mirror of
https://github.com/Team4388/2022NoWayHome.git
synced 2026-06-09 00:38:05 -06:00
Revert the new controller binding system
This commit is contained in:
nathanrsxtn
@@ -178,168 +178,119 @@ public class RobotContainer {
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}
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private void configureDriverButtonBindings() {
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// Iterate over and assign commands to 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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if (binding == XboxController.Button.kLeftBumper) {
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/* Left Bumper > Shift Down */
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button.whenPressed(() -> m_robotSwerveDrive.highSpeed(false));
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} else if (binding == XboxController.Button.kRightBumper) {
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/* Right Bumper > Shift Up */
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button.whenPressed(() -> m_robotSwerveDrive.highSpeed(false));
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} else if (binding == XboxController.Button.kLeftStick) {
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/* Left Stick > Unbound */
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button.whenPressed(new PrintCommand("Unbound"));
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} else if (binding == XboxController.Button.kRightStick) {
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/* Right Stick > Unbound */
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button.whenPressed(new PrintCommand("Unbound"));
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} else if (binding == XboxController.Button.kA) {
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/* A > Unbound */
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button.whenPressed(this::switchControlMode);
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button.whenReleased(this::switchControlMode);
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} else if (binding == XboxController.Button.kB) {
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/* B > Unbound */
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button.whenPressed(this::switchDriveMode);
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button.whenReleased(this::switchDriveMode);
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} else if (binding == XboxController.Button.kX) {
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/* X > Unbound */
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button.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(1.0), m_robotExtender));
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button.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
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} else if (binding == XboxController.Button.kY) {
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/* Y > Unbound */
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button.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender));
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button.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
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} else if (binding == XboxController.Button.kBack) {
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/* Back > Calibrate Odometry */
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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 > Calibrate Odometry */
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button.whenPressed(m_robotSwerveDrive::resetGyro);
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}
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}
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// Iterate over and assign commands to cardinal Xbox controller d-pad directions.
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for (XboxControllerPOV binding : XboxControllerPOV.values()) {
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POVButton button = new POVButton(getDriverController(), binding.value);
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if (binding == XboxControllerPOV.kUp) {
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/* D-pad Up > Unbound */
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button.whenPressed(new PrintCommand("Unbound"));
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} else if (binding == XboxControllerPOV.kRight) {
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/* D-pad Right > Unbound */
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button.whenPressed(new PrintCommand("Unbound"));
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} else if (binding == XboxControllerPOV.kDown) {
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/* D-pad Down > Unbound */
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button.whenPressed(new PrintCommand("Unbound"));
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} else if (binding == XboxControllerPOV.kLeft) {
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/* D-pad Left > Unbound */
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button.whenPressed(new PrintCommand("Unbound"));
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}
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}
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/* Left Bumper > Shift Down */
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new JoystickButton(getDriverController(), XboxController.Button.kLeftBumper.value)
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.whenPressed(() -> m_robotSwerveDrive.highSpeed(false));
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/* Right Bumper > Shift Up */
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new JoystickButton(getDriverController(), XboxController.Button.kRightBumper.value)
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.whenPressed(() -> m_robotSwerveDrive.highSpeed(false));
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/* Left Stick > Unbound */
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new JoystickButton(getDriverController(), XboxController.Button.kLeftStick.value)
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.whenPressed(new PrintCommand("Unbound"));
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/* Right Stick > Unbound */
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new JoystickButton(getDriverController(), XboxController.Button.kRightStick.value)
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.whenPressed(new PrintCommand("Unbound"));
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/* A > Unbound */
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new JoystickButton(getDriverController(), XboxController.Button.kA.value)
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.whenPressed(this::switchControlMode)
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.whenReleased(this::switchControlMode);
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/* B > Unbound */
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new JoystickButton(getDriverController(), XboxController.Button.kB.value)
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.whenPressed(this::switchDriveMode)
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.whenReleased(this::switchDriveMode);
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/* X > Unbound */
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new JoystickButton(getDriverController(), XboxController.Button.kX.value)
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.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(1.0), m_robotExtender))
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.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
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/* Y > Unbound */
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new JoystickButton(getDriverController(), XboxController.Button.kY.value)
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.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender))
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.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
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/* Back > Calibrate Odometry */
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new JoystickButton(getDriverController(), XboxController.Button.kBack.value)
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.whenPressed(() -> resetOdometry(new Pose2d(0, 0, new Rotation2d(0))));
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/* Start > Calibrate Odometry */
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new JoystickButton(getDriverController(), XboxController.Button.kStart.value)
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.whenPressed(m_robotSwerveDrive::resetGyro);
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/* D-pad Up > Unbound */
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new POVButton(getDriverController(), 0).whenPressed(new PrintCommand("Unbound"));
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/* D-pad Right > Unbound */
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new POVButton(getDriverController(), 90).whenPressed(new PrintCommand("Unbound"));
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/* D-pad Down > Unbound */
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new POVButton(getDriverController(), 180).whenPressed(new PrintCommand("Unbound"));
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/* D-pad Left > Unbound */
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new POVButton(getDriverController(), 270).whenPressed(new PrintCommand("Unbound"));
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}
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private void configureOperatorButtonBindings() {
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// Iterate over and assign commands to all Xbox controller buttons.
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for (XboxController.Button binding : XboxController.Button.values()) {
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/* ------------------------------------ Operator ------------------------------------ */
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JoystickButton button = new JoystickButton(getDriverController(), binding.value);
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if (binding == XboxController.Button.kLeftBumper) {
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/* Left Bumper > Storage In */
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button.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED)));
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button.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0)));
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} else if (binding == XboxController.Button.kRightBumper) {
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/* Right Bumper > Storage Out */
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button.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-StorageConstants.STORAGE_SPEED)));
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button.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0)));
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} else if (binding == XboxController.Button.kLeftStick) {
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/* Left Stick > Unbound */
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button.whenPressed(new PrintCommand("Unbound"));
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} else if (binding == XboxController.Button.kRightStick) {
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/* Right Stick > Unbound */
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button.whenPressed(new PrintCommand("Unbound"));
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} else if (binding == XboxController.Button.kA) {
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/* A > Spit Out Ball */
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button.whileHeld(new RunCommand(m_robotTurret::gotoMidpoint, m_robotTurret));
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button.whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.25)));
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} else if (binding == XboxController.Button.kB) {
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/* B > Toggle Claws */
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button.whenPressed(m_robotClaws::toggleClaws, m_robotClaws);
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} else if (binding == XboxController.Button.kX) {
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/* X > Toggle Extender Deployment */
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button.whenPressed(new ConditionalCommand(new DeployExtender(m_robotExtender, m_robotIntake), new RetractExtender(m_robotExtender), m_robotExtender::isRetracted));
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} else if (binding == XboxController.Button.kY) {
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/* Y > Track Target */
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button.whileHeld(new TrackTarget(m_robotVisionOdometry, m_robotTurret, m_robotHood, m_robotBoomBoom));
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} else if (binding == XboxController.Button.kBack) {
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/* Back > Unbound */
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button.whenPressed(new PrintCommand("Unbound"));
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} else if (binding == XboxController.Button.kStart) {
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/* Start > Unbound */
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button.whenPressed(new PrintCommand("Unbound"));
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}
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}
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// Iterate over and assign commands to cardinal Xbox controller d-pad directions.
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for (XboxControllerPOV binding : XboxControllerPOV.values()) {
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POVButton button = new POVButton(getDriverController(), binding.value);
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if (binding == XboxControllerPOV.kUp) {
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/* D-pad Up > Unbound */
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button.whenPressed(new PrintCommand("Unbound"));
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} else if (binding == XboxControllerPOV.kRight) {
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/* D-pad Right > Unbound */
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button.whenPressed(new PrintCommand("Unbound"));
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} else if (binding == XboxControllerPOV.kDown) {
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/* D-pad Down > Unbound */
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button.whenPressed(new PrintCommand("Unbound"));
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} else if (binding == XboxControllerPOV.kLeft) {
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/* D-pad Left > Unbound */
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button.whenPressed(new PrintCommand("Unbound"));
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}
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}
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/* Left Bumper > Storage In */
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new JoystickButton(getDriverController(), XboxController.Button.kLeftBumper.value).whileHeld(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED)))
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.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0)));
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/* Right Bumper > Storage Out */
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new JoystickButton(getDriverController(), XboxController.Button.kRightBumper.value).whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-StorageConstants.STORAGE_SPEED)))
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.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0)));
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/* Left Stick > Unbound */
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new JoystickButton(getDriverController(), XboxController.Button.kLeftStick.value).whenPressed(new PrintCommand("Unbound"));
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/* Right Stick > Unbound */
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new JoystickButton(getDriverController(), XboxController.Button.kRightStick.value).whenPressed(new PrintCommand("Unbound"));
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/* A > Spit Out Ball */
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new JoystickButton(getDriverController(), XboxController.Button.kA.value).whileHeld(new RunCommand(m_robotTurret::gotoMidpoint, m_robotTurret))
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.whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.25)));
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/* B > Toggle Claws */
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new JoystickButton(getDriverController(), XboxController.Button.kB.value).whenPressed(m_robotClaws::toggleClaws, m_robotClaws);
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/* X > Toggle Extender Deployment */
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new JoystickButton(getDriverController(), XboxController.Button.kX.value).whenPressed(new ConditionalCommand(new DeployExtender(m_robotExtender, m_robotIntake), new RetractExtender(m_robotExtender), m_robotExtender::isRetracted));
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/* Y > Track Target */
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new JoystickButton(getDriverController(), XboxController.Button.kY.value).whileHeld(new TrackTarget(m_robotVisionOdometry, m_robotTurret, m_robotHood, m_robotBoomBoom));
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/* Back > Unbound */
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new JoystickButton(getDriverController(), XboxController.Button.kBack.value).whenPressed(new PrintCommand("Unbound"));
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/* Start > Unbound */
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new JoystickButton(getDriverController(), XboxController.Button.kStart.value).whenPressed(new PrintCommand("Unbound"));
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/* D-pad Up > Unbound */
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new POVButton(getDriverController(), 0).whenPressed(new PrintCommand("Unbound"));
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/* D-pad Right > Unbound */
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new POVButton(getDriverController(), 90).whenPressed(new PrintCommand("Unbound"));
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/* D-pad Down > Unbound */
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new POVButton(getDriverController(), 180).whenPressed(new PrintCommand("Unbound"));
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/* D-pad Left > Unbound */
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new POVButton(getDriverController(), 270).whenPressed(new PrintCommand("Unbound"));
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}
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private void configureBoxButtonBindings() {
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// Iterate over and assign commands to all button box buttons.
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for (ButtonBox.Button binding : ButtonBox.Button.values()) {
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/* ---------------------------------- Button Box ---------------------------------- */
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JoystickButton button = new JoystickButton(getButtonBox(), binding.value);
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if (binding == ButtonBox.Button.kRightSwitch) {
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/* Right Switch > Unbound */
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button.whenPressed(new PrintCommand("Unbound"));
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} else if (binding == ButtonBox.Button.kMiddleSwitch) {
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/* Middle Switch > Climber and Shooter mode switching */
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button.whenPressed(() -> isClimberControlMode = true);
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button.whenReleased(() -> isClimberControlMode = false);
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} else if (binding == ButtonBox.Button.kLeftSwitch) {
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/* Left Switch > Disables soft limits on press, release resets encoders (all for turret, hood, climber, and extender) */
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button.whenPressed(() -> m_robotTurret.setTurretSoftLimits(false), m_robotTurret);
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button.whenPressed(() -> m_robotTurret.calibrationSpeed = 0.3, m_robotTurret);
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/* Right Switch > Unbound */
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new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value).whenPressed(new PrintCommand("Unbound"));
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/* Middle Switch > Climber and Shooter mode switching */
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new JoystickButton(getButtonBox(), ButtonBox.Button.kMiddleSwitch.value).whenPressed(() -> isClimberControlMode = true)
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.whenReleased(() -> isClimberControlMode = false);
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/* Left Switch > Disables soft limits on press, release resets encoders (all for turret, hood, climber, and extender) */
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new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftSwitch.value).whenPressed(() -> m_robotTurret.setTurretSoftLimits(false), m_robotTurret)
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.whenPressed(() -> m_robotTurret.calibrationSpeed = 0.3, m_robotTurret);
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button.whenPressed(() -> m_robotHood.setHoodSoftLimits(false), m_robotHood);
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button.whenPressed(() -> m_robotHood.calibrationSpeed = 0.3, m_robotHood);
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new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftSwitch.value).whenPressed(() -> m_robotHood.setHoodSoftLimits(false), m_robotHood)
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.whenPressed(() -> m_robotHood.calibrationSpeed = 0.3, m_robotHood);
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button.whenPressed(() -> m_robotExtender.setExtenderSoftLimits(false), m_robotExtender);
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new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftSwitch.value).whenPressed(() -> m_robotExtender.setExtenderSoftLimits(false), m_robotExtender);
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button.whenReleased(() -> m_robotTurret.setTurretSoftLimits(true), m_robotTurret);
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button.whenReleased(() -> m_robotTurret.calibrationSpeed = 1.0, m_robotTurret);
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new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftSwitch.value).whenReleased(() -> m_robotTurret.setTurretSoftLimits(true), m_robotTurret)
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.whenReleased(() -> m_robotTurret.calibrationSpeed = 1.0, m_robotTurret);
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button.whenReleased(() -> m_robotHood.setHoodSoftLimits(true), m_robotHood);
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button.whenReleased(() -> m_robotHood.calibrationSpeed = 1.0, m_robotHood);
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new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftSwitch.value).whenReleased(() -> m_robotHood.setHoodSoftLimits(true), m_robotHood)
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.whenReleased(() -> m_robotHood.calibrationSpeed = 1.0, m_robotHood);
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button.whenReleased(() -> m_robotExtender.setExtenderSoftLimits(true), m_robotExtender);
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new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftSwitch.value).whenReleased(() -> m_robotExtender.setExtenderSoftLimits(true), m_robotExtender);
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button.whenReleased(() -> m_robotTurret.m_boomBoomRotateEncoder.setPosition(0), m_robotTurret);
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button.whenReleased(() -> m_robotHood.m_angleEncoder.setPosition(0), m_robotHood);
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button.whenReleased(() -> m_robotExtender.setEncoder(0), m_robotExtender);
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button.whenReleased(() -> m_robotClimber.setEncoders(0), m_robotClimber);
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} else if (binding == ButtonBox.Button.kRightButton) {
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/* Right Button > Extender Out */
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button.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(1.0), m_robotExtender));
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button.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
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} else if (binding == ButtonBox.Button.kLeftButton) {
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/* Left Button > Extender In */
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button.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender));
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button.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
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}
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}
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new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftSwitch.value).whenReleased(() -> m_robotTurret.m_boomBoomRotateEncoder.setPosition(0), m_robotTurret)
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.whenReleased(() -> m_robotHood.m_angleEncoder.setPosition(0), m_robotHood)
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.whenReleased(() -> m_robotExtender.setEncoder(0), m_robotExtender)
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.whenReleased(() -> m_robotClimber.setEncoders(0), m_robotClimber);
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/* Right Button > Extender Out */
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new JoystickButton(getButtonBox(), ButtonBox.Button.kRightButton.value).whileHeld(new RunCommand(() -> m_robotExtender.runExtender(1.0), m_robotExtender))
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.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
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/* Left Button > Extender In */
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new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftButton.value).whileHeld(new RunCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender))
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.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
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}
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/**
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Reference in New Issue
Block a user