Team4388/2023WayOfTheRobot
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Update basic functions for apriltags and outline for integration
This commit is contained in:
Astatin3
2023-02-16 18:46:43 -07:00
parent dd8209d8c5
commit a91d334e2c
10 changed files with 282 additions and 206 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+32 -42
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@@ -10,12 +10,11 @@ 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.commands.AutoBalance;
import frc4388.robot.commands.DriveWithInput;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.utility.controller.DeadbandedXboxController;
import frc4388.utility.controller.IHandController;
import frc4388.utility.controller.XboxController;
@@ -31,16 +30,13 @@ public class RobotContainer {
public final RobotMap m_robotMap = new RobotMap();
/* Subsystems */
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront, m_robotMap.rightFront, m_robotMap.leftBack, m_robotMap.rightBack, m_robotMap.gyro);
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront, m_robotMap.rightFront, m_robotMap.leftBack, m_robotMap.rightBack);//, m_robotMap.gyro);
// 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);
private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
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.
@@ -50,11 +46,15 @@ public class RobotContainer {
/* Default Commands */
m_robotSwerveDrive.setDefaultCommand(new RunCommand(() ->
m_robotSwerveDrive.driveWithInput(getDeadbandedDriverController().getLeft(), getDeadbandedDriverController().getRight(), true)
, m_robotSwerveDrive).withName("SwerveDrive DefaultCommand"));
m_robotSwerveDrive.setDefaultCommand(new DriveWithInput(m_robotSwerveDrive,
() -> getDriverController().getLeftXAxis(),
() -> getDriverController().getLeftYAxis(),
() -> getDriverController().getRightXAxis(),
false));
// m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
}
@@ -67,20 +67,18 @@ public class RobotContainer {
private void configureButtonBindings() {
/* Driver Buttons */
new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive));
new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(), m_robotSwerveDrive));
// // .onFalse()
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotMap.gyro.reset()));
// .onFalse()
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
/* Operator Buttons */
new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
.onTrue(new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive));
// /* Operator Buttons */
// // interrupt button
// new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
// .onTrue(new InstantCommand());
// interrupt button
new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
.onTrue(new InstantCommand());
}
/**
@@ -96,36 +94,28 @@ public class RobotContainer {
/**
* Add your docs here.
*/
// public IHandController getDriverController() {
// return m_driverXbox;
// }
public DeadbandedXboxController getDeadbandedDriverController() {
return this.m_driverXbox;
}
public DeadbandedXboxController getDeadbandedOperatorController() {
return this.m_operatorXbox;
public IHandController getDriverController() {
return m_driverXbox;
}
/**
* Add your docs here.
*/
// public IHandController getOperatorController() {
// return m_operatorXbox;
// }
public IHandController getOperatorController() {
return m_operatorXbox;
}
/**
* Add your docs here.
*/
// public Joystick getOperatorJoystick() {
// return m_operatorXbox.getJoyStick();
// }
public Joystick getOperatorJoystick() {
return m_operatorXbox.getJoyStick();
}
/**
* Add your docs here.
*/
// public Joystick getDriverJoystick() {
// return m_driverXbox.getJoyStick();
// }
public Joystick getDriverJoystick() {
return m_driverXbox.getJoyStick();
}
}