Team4388/2023WayOfTheRobot
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cleanup before master merge

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This commit is contained in:
aarav18
2023-02-02 20:54:12 -07:00
parent e3d591674a
commit eb8a4ac6be
9 changed files with 9 additions and 253 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+4 -53
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@@ -7,23 +7,14 @@
package frc4388.robot;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.math.trajectory.TrajectoryConfig;
import edu.wpi.first.math.trajectory.TrajectoryGenerator;
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.LED;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.utility.LEDPatterns;
import frc4388.utility.RobotGyro;
import frc4388.utility.controller.IHandController;
import frc4388.utility.controller.XboxController;
@@ -47,45 +38,22 @@ public class RobotContainer {
private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
// public RobotGyro gyroRef = m_robotMap.gyro;
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
*/
public RobotContainer() {
configureButtonBindings();
/* Default Commands */
m_robotSwerveDrive.setDefaultCommand(new DriveWithInput(m_robotSwerveDrive,
() -> getDriverController().getLeftXAxis(),
() -> getDriverController().getLeftYAxis(),
() -> getDriverController().getRightXAxis(),
false));
/* Default Commands */
// drives the robot with a two-axis input from the driver controller
// continually sends updates to the Blinkin LED controller to keep the lights on
// m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
// m_robotSwerveDrive.setDefaultCommand(
// new RunCommand(() -> m_robotSwerveDrive.driveWithInput(-0.3*getDriverController().getLeftXAxis(),
// 0.3*getDriverController().getLeftYAxis(),
// -0.3*getDriverController().getRightXAxis(), false), m_robotSwerveDrive)
// );
// m_robotSwerveDrive.setDefaultCommand(
// new RunCommand(() -> m_robotSwerveDrive.driveWithInput(0,
// -0.1,
// 0, false), m_robotSwerveDrive)
// );
// m_robotSwerveDrive.setDefaultCommand(
// new RunCommand(() -> m_robotSwerveDrive.driveWithInput(
// -0.3 * getDriverController().getLeftXAxis(),
// 0.3 * getDriverController().getLeftYAxis(),
// 0.3 * getDriverController().getRightXAxis(),
// 0.3 * getDriverController().getRightYAxis(),
// true),
// m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand"));
}
@@ -104,23 +72,11 @@ public class RobotContainer {
// .onFalse()
/* Operator Buttons */
// activates "Lit Mode"
// new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
// .whileTrue(new RunCommand(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW), m_robotLED))
// .whileFalse(new RunCommand(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN), m_robotLED));
// new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
// .whileTrue(new RunCommand(() -> m_robotSwerveDrive.rotateCANCodersToAngle(0), m_robotSwerveDrive));
// new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetCANCoders(0), m_robotSwerveDrive));
// new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
// .onTrue()
new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
.onTrue(new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive));
//New interupt button
// interrupt button
new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
.onTrue(new InstantCommand());
}
@@ -131,11 +87,6 @@ public class RobotContainer {
* @return the command to run in autonomous
*/
public Command getAutonomousCommand() {
// no auto
// TrajectoryConfig trajConfig = new TrajectoryConfig(1, 1).setKinematics(m_robotSwerveDrive.getKinematics()); // TODO: make these AutoConstants
// Trajectory traj = TrajectoryGenerator.generateTrajectory(
// new Pose2d(0, 0, new Rotation2d(0)), null, null, trajConfig);
return new InstantCommand();
}