mirror of
https://github.com/Team4388/2024AcrossTheRidgebotiverse.git
synced 2026-06-09 00:38:02 -06:00
re add subsystems
This commit is contained in:
Michael Mikovsky
@@ -32,6 +32,7 @@ import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
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// Autos
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import frc4388.robot.commands.Autos.PlaybackChooser;
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import frc4388.robot.commands.Intake.ArmIntakeIn;
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import frc4388.robot.commands.Swerve.JoystickPlayback;
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import frc4388.robot.commands.Swerve.JoystickRecorder;
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import frc4388.utility.controller.VirtualController;
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@@ -39,7 +40,10 @@ import frc4388.robot.commands.Swerve.neoJoystickPlayback;
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import frc4388.robot.commands.Swerve.neoJoystickRecorder;
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// import frc4388.robot.commands.Intake.ArmIntakeIn;
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//import frc4388.robot.commands.Autos.AutoAlign;
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import frc4388.robot.subsystems.Climber;
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import frc4388.robot.subsystems.Intake;
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import frc4388.robot.subsystems.Limelight;
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import frc4388.robot.subsystems.Shooter;
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// Subsystems
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// import frc4388.robot.subsystems.LED;
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// import frc4388.robot.subsystems.Limelight;
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@@ -66,7 +70,7 @@ public class RobotContainer {
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/* Subsystems */
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// private final LED m_robotLED = new LED();
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// private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.pivotMotor);
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private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.pivotMotor);
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public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront,
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m_robotMap.rightFront,
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@@ -78,27 +82,89 @@ public class RobotContainer {
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/* Controllers */
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private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
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private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
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// private final DeadbandedXboxController m_autoRecorderXbox = new DeadbandedXboxController(2);
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private final DeadbandedXboxController m_autoRecorderXbox = new DeadbandedXboxController(2);
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private final Limelight limelight = new Limelight();
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private final Shooter m_robotShooter = new Shooter(m_robotMap.leftShooter, m_robotMap.rightShooter, limelight);
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private final Climber m_robotClimber = new Climber(m_robotMap.climbMotor);
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/* Virtual Controllers */
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// private final VirtualController m_virtualDriver = new VirtualController(0);
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// private final VirtualController m_virtualOperator = new VirtualController(1);
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private final VirtualController m_virtualDriver = new VirtualController(0);
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private final VirtualController m_virtualOperator = new VirtualController(1);
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// private Command intakeToShootStuff = new ArmIntakeIn(m_robotIntake, m_robotShooter);
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// private Command interrupt = new InstantCommand(() -> {}, m_robotIntake, m_robotShooter);
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private Command intakeToShootStuff = new ArmIntakeIn(m_robotIntake, m_robotShooter);
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private Command interrupt = new InstantCommand(() -> {}, m_robotIntake, m_robotShooter);
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// private SequentialCommandGroup intakeToShoot = new SequentialCommandGroup(
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// new InstantCommand(() -> m_robotIntake.PIDIn()),
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// new InstantCommand(() -> m_robotShooter.idle())
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// // new InstantCommand(() -> m_driverXbox.setRumble(RumbleType.kRightRumble, 1.0)).andThen(new WaitCommand(0.2)).andThen(new InstantCommand(() -> m_driverXbox.setRumble(RumbleType.kRightRumble, 0.0))),
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// // new InstantCommand(() -> m_robotShooter.spin())
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// );
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private SequentialCommandGroup intakeToShoot = new SequentialCommandGroup(
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new InstantCommand(() -> m_robotIntake.PIDIn()),
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new InstantCommand(() -> m_robotShooter.idle())
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// new InstantCommand(() -> m_driverXbox.setRumble(RumbleType.kRightRumble, 1.0)).andThen(new WaitCommand(0.2)).andThen(new InstantCommand(() -> m_driverXbox.setRumble(RumbleType.kRightRumble, 0.0))),
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// new InstantCommand(() -> m_robotShooter.spin())
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);
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// ! Teleop Commands
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private SequentialCommandGroup autoShoot = new SequentialCommandGroup(
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// MoveToSpeaker,
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//autoAlign,
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new InstantCommand(() -> m_robotShooter.spin()),
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new WaitCommand(3.0),
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new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake),
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new WaitCommand(3.0),
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new InstantCommand(() -> m_robotShooter.idle())
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// new InstantCommand(() -> autoAlign.reverse()),
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// autoAlign.asProxy()
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);
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//private AutoAlign autoAlign = new AutoAlign(m_robotSwerveDrive, limelight);
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private SequentialCommandGroup i = new SequentialCommandGroup(
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intakeToShootStuff, intakeToShoot,
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new InstantCommand(() -> m_robotShooter.idle())
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);
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private SequentialCommandGroup ejectToShoot = new SequentialCommandGroup(
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new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
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new WaitCommand(0.75),
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new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake)
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);
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private SequentialCommandGroup turnOffShoot = new SequentialCommandGroup(
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new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter)
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// new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake)
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);
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private SequentialCommandGroup emergencyRetract = new SequentialCommandGroup(
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interrupt,
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new InstantCommand(() -> m_robotIntake.PIDIn(), m_robotIntake),
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new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake)
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);
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private SequentialCommandGroup ampShoot = new SequentialCommandGroup(
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new InstantCommand(() -> m_robotIntake.ampPosition()),
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new InstantCommand(() -> m_robotIntake.ampOuttake(0.1)) //TODO: Find Actual Speed
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);
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// ! /* Autos */
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// private Command taxi = new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt");
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private String lastAutoName = "final_red_center_4note_taxi.auto";
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private ConfigurableString autoplaybackName = new ConfigurableString("Auto Playback Name", lastAutoName);
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private neoJoystickPlayback autoPlayback = new neoJoystickPlayback(m_robotSwerveDrive,
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() -> autoplaybackName.get(), // lastAutoName
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new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
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true, false);
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// private PlaybackChooser playbackChooser = new PlaybackChooser(m_robotSwerveDrive)
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// .addOption("Taxi Auto", taxi.asProxy())
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// .addOption("One Note Auto Starting in Front of Speaker", oneNoteStartingSpeaker.asProxy())
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// .addOption("Stay One Note Auto Starting in Front of Speaker", oneNoteStartingSpeakerStationary.asProxy())
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// // .addOption("One Note Auto Starting from Left Position", oneNoteStartingFromLeft.asProxy())
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// // .addOption("One Note Auto Starting from Right Position", oneNoteStartingFromRight.asProxy())
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// .addOption("Two Note Starting in Front of Speaker", twoNoteStartingFromSpeaker.asProxy())
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// .addOption("Stay Two Note Starting in Front of Speaker", stayTwoNoteStartingFromSpeaker.asProxy())
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// .buildDisplay();
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// private SequentialCommandGroup autoShoot = new SequentialCommandGroup(
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// // MoveToSpeaker,
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@@ -179,8 +245,170 @@ public class RobotContainer {
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* passing it to a {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
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*/
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private void configureButtonBindings() {
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new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
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// ? /* Driver Buttons */
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DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.A_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroFlip(), m_robotSwerveDrive));
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DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.BACK_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroRightBlue()))
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.onFalse(new InstantCommand(() -> m_robotSwerveDrive.add180()));
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DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.START_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroRightAmp()))
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.onFalse(new InstantCommand(() -> m_robotSwerveDrive.add180()));
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// * /* D-Pad Stuff */
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// new Trigger(() -> getDeadbandedDriverController().getRawAxis(XboxController.TOP_BOTTOM_DPAD_AXIS) > 0.9)
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// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 1),
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// new Translation2d(0, 0),
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// true)))
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// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
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// new Translation2d(0, 0),
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// true)));
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// new Trigger(() -> getDeadbandedDriverController().getRawAxis(XboxController.TOP_BOTTOM_DPAD_AXIS) > -0.9)
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// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, -1),
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// new Translation2d(0, 0),
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// true)))
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// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
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// new Translation2d(0, 0),
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// true)));
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// new Trigger(() -> getDeadbandedDriverController().getRawAxis(XboxController.LEFT_RIGHT_DPAD_AXIS) > 0.9)
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// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(1, 0),
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// new Translation2d(0, 0),
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// true)))
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// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
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// new Translation2d(0, 0),
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// true)));
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// new Trigger(() -> getDeadbandedDriverController().getRawAxis(XboxController.LEFT_RIGHT_DPAD_AXIS) > -0.9)
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// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(-1, 0),
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// new Translation2d(0, 0),
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// true)))
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// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
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// new Translation2d(0, 0),
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// true)));
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// ! /* Auto Recording */
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// new JoystickButton(m_autoRecorderXbox, XboxController.LEFT_BUMPER_BUTTON)
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// .whileTrue(new neoJoystickRecorder(m_robotSwerveDrive,
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// new DeadbandedXboxController[]{getDeadbandedDriverController(), getDeadbandedOperatorController()},
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// () -> autoplaybackName.get()))
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// .onFalse(new InstantCommand());
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// new JoystickButton(m_autoRecorderXbox, XboxController.RIGHT_BUMPER_BUTTON)
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// .onTrue(new neoJoystickPlayback(m_robotSwerveDrive,
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// () -> autoplaybackName.get(),
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// new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
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// true, false))
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// .onFalse(new InstantCommand());
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// ! /* Speed */
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new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
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// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast()));
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new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
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new Trigger(() -> getDeadbandedDriverController().getPOV() == 270)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDownRot()));
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new Trigger(() -> getDeadbandedDriverController().getPOV() == 90)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUpRot()));
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//? /* Operator Buttons */
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DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.Y_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotIntake.PIDIn()))
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.onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
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DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.X_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotIntake.PIDOut()))
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.onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
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DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.A_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotIntake.handoff()))
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.onFalse(new InstantCommand(() -> m_robotIntake.stopIntakeMotors()));
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DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.B_BUTTON)
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.onTrue(emergencyRetract);
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// Override Intake Position encoder: out
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new JoystickButton(getDeadbandedOperatorController(), XboxController.BACK_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(-55), m_robotIntake));
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// Override Intake Position encoder: in
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new JoystickButton(getDeadbandedOperatorController(), XboxController.START_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(-6.2), m_robotIntake));
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DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotShooter.spin(0.5), m_robotShooter))
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.onFalse(turnOffShoot);
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DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
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.onTrue(i)
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.onFalse(new InstantCommand(() -> m_robotIntake.PIDIn()));
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//spins up shooter, no wind down
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DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.LEFT_JOYSTICK_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter));
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DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.RIGHT_JOYSTICK_BUTTON)
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.onTrue(emergencyRetract);
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new Trigger(() -> getDeadbandedOperatorController().getRawAxis(XboxController.RIGHT_TRIGGER_AXIS) > 0.5)
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.onTrue(new InstantCommand(() -> m_robotClimber.climbOut()))
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.onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
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new Trigger(() -> getDeadbandedOperatorController().getRawAxis(XboxController.LEFT_TRIGGER_AXIS) > 0.5)
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.onTrue(new InstantCommand(() -> m_robotClimber.climbIn()))
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.onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
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new Trigger(() -> getDeadbandedOperatorController().getPOV() == 0)
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.onTrue(new InstantCommand(() -> m_robotIntake.ampOuttake(0.5)));
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}
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/**
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* This method is used to replcate {@link Trigger Triggers} for {@link VirtualController Virtual Controllers}. <p/>
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* Please use {@link RobotContainer#DualJoystickButton} in {@link RobotContainer#configureButtonBindings} for standard buttons.
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*/
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private void configureVirtualButtonBindings() {
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// ? /* Driver Buttons */
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/* Notice: the following buttons have not been replicated
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* Swerve Drive Slow and Fast mode Gear Shifts : Fast mode is known to cause drift, so we disable that feature in Autoplayback
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* Swerve Drive Rotation Gear Shifts : Same reason as Slow and Fast mode.
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* Auto Recording controls : We don't want an Null Ouroboros for an auto.
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*/
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// ? /* Operator Buttons */
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/* Notice: the following buttons have not been replicated
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* Override Intake Position Encoder : It's an emergancy overide, for when the position of intake when the robot boots, the intake is not inside the robot.
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* We don't need it in an auto.
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* Climbing controls : We don't need to climb in auto.
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*/
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// new Trigger(() -> getVirtualOperatorController().getRawAxis(XboxController.RIGHT_TRIGGER_AXIS) > 0.5)
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// .onTrue(new InstantCommand(() -> m_robotClimber.climbOut()))
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// .onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
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// new Trigger(() -> getVirtualOperatorController().getRawAxis(XboxController.LEFT_TRIGGER_AXIS) > 0.5)
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// .onTrue(new InstantCommand(() -> m_robotClimber.climbIn()))
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// .onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
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new Trigger(() -> getVirtualOperatorController().getPOV() == 0)
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.onTrue(new InstantCommand(() -> m_robotIntake.ampOuttake(0.5)));
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}
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/**
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@@ -216,11 +444,11 @@ public class RobotContainer {
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return this.m_operatorXbox;
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}
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// public VirtualController getVirtualDriverController() {
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// return m_virtualDriver;
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// }
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public VirtualController getVirtualDriverController() {
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return m_virtualDriver;
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}
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// public VirtualController getVirtualOperatorController() {
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// return m_virtualOperator;
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// }
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public VirtualController getVirtualOperatorController() {
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return m_virtualOperator;
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}
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}
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