
@@ -178,168 +178,119 @@ public class RobotContainer {
}
private void configureDriverButtonBindings() {
// Iterate over and assign commands to all Xbox controller buttons.
for (XboxController.Button binding : XboxController.Button.values()) {
/* ------------------------------------ Driver ------------------------------------ */
JoystickButton button = new JoystickButton(getDriverController(), binding.value);
if (binding == XboxController.Button.kLeftBumper) {
/* Left Bumper > Shift Down */
button.whenPressed(() -> m_robotSwerveDrive.highSpeed(false));
} else if (binding == XboxController.Button.kRightBumper) {
/* Right Bumper > Shift Up */
button.whenPressed(() -> m_robotSwerveDrive.highSpeed(false));
} else if (binding == XboxController.Button.kLeftStick) {
/* Left Stick > Unbound */
button.whenPressed(new PrintCommand("Unbound"));
} else if (binding == XboxController.Button.kRightStick) {
/* Right Stick > Unbound */
button.whenPressed(new PrintCommand("Unbound"));
} else if (binding == XboxController.Button.kA) {
/* A > Unbound */
button.whenPressed(this::switchControlMode);
button.whenReleased(this::switchControlMode);
} else if (binding == XboxController.Button.kB) {
/* B > Unbound */
button.whenPressed(this::switchDriveMode);
button.whenReleased(this::switchDriveMode);
} else if (binding == XboxController.Button.kX) {
/* X > Unbound */
button.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(1.0), m_robotExtender));
button.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
} else if (binding == XboxController.Button.kY) {
/* Y > Unbound */
button.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender));
button.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
} else if (binding == XboxController.Button.kBack) {
/* Back > Calibrate Odometry */
button.whenPressed(() -> resetOdometry(new Pose2d(0, 0, new Rotation2d(0))));
} else if (binding == XboxController.Button.kStart) {
/* Start > Calibrate Odometry */
button.whenPressed(m_robotSwerveDrive::resetGyro);
}
}
// Iterate over and assign commands to cardinal Xbox controller d-pad directions.
for (XboxControllerPOV binding : XboxControllerPOV.values()) {
POVButton button = new POVButton(getDriverController(), binding.value);
if (binding == XboxControllerPOV.kUp) {
/* D-pad Up > Unbound */
button.whenPressed(new PrintCommand("Unbound"));
} else if (binding == XboxControllerPOV.kRight) {
/* D-pad Right > Unbound */
button.whenPressed(new PrintCommand("Unbound"));
} else if (binding == XboxControllerPOV.kDown) {
/* D-pad Down > Unbound */
button.whenPressed(new PrintCommand("Unbound"));
} else if (binding == XboxControllerPOV.kLeft) {
/* D-pad Left > Unbound */
button.whenPressed(new PrintCommand("Unbound"));
}
}
/* Left Bumper > Shift Down */
new JoystickButton(getDriverController(), XboxController.Button.kLeftBumper.value)
.whenPressed(() -> m_robotSwerveDrive.highSpeed(false));
/* Right Bumper > Shift Up */
new JoystickButton(getDriverController(), XboxController.Button.kRightBumper.value)
.whenPressed(() -> m_robotSwerveDrive.highSpeed(false));
/* Left Stick > Unbound */
new JoystickButton(getDriverController(), XboxController.Button.kLeftStick.value)
.whenPressed(new PrintCommand("Unbound"));
/* Right Stick > Unbound */
new JoystickButton(getDriverController(), XboxController.Button.kRightStick.value)
.whenPressed(new PrintCommand("Unbound"));
/* A > Unbound */
new JoystickButton(getDriverController(), XboxController.Button.kA.value)
.whenPressed(this::switchControlMode)
.whenReleased(this::switchControlMode);
/* B > Unbound */
new JoystickButton(getDriverController(), XboxController.Button.kB.value)
.whenPressed(this::switchDriveMode)
.whenReleased(this::switchDriveMode);
/* X > Unbound */
new JoystickButton(getDriverController(), XboxController.Button.kX.value)
.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(1.0), m_robotExtender))
.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
/* Y > Unbound */
new JoystickButton(getDriverController(), XboxController.Button.kY.value)
.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender))
.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
/* Back > Calibrate Odometry */
new JoystickButton(getDriverController(), XboxController.Button.kBack.value)
.whenPressed(() -> resetOdometry(new Pose2d(0, 0, new Rotation2d(0))));
/* Start > Calibrate Odometry */
new JoystickButton(getDriverController(), XboxController.Button.kStart.value)
.whenPressed(m_robotSwerveDrive::resetGyro);
/* D-pad Up > Unbound */
new POVButton(getDriverController(), 0).whenPressed(new PrintCommand("Unbound"));
/* D-pad Right > Unbound */
new POVButton(getDriverController(), 90).whenPressed(new PrintCommand("Unbound"));
/* D-pad Down > Unbound */
new POVButton(getDriverController(), 180).whenPressed(new PrintCommand("Unbound"));
/* D-pad Left > Unbound */
new POVButton(getDriverController(), 270).whenPressed(new PrintCommand("Unbound"));
}
private void configureOperatorButtonBindings() {
// Iterate over and assign commands to all Xbox controller buttons.
for (XboxController.Button binding : XboxController.Button.values()) {
/* ------------------------------------ Operator ------------------------------------ */
JoystickButton button = new JoystickButton(getDriverController(), binding.value);
if (binding == XboxController.Button.kLeftBumper) {
/* Left Bumper > Storage In */
button.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED)));
button.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0)));
} else if (binding == XboxController.Button.kRightBumper) {
/* Right Bumper > Storage Out */
button.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-StorageConstants.STORAGE_SPEED)));
button.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0)));
} else if (binding == XboxController.Button.kLeftStick) {
/* Left Stick > Unbound */
button.whenPressed(new PrintCommand("Unbound"));
} else if (binding == XboxController.Button.kRightStick) {
/* Right Stick > Unbound */
button.whenPressed(new PrintCommand("Unbound"));
} else if (binding == XboxController.Button.kA) {
/* A > Spit Out Ball */
button.whileHeld(new RunCommand(m_robotTurret::gotoMidpoint, m_robotTurret));
button.whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.25)));
} else if (binding == XboxController.Button.kB) {
/* B > Toggle Claws */
button.whenPressed(m_robotClaws::toggleClaws, m_robotClaws);
} else if (binding == XboxController.Button.kX) {
/* X > Toggle Extender Deployment */
button.whenPressed(new ConditionalCommand(new DeployExtender(m_robotExtender, m_robotIntake), new RetractExtender(m_robotExtender), m_robotExtender::isRetracted));
} else if (binding == XboxController.Button.kY) {
/* Y > Track Target */
button.whileHeld(new TrackTarget(m_robotVisionOdometry, m_robotTurret, m_robotHood, m_robotBoomBoom));
} else if (binding == XboxController.Button.kBack) {
/* Back > Unbound */
button.whenPressed(new PrintCommand("Unbound"));
} else if (binding == XboxController.Button.kStart) {
/* Start > Unbound */
button.whenPressed(new PrintCommand("Unbound"));
}
}
// Iterate over and assign commands to cardinal Xbox controller d-pad directions.
for (XboxControllerPOV binding : XboxControllerPOV.values()) {
POVButton button = new POVButton(getDriverController(), binding.value);
if (binding == XboxControllerPOV.kUp) {
/* D-pad Up > Unbound */
button.whenPressed(new PrintCommand("Unbound"));
} else if (binding == XboxControllerPOV.kRight) {
/* D-pad Right > Unbound */
button.whenPressed(new PrintCommand("Unbound"));
} else if (binding == XboxControllerPOV.kDown) {
/* D-pad Down > Unbound */
button.whenPressed(new PrintCommand("Unbound"));
} else if (binding == XboxControllerPOV.kLeft) {
/* D-pad Left > Unbound */
button.whenPressed(new PrintCommand("Unbound"));
}
}
/* Left Bumper > Storage In */
new JoystickButton(getDriverController(), XboxController.Button.kLeftBumper.value).whileHeld(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED)))
.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0)));
/* Right Bumper > Storage Out */
new JoystickButton(getDriverController(), XboxController.Button.kRightBumper.value).whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-StorageConstants.STORAGE_SPEED)))
.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0)));
/* Left Stick > Unbound */
new JoystickButton(getDriverController(), XboxController.Button.kLeftStick.value).whenPressed(new PrintCommand("Unbound"));
/* Right Stick > Unbound */
new JoystickButton(getDriverController(), XboxController.Button.kRightStick.value).whenPressed(new PrintCommand("Unbound"));
/* A > Spit Out Ball */
new JoystickButton(getDriverController(), XboxController.Button.kA.value).whileHeld(new RunCommand(m_robotTurret::gotoMidpoint, m_robotTurret))
.whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.25)));
/* B > Toggle Claws */
new JoystickButton(getDriverController(), XboxController.Button.kB.value).whenPressed(m_robotClaws::toggleClaws, m_robotClaws);
/* X > Toggle Extender Deployment */
new JoystickButton(getDriverController(), XboxController.Button.kX.value).whenPressed(new ConditionalCommand(new DeployExtender(m_robotExtender, m_robotIntake), new RetractExtender(m_robotExtender), m_robotExtender::isRetracted));
/* Y > Track Target */
new JoystickButton(getDriverController(), XboxController.Button.kY.value).whileHeld(new TrackTarget(m_robotVisionOdometry, m_robotTurret, m_robotHood, m_robotBoomBoom));
/* Back > Unbound */
new JoystickButton(getDriverController(), XboxController.Button.kBack.value).whenPressed(new PrintCommand("Unbound"));
/* Start > Unbound */
new JoystickButton(getDriverController(), XboxController.Button.kStart.value).whenPressed(new PrintCommand("Unbound"));
/* D-pad Up > Unbound */
new POVButton(getDriverController(), 0).whenPressed(new PrintCommand("Unbound"));
/* D-pad Right > Unbound */
new POVButton(getDriverController(), 90).whenPressed(new PrintCommand("Unbound"));
/* D-pad Down > Unbound */
new POVButton(getDriverController(), 180).whenPressed(new PrintCommand("Unbound"));
/* D-pad Left > Unbound */
new POVButton(getDriverController(), 270).whenPressed(new PrintCommand("Unbound"));
}
private void configureBoxButtonBindings() {
// Iterate over and assign commands to all button box buttons.
for (ButtonBox.Button binding : ButtonBox.Button.values()) {
/* ---------------------------------- Button Box ---------------------------------- */
JoystickButton button = new JoystickButton(getButtonBox(), binding.value);
if (binding == ButtonBox.Button.kRightSwitch) {
/* Right Switch > Unbound */
button.whenPressed(new PrintCommand("Unbound"));
} else if (binding == ButtonBox.Button.kMiddleSwitch) {
/* Middle Switch > Climber and Shooter mode switching */
button.whenPressed(() -> isClimberControlMode = true);
button.whenReleased(() -> isClimberControlMode = false);
} else if (binding == ButtonBox.Button.kLeftSwitch) {
/* Left Switch > Disables soft limits on press, release resets encoders (all for turret, hood, climber, and extender) */
button.whenPressed(() -> m_robotTurret.setTurretSoftLimits(false), m_robotTurret);
button.whenPressed(() -> m_robotTurret.calibrationSpeed = 0.3, m_robotTurret);
/* Right Switch > Unbound */
new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value).whenPressed(new PrintCommand("Unbound"));
/* Middle Switch > Climber and Shooter mode switching */
new JoystickButton(getButtonBox(), ButtonBox.Button.kMiddleSwitch.value).whenPressed(() -> isClimberControlMode = true)
.whenReleased(() -> isClimberControlMode = false);
/* Left Switch > Disables soft limits on press, release resets encoders (all for turret, hood, climber, and extender) */
new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftSwitch.value).whenPressed(() -> m_robotTurret.setTurretSoftLimits(false), m_robotTurret)
.whenPressed(() -> m_robotTurret.calibrationSpeed = 0.3, m_robotTurret);
button.whenPressed(() -> m_robotHood.setHoodSoftLimits(false), m_robotHood);
button.whenPressed(() -> m_robotHood.calibrationSpeed = 0.3, m_robotHood);
new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftSwitch.value).whenPressed(() -> m_robotHood.setHoodSoftLimits(false), m_robotHood)
.whenPressed(() -> m_robotHood.calibrationSpeed = 0.3, m_robotHood);
button.whenPressed(() -> m_robotExtender.setExtenderSoftLimits(false), m_robotExtender);
new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftSwitch.value).whenPressed(() -> m_robotExtender.setExtenderSoftLimits(false), m_robotExtender);
button.whenReleased(() -> m_robotTurret.setTurretSoftLimits(true), m_robotTurret);
button.whenReleased(() -> m_robotTurret.calibrationSpeed = 1.0, m_robotTurret);
new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftSwitch.value).whenReleased(() -> m_robotTurret.setTurretSoftLimits(true), m_robotTurret)
.whenReleased(() -> m_robotTurret.calibrationSpeed = 1.0, m_robotTurret);
button.whenReleased(() -> m_robotHood.setHoodSoftLimits(true), m_robotHood);
button.whenReleased(() -> m_robotHood.calibrationSpeed = 1.0, m_robotHood);
new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftSwitch.value).whenReleased(() -> m_robotHood.setHoodSoftLimits(true), m_robotHood)
.whenReleased(() -> m_robotHood.calibrationSpeed = 1.0, m_robotHood);
button.whenReleased(() -> m_robotExtender.setExtenderSoftLimits(true), m_robotExtender);
new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftSwitch.value).whenReleased(() -> m_robotExtender.setExtenderSoftLimits(true), m_robotExtender);
button.whenReleased(() -> m_robotTurret.m_boomBoomRotateEncoder.setPosition(0), m_robotTurret);
button.whenReleased(() -> m_robotHood.m_angleEncoder.setPosition(0), m_robotHood);
button.whenReleased(() -> m_robotExtender.setEncoder(0), m_robotExtender);
button.whenReleased(() -> m_robotClimber.setEncoders(0), m_robotClimber);
} else if (binding == ButtonBox.Button.kRightButton) {
/* Right Button > Extender Out */
button.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(1.0), m_robotExtender));
button.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
} else if (binding == ButtonBox.Button.kLeftButton) {
/* Left Button > Extender In */
button.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender));
button.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
}
}
new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftSwitch.value).whenReleased(() -> m_robotTurret.m_boomBoomRotateEncoder.setPosition(0), m_robotTurret)
.whenReleased(() -> m_robotHood.m_angleEncoder.setPosition(0), m_robotHood)
.whenReleased(() -> m_robotExtender.setEncoder(0), m_robotExtender)
.whenReleased(() -> m_robotClimber.setEncoders(0), m_robotClimber);
/* Right Button > Extender Out */
new JoystickButton(getButtonBox(), ButtonBox.Button.kRightButton.value).whileHeld(new RunCommand(() -> m_robotExtender.runExtender(1.0), m_robotExtender))
.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
/* Left Button > Extender In */
new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftButton.value).whileHeld(new RunCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender))
.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
}
/**