Team4388/2023WayOfTheRobot
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Controller maps

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This commit is contained in:
Abhishrek05
2023-03-18 13:21:26 -06:00
parent ef6613a7cd
commit f8f61907c5
1 changed files with 41 additions and 15 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+41 -15
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@@ -7,6 +7,7 @@
package frc4388.robot; package frc4388.robot;
import java.lang.StackWalker.Option;
import java.util.function.Consumer; import java.util.function.Consumer;
import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.geometry.Translation2d;
@@ -189,6 +190,11 @@ public class RobotContainer {
.buildDisplay(); .buildDisplay();
} }
// here be dragons - enter if you dare
private static class TapState {
public boolean gearTapped = true;
public long gearTime = 0;
}
/** /**
* Use this method to define your button->command mappings. Buttons can be * Use this method to define your button->command mappings. Buttons can be
@@ -199,18 +205,38 @@ public class RobotContainer {
private void configureButtonBindings() { private void configureButtonBindings() {
// * Driver Buttons // * Driver Buttons
new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON) new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive)); .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive)); // final
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // because closure reasons - ask Daniel Thomas
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.setToTurbo())) // final TapState tap = new TapState();
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.setToTurbo()))
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast())); .onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast()));
// .onTrue(new InstantCommand(() -> {
// tap.gearTapped = true;
// tap.gearTime = System.currentTimeMillis();
// }))
// .whileTrue(new RunCommand(() -> {
// if (tap.gearTapped && System.currentTimeMillis() - tap.gearTime > 200) {
// m_robotSwerveDrive.setToTurbo();
// tap.gearTapped = false;
// }
// }))
// .onFalse(new InstantCommand(() -> {
// if (tap.gearTapped)
// m_robotSwerveDrive.setToFast();
// else
// m_robotSwerveDrive.setToSlow();
// }));
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.setToSlow())); .onTrue(new InstantCommand(() -> m_robotSwerveDrive.setToSlow()));
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON) new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
.onTrue(new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive)); .onTrue(new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive)); // final
new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
.onTrue(interruptCommand.asProxy()); // final
// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
// .whileTrue(new JoystickRecorder(m_robotSwerveDrive, // .whileTrue(new JoystickRecorder(m_robotSwerveDrive,
// () -> getDeadbandedDriverController().getLeftX(), // () -> getDeadbandedDriverController().getLeftX(),
@@ -222,36 +248,36 @@ public class RobotContainer {
// new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
// .onTrue(new JoystickPlayback(m_robotSwerveDrive, "Blue1Path.txt")) // .onTrue(new JoystickPlayback(m_robotSwerveDrive, "Blue1Path.txt"))
// .onFalse(new InstantCommand()); // .onFalse(new InstantCommand());
// * Operator Buttons // * Operator Buttons
// align (pole) // align (pole)
new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON) new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON) // final
.onTrue(alignToPole) .onTrue(alignToPole)
.onFalse(interruptCommand.asProxy()); .onFalse(interruptCommand.asProxy());
// align (shelf) // align (shelf)
new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON) new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON) // final
.onTrue(alignToShelf) .onTrue(alignToShelf)
.onFalse(interruptCommand.asProxy()); .onFalse(interruptCommand.asProxy());
// toggle claw // toggle claw
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON) new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON) // final
.onTrue(toggleClaw.asProxy()); .onTrue(toggleClaw.asProxy());
// kill soft limits // kill soft limits
new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON) new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON) // final
.onTrue(new InstantCommand(() -> m_robotArm.killSoftLimits())); .onTrue(new InstantCommand(() -> m_robotArm.killSoftLimits()));
// toggle limelight // toggle limelight
new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON) new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> m_robotLimeLight.toggleLEDs(), m_robotLimeLight)); .onTrue(new InstantCommand(() -> m_robotLimeLight.toggleLEDs(), m_robotLimeLight)); // final?
// interrupt button // interrupt button
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON) //new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(placeConeHigh.asProxy()); // .onTrue(placeConeHigh.asProxy());
// .onTrue(interruptCommand.asProxy()); // .onTrue(interruptCommand.asProxy());
// place high // place high
new POVButton(getDeadbandedOperatorController(), 0) new POVButton(getDeadbandedOperatorController(), 0)