Team4388/2023WayOfTheRobot
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cube placement commands FINAL

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Aarav
2023-03-23 11:26:02 -06:00
parent dc0e1f8542
commit 731f14ecb8
1 changed files with 25 additions and 9 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+25 -9
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@@ -88,7 +88,7 @@ public class RobotContainer {
private Command toggleClaw = new InstantCommand(() -> m_robotClaw.toggle(), m_robotClaw); private Command toggleClaw = new InstantCommand(() -> m_robotClaw.toggle(), m_robotClaw);
public boolean readyForPlacement = false; public boolean readyForPlacement = true;
private Boolean isPole = null; private Boolean isPole = null;
private SequentialCommandGroup alignToPole = private SequentialCommandGroup alignToPole =
@@ -124,22 +124,22 @@ public class RobotContainer {
public SequentialCommandGroup place = null; public SequentialCommandGroup place = null;
private Consumer<SequentialCommandGroup> queuePlacement = (scg) -> { private Consumer<SequentialCommandGroup> queuePlacement = (scg) -> {
place = scg.andThen(new InstantCommand(() -> m_robotLimeLight.setDriverMode(true), m_robotLimeLight), new InstantCommand(() -> readyForPlacement = false), new InstantCommand(() -> isPole = null), new InstantCommand(() -> place = null)); place = scg.asProxy().andThen(new InstantCommand(() -> m_robotLimeLight.setDriverMode(true), m_robotLimeLight), new InstantCommand(() -> readyForPlacement = true), new InstantCommand(() -> isPole = null), new InstantCommand(() -> place = null));
}; };
// TODO: find actual values
private SequentialCommandGroup placeCubeHigh = private SequentialCommandGroup placeCubeHigh =
new SequentialCommandGroup( new SequentialCommandGroup(
new PivotCommand(m_robotArm, 64 + 135), new PivotCommand(m_robotArm, 60 + 135),
new InstantCommand(() -> m_robotArm.setRotVel(0)), new InstantCommand(() -> m_robotArm.setRotVel(0)),
new TeleCommand(m_robotArm, 95642), new TeleCommand(m_robotArm, 90000),
toggleClaw.asProxy(), toggleClaw.asProxy(),
armToHome.asProxy() armToHome.asProxy()
); );
private SequentialCommandGroup placeCubeMid = new SequentialCommandGroup( private SequentialCommandGroup placeCubeMid = new SequentialCommandGroup(
new PivotCommand(m_robotArm, 70 + 135), new PivotCommand(m_robotArm, 55 + 135),
new TeleCommand(m_robotArm, 32866), new InstantCommand(() -> m_robotArm.setRotVel(0)),
new TeleCommand(m_robotArm, 28000),
toggleClaw.asProxy(), toggleClaw.asProxy(),
armToHome.asProxy() armToHome.asProxy()
); );
@@ -305,10 +305,18 @@ public class RobotContainer {
.onTrue(interruptCommand.asProxy()); .onTrue(interruptCommand.asProxy());
// // place high
// new POVButton(getDeadbandedOperatorController(), 0)
// .onTrue(new ConditionalCommand(
// new ConditionalCommand(new InstantCommand(() -> queuePlacement.accept(placeConeHigh)), new InstantCommand(() -> queuePlacement.accept(placeCubeHigh)), () -> isPole == true),
// emptyCommand.asProxy(),
// () -> readyForPlacement == true)
// );
// place high // place high
new POVButton(getDeadbandedOperatorController(), 0) new POVButton(getDeadbandedOperatorController(), 0)
.onTrue(new ConditionalCommand( .onTrue(new ConditionalCommand(
new ConditionalCommand(new InstantCommand(() -> queuePlacement.accept(placeConeHigh)), new InstantCommand(() -> queuePlacement.accept(placeCubeHigh)), () -> isPole == true), new InstantCommand(() -> queuePlacement.accept(placeCubeHigh)),
emptyCommand.asProxy(), emptyCommand.asProxy(),
() -> readyForPlacement == true) () -> readyForPlacement == true)
); );
@@ -316,11 +324,19 @@ public class RobotContainer {
// place mid // place mid
new POVButton(getDeadbandedOperatorController(), 270) new POVButton(getDeadbandedOperatorController(), 270)
.onTrue(new ConditionalCommand( .onTrue(new ConditionalCommand(
new ConditionalCommand(new InstantCommand(() -> queuePlacement.accept(placeConeMid)), new InstantCommand(() -> queuePlacement.accept(placeCubeMid)), () -> isPole == true), new InstantCommand(() -> queuePlacement.accept(placeCubeMid)),
emptyCommand.asProxy(), emptyCommand.asProxy(),
() -> readyForPlacement == true) () -> readyForPlacement == true)
); );
// // place mid
// new POVButton(getDeadbandedOperatorController(), 270)
// .onTrue(new ConditionalCommand(
// new ConditionalCommand(new InstantCommand(() -> queuePlacement.accept(placeConeMid)), new InstantCommand(() -> queuePlacement.accept(placeCubeMid)), () -> isPole == true),
// emptyCommand.asProxy(),
// () -> readyForPlacement == true)
// );
// place low // place low
new POVButton(getDeadbandedOperatorController(), 180) new POVButton(getDeadbandedOperatorController(), 180)
.onTrue(new ConditionalCommand(new InstantCommand(() -> queuePlacement.accept(placeLow)), emptyCommand.asProxy(), () -> readyForPlacement == true)); .onTrue(new ConditionalCommand(new InstantCommand(() -> queuePlacement.accept(placeLow)), emptyCommand.asProxy(), () -> readyForPlacement == true));