Team4388/2024AcrossTheRidgebotiverse
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- Remove unneeded limelight stuff
- Make base code for autoAlign

- Need to test with robot
This commit is contained in:
Astatin3
2024-02-15 15:38:47 -07:00
parent 2825af3cde
commit 20bac49f8d
8 changed files with 127 additions and 201 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+13 -2
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@@ -19,12 +19,14 @@ import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.OIConstants;
import frc4388.robot.commands.Autos.AutoAlign;
import frc4388.robot.commands.Autos.PlaybackChooser;
import frc4388.robot.commands.Swerve.JoystickPlayback;
import frc4388.robot.commands.Swerve.JoystickRecorder;
import frc4388.robot.commands.Intake.ArmIntakeIn;
import frc4388.robot.commands.Intake.RotateIntakeToPosition;
import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.Limelight;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.Intake;
@@ -60,12 +62,15 @@ public class RobotContainer {
/* Controllers */
private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
/* Autos */
private Limelight limelight = new Limelight();
public AutoAlign autoAlign = new AutoAlign(m_robotSwerveDrive, limelight);
private Command taxi = new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt");
private Command MoveToSpeaker = new JoystickPlayback(m_robotSwerveDrive, "MoveToSpeaker.txt");
private Command intakeToShootStuff = new ArmIntakeIn(m_robotIntake, m_robotShooter);
private SequentialCommandGroup intakeToShoot = new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.pidIn()),
new InstantCommand(() -> m_robotShooter.spin())
@@ -82,6 +87,12 @@ public class RobotContainer {
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter)
);
private SequentialCommandGroup autoShoot = new SequentialCommandGroup(
new RunCommand(() -> MoveToSpeaker.execute()),
new RunCommand(() -> autoAlign.execute())
);
private SequentialCommandGroup i = new SequentialCommandGroup(
intakeToShootStuff, intakeToShoot
);