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src/main/java/frc4388/robot/RobotContainer.java

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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot;
+
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+import edu.wpi.first.wpilibj2.command.RunCommand;
+import edu.wpi.first.wpilibj2.command.button.JoystickButton;
+import frc4388.robot.Constants.*;
+import frc4388.robot.subsystems.Drive;
+import frc4388.robot.subsystems.LED;
+import frc4388.utility.LEDPatterns;
+import frc4388.utility.controller.IHandController;
+import frc4388.utility.controller.XboxController;
+
+/**
+ * This class is where the bulk of the robot should be declared. Since
+ * Command-based is a "declarative" paradigm, very little robot logic should
+ * actually be handled in the {@link Robot} periodic methods (other than the
+ * scheduler calls). Instead, the structure of the robot (including subsystems,
+ * commands, and button mappings) should be declared here.
+ */
+public class RobotContainer {
+    /* RobotMap */
+    private final RobotMap m_robotMap = new RobotMap();
+
+    /* Subsystems */
+    private final Drive m_robotDrive = new Drive(m_robotMap.leftFrontMotor, m_robotMap.rightFrontMotor,
+            m_robotMap.leftBackMotor, m_robotMap.rightBackMotor, m_robotMap.driveTrain, m_robotMap.gyroDrive);
+
+    private final LED m_robotLED = new LED(m_robotMap.LEDController);
+
+    /* Controllers */
+    private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
+    private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
+
+    /**
+     * The container for the robot. Contains subsystems, OI devices, and commands.
+     */
+    public RobotContainer() {
+        configureButtonBindings();
+
+        /* Default Commands */
+        // drives the robot with a two-axis input from the driver controller
+        m_robotDrive.setDefaultCommand(
+                new RunCommand(() -> m_robotDrive.driveWithInput(getDriverController().getLeftYAxis(),
+                        getDriverController().getRightXAxis()), m_robotDrive));
+        // continually sends updates to the Blinkin LED controller to keep the lights on
+        m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
+    }
+
+    /**
+     * Use this method to define your button->command mappings. Buttons can be
+     * created by instantiating a {@link GenericHID} or one of its subclasses
+     * ({@link edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then
+     * passing it to a {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
+     */
+    private void configureButtonBindings() {
+        /* Driver Buttons */
+        // test command to spin the robot while pressing A on the driver controller
+        new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
+                .whileHeld(() -> m_robotDrive.driveWithInput(0, 1));
+
+        /* Operator Buttons */
+        // activates "Lit Mode"
+        new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
+                .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
+                .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
+    }
+
+    /**
+     * Use this to pass the autonomous command to the main {@link Robot} class.
+     *
+     * @return the command to run in autonomous
+     */
+    public Command getAutonomousCommand() {
+        // no auto
+        return new InstantCommand();
+    }
+
+    /**
+     * Add your docs here.
+     */
+    public IHandController getDriverController() {
+        return m_driverXbox;
+    }
+
+    /**
+     * Add your docs here.
+     */
+    public IHandController getOperatorController() {
+        return m_operatorXbox;
+    }
+
+    /**
+     * Add your docs here.
+     */
+    public Joystick getOperatorJoystick() {
+        return m_operatorXbox.getJoyStick();
+    }
+
+    /**
+     * Add your docs here.
+     */
+    public Joystick getDriverJoystick() {
+        return m_driverXbox.getJoyStick();
+    }
+}