mirror of
https://github.com/Team4388/2024AcrossTheRidgebotiverse.git
synced 2026-06-09 00:38:02 -06:00
Almost Ready for Florida!! (im geekin)
This commit is contained in:
Abhishrek05
@@ -12,6 +12,7 @@ import edu.wpi.first.wpilibj.DriverStation;
|
||||
import edu.wpi.first.wpilibj.GenericHID;
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import edu.wpi.first.wpilibj2.command.InstantCommand;
|
||||
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
|
||||
import edu.wpi.first.wpilibj2.command.RunCommand;
|
||||
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
|
||||
import edu.wpi.first.wpilibj2.command.WaitCommand;
|
||||
@@ -25,6 +26,7 @@ import frc4388.robot.commands.Swerve.JoystickRecorder;
|
||||
import frc4388.robot.commands.Swerve.neoJoystickPlayback;
|
||||
import frc4388.robot.commands.Swerve.neoJoystickRecorder;
|
||||
import frc4388.robot.commands.Intake.ArmIntakeIn;
|
||||
import frc4388.robot.commands.Autos.ArmIntakeInAuto;
|
||||
import frc4388.robot.subsystems.LED;
|
||||
import frc4388.robot.subsystems.Limelight;
|
||||
import frc4388.robot.subsystems.SwerveDrive;
|
||||
@@ -76,8 +78,8 @@ public class RobotContainer {
|
||||
private Command intakeToShootStuff = new ArmIntakeIn(m_robotIntake, m_robotShooter);
|
||||
|
||||
private SequentialCommandGroup intakeToShoot = new SequentialCommandGroup(
|
||||
new InstantCommand(() -> m_robotIntake.talonPIDIn())
|
||||
//new InstantCommand(() -> m_robotShooter.spin())
|
||||
new InstantCommand(() -> m_robotIntake.talonPIDIn()),
|
||||
new InstantCommand(() -> m_robotShooter.spin())
|
||||
);
|
||||
|
||||
// private SequentialCommandGroup outtakeToShootFull = new SequentialCommandGroup(
|
||||
@@ -112,9 +114,9 @@ public class RobotContainer {
|
||||
);
|
||||
|
||||
private SequentialCommandGroup ejectToShoot = new SequentialCommandGroup(
|
||||
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter)
|
||||
// new WaitCommand(0.75),
|
||||
//new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake)
|
||||
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
|
||||
new WaitCommand(0.75),
|
||||
new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake)
|
||||
);
|
||||
|
||||
private SequentialCommandGroup turnOffShoot = new SequentialCommandGroup(
|
||||
@@ -126,6 +128,7 @@ public class RobotContainer {
|
||||
private Command taxi = new InstantCommand(); // new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt");
|
||||
private Command startLeftMoveRight = new InstantCommand(); // new JoystickPlayback(m_robotSwerveDrive, "StartLeftMoveRight.txt");
|
||||
private Command startRightMoveLeft = new InstantCommand(); // new JoystickPlayback(m_robotSwerveDrive, "StartRightMoveLeft.txt");
|
||||
private Command interrupt = new InstantCommand(() -> {}, m_robotSwerveDrive, m_robotIntake, m_robotShooter);
|
||||
|
||||
private SequentialCommandGroup oneNoteStartingSpeaker = new SequentialCommandGroup (
|
||||
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
|
||||
@@ -155,6 +158,7 @@ public class RobotContainer {
|
||||
ejectToShoot.asProxy(),
|
||||
taxi.asProxy()
|
||||
);
|
||||
|
||||
private SequentialCommandGroup twoNoteStartingFromSpeaker = new SequentialCommandGroup(
|
||||
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
|
||||
new WaitCommand(1).asProxy(),
|
||||
@@ -162,26 +166,32 @@ public class RobotContainer {
|
||||
new WaitCommand(1).asProxy(),
|
||||
new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
|
||||
new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), 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 ArmIntakeInAuto(m_robotIntake, m_robotShooter, m_robotSwerveDrive),
|
||||
new InstantCommand(() -> m_robotIntake.talonPIDIn()),
|
||||
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
|
||||
new WaitCommand(1).asProxy(),
|
||||
new WaitCommand(1.4).asProxy(),
|
||||
new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
|
||||
new WaitCommand(1).asProxy(),
|
||||
new WaitCommand(0.5),
|
||||
new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
|
||||
new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake)
|
||||
new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake),
|
||||
new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt")
|
||||
// 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.talonHandoff(), m_robotIntake),
|
||||
// new WaitCommand(1).asProxy(),
|
||||
// new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
|
||||
// new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), 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)
|
||||
// .addOption("One Note Auto Starting from Left Position", oneNoteStartingFromLeft)
|
||||
// .addOption("One Note Auto Starting from Right Position", oneNoteStartingFromRight)
|
||||
.addOption("Two Note Starting in Front of Speaker", twoNoteStartingFromSpeaker)
|
||||
.buildDisplay();
|
||||
|
||||
|
||||
@@ -222,20 +232,18 @@ public class RobotContainer {
|
||||
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroFlip(), m_robotSwerveDrive));
|
||||
|
||||
/* Auto Recording */
|
||||
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
|
||||
.whileTrue(new JoystickRecorder(m_robotSwerveDrive, m_robotShooter, m_robotIntake,
|
||||
() -> getDeadbandedDriverController().getLeftX(),
|
||||
() -> getDeadbandedDriverController().getLeftY(),
|
||||
() -> getDeadbandedDriverController().getRightX(),
|
||||
() -> getDeadbandedDriverController().getRightY(),
|
||||
() -> getDeadbandedOperatorController().getLeftBumper(),
|
||||
() -> getDeadbandedOperatorController().getRightBumper(),
|
||||
"Taxi.txt"))
|
||||
.onFalse(new InstantCommand());
|
||||
// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
|
||||
// .whileTrue(new JoystickRecorder(m_robotSwerveDrive,
|
||||
// () -> getDeadbandedDriverController().getLeftX(),
|
||||
// () -> getDeadbandedDriverController().getLeftY(),
|
||||
// () -> getDeadbandedDriverController().getRightX(),
|
||||
// () -> getDeadbandedDriverController().getRightY(),
|
||||
// "Taxi.txt"))
|
||||
// .onFalse(new InstantCommand());
|
||||
|
||||
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
|
||||
.onTrue(new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"))
|
||||
.onFalse(new InstantCommand());
|
||||
// new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
|
||||
// .onTrue(new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"))
|
||||
// .onFalse(new InstantCommand());
|
||||
|
||||
// new JoystickButton(m_autoRecorderXbox, XboxController.LEFT_BUMPER_BUTTON)
|
||||
// .whileTrue(new neoJoystickRecorder(m_robotSwerveDrive,
|
||||
@@ -251,9 +259,9 @@ public class RobotContainer {
|
||||
// .onFalse(new InstantCommand());
|
||||
|
||||
// /* 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.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()));
|
||||
@@ -301,6 +309,11 @@ public class RobotContainer {
|
||||
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_JOYSTICK_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter));
|
||||
|
||||
new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_JOYSTICK_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> m_robotIntake.talonSpinIntakeMotor(), m_robotIntake))
|
||||
.onFalse(new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake));
|
||||
|
||||
|
||||
}
|
||||
|
||||
private void configureVirtualButtonBindings() {
|
||||
@@ -347,9 +360,9 @@ public class RobotContainer {
|
||||
.onFalse(turnOffShoot);
|
||||
|
||||
|
||||
new JoystickButton(getVirtualOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
|
||||
.onTrue(i)
|
||||
.onFalse(new InstantCommand(() -> m_robotIntake.talonPIDIn()));
|
||||
// new JoystickButton(getVirtualOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
|
||||
// .onTrue(i)
|
||||
// .onFalse(new InstantCommand(() -> m_robotIntake.talonPIDIn()));
|
||||
|
||||
|
||||
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_JOYSTICK_BUTTON)
|
||||
|
||||
Reference in New Issue
Block a user