Team4388/2023WayOfTheRobot
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target alignment basically completed

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This commit is contained in:
aarav18
2023-03-16 19:10:26 -06:00
parent 39640662d9
commit fe5a07bd17
6 changed files with 105 additions and 31 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+25 -17
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@@ -9,8 +9,10 @@ package frc4388.robot;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.ConditionalCommand;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.commands.AutoBalance;
@@ -22,6 +24,7 @@ import frc4388.robot.subsystems.SwerveDrive;
import frc4388.robot.commands.JoystickRecorder;
import frc4388.robot.commands.LimeAlign;
import frc4388.robot.commands.PlaybackChooser;
import frc4388.robot.commands.RotateToAngle;
import frc4388.utility.controller.DeadbandedXboxController;
import frc4388.utility.controller.XboxController;
@@ -47,7 +50,7 @@ public class RobotContainer {
public final Claw m_robotClaw = new Claw(m_robotMap.servo);
public final Limelight m_limeLight = new Limelight();
public final Limelight m_robotLimeLight = new Limelight();
/* Controllers */
private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
@@ -57,7 +60,22 @@ public class RobotContainer {
public SendableChooser<Command> chooser = new SendableChooser<>();
private Command noAuto = new InstantCommand();
// private SequentialCommandGroup alignToTarget = new SequentialCommandGroup(
// new RotateToAngle(m_robotSwerveDrive, m_robotLimeLight, 0.0, true),
// new LimeAlign(m_robotSwerveDrive, m_robotLimeLight)
// );
private ConditionalCommand alignToTarget = new ConditionalCommand(
new SequentialCommandGroup(
new RotateToAngle(m_robotSwerveDrive, 0.0),
new LimeAlign(m_robotSwerveDrive, m_robotLimeLight)
),
noAuto,
() -> m_robotLimeLight.numTargets() <= 2
);
// private Command balance = new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive);
// private Command blue1Path = new JoystickPlayback(m_robotSwerveDrive, "Blue1Path.txt");
@@ -146,31 +164,21 @@ public class RobotContainer {
// .onFalse(new InstantCommand());
// * Operator Buttons
// new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
// // .onTrue(new InstantCommand(() -> System.out.println("Claw Button")));
// .onTrue(new InstantCommand(() -> m_robotClaw.toggle()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> m_limeLight.toggleLEDs(), m_limeLight));
.onTrue(new InstantCommand(() -> m_robotLimeLight.toggleLEDs(), m_robotLimeLight));
new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
.whileTrue(new LimeAlign(m_robotSwerveDrive, m_limeLight));
.onTrue(alignToTarget);
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> m_robotClaw.toggle()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> m_robotArm.killSoftLimits()));
// new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotArm.resetTeleSoftLimit(), m_robotArm));
// new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
// .onTrue(new InstantCommand(() -> {}, m_robotArm, m_robotSwerveDrive, m_robotClaw));
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> {}, m_robotArm, m_robotSwerveDrive, m_robotClaw));
}
/**