Team4388/2024AcrossTheRidgebotiverse
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Abhishrek05
2024-02-19 09:41:58 -07:00
parent 5482cd7fb9
commit 1032edbf4c
9 changed files with 156 additions and 42 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+64 -18
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@@ -7,6 +7,9 @@
package frc4388.robot;
import com.fasterxml.jackson.databind.ser.std.InetAddressSerializer;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj2.command.Command;
@@ -14,6 +17,7 @@ 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.WaitCommand;
import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.OIConstants;
@@ -87,8 +91,22 @@ public class RobotContainer {
private Command startRightMoveLeft = new JoystickPlayback(m_robotSwerveDrive, "StartRightMoveLeft.txt");
private SequentialCommandGroup oneNoteStartingSpeaker = new SequentialCommandGroup (
ejectToShoot.asProxy(),
taxi.asProxy()
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
new WaitCommand(1).asProxy(),
new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake),
new WaitCommand(1).asProxy(),
new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake),
new WaitCommand(1).asProxy(),
new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt")
);
private SequentialCommandGroup oneNoteStartingSpeakerStationary = new SequentialCommandGroup (
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
new WaitCommand(1).asProxy(),
new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake),
new WaitCommand(1).asProxy(),
new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake)
);
private SequentialCommandGroup oneNoteStartingFromLeft = new SequentialCommandGroup(
startLeftMoveRight.asProxy(),
@@ -100,10 +118,31 @@ public class RobotContainer {
ejectToShoot.asProxy(),
taxi.asProxy()
);
private SequentialCommandGroup twoNoteStartingFromSpeaker = new SequentialCommandGroup(
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
new WaitCommand(1).asProxy(),
new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake),
new WaitCommand(1).asProxy(),
new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake),
intakeToShootStuff.asProxy(),
new WaitCommand(1).asProxy(),
new JoystickPlayback(m_robotSwerveDrive, "TwoNotePrt1.txt"),
intakeToShoot.asProxy(),
new WaitCommand(1).asProxy(),
new JoystickPlayback(m_robotSwerveDrive, "TwoNotePrt2.txt"),
new WaitCommand(0.5).asProxy(),
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
new WaitCommand(1).asProxy(),
new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake),
new WaitCommand(1).asProxy(),
new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake)
);
private PlaybackChooser playbackChooser = new PlaybackChooser(m_robotSwerveDrive)
.addOption("Taxi Auto", taxi.asProxy())
.addOption("One Note Auto Starting in Front of Speaker", oneNoteStartingSpeaker)
.addOption("One Note Auto Starting in Front of Speaker, But Stay", oneNoteStartingSpeakerStationary)
.addOption("One Note Auto Starting from Left Position", oneNoteStartingFromLeft)
.addOption("One Note Auto Starting from Right Position", oneNoteStartingFromRight)
.buildDisplay();
@@ -117,6 +156,7 @@ public class RobotContainer {
configureButtonBindings();
DriverStation.silenceJoystickConnectionWarning(true);
CameraServer.startAutomaticCapture();
/* Default Commands */
// drives the robot with a two-axis input from the driver controller
@@ -145,26 +185,28 @@ public class RobotContainer {
/* Auto Recording */
// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
// .whileTrue(new JoystickRecorder(m_robotSwerveDrive,
// () -> getDeadbandedDriverController().getLeftX(),
// () -> getDeadbandedDriverController().getLeftY(),
// () -> getDeadbandedDriverController().getRightX(),
// () -> getDeadbandedDriverController().getRightY(),
// "IntenseTaxi.txt"))
// .onFalse(new InstantCommand());
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
.whileTrue(new JoystickRecorder(m_robotSwerveDrive,
() -> getDeadbandedDriverController().getLeftX(),
() -> getDeadbandedDriverController().getLeftY(),
() -> getDeadbandedDriverController().getRightX(),
() -> getDeadbandedDriverController().getRightY(),
() -> getDeadbandedOperatorController().getLeftBumper(),
() -> getDeadbandedOperatorController().getRightBumper(),
"TwoNotePrt1.txt"))
.onFalse(new InstantCommand());
new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"))
.onFalse(new InstantCommand());
/* Speed */
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast()));
// /* Speed */
// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
// // .onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast()));
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
// new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
@@ -178,6 +220,10 @@ public class RobotContainer {
.onTrue(new InstantCommand(() -> m_robotIntake.pidOut()))
.onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.spinIntakeMotor()))
.onFalse(new InstantCommand(() -> m_robotIntake.stopIntakeMotors()));
// Override Intake Position encoder: out
new JoystickButton(getDeadbandedOperatorController(), XboxController.BACK_BUTTON)