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https://github.com/Team4388/2024AcrossTheRidgebotiverse.git
synced 2026-06-09 00:38:02 -06:00
commit Neo AutoRecording code, needs polish.
This commit is contained in:
C4llSiqn
@@ -10,16 +10,16 @@ package frc4388.robot;
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import edu.wpi.first.wpilibj.DriverStation;
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import edu.wpi.first.wpilibj.GenericHID;
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.ConditionalCommand;
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import edu.wpi.first.wpilibj2.command.InstantCommand;
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import edu.wpi.first.wpilibj2.command.RunCommand;
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import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
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import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
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import edu.wpi.first.wpilibj2.command.button.JoystickButton;
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import frc4388.robot.Constants.OIConstants;
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import frc4388.robot.commands.Autos.PlaybackChooser;
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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.robot.commands.Swerve.JoystickPlayback;
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//import frc4388.robot.commands.Swerve.JoystickRecorder;
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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.subsystems.LED;
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import frc4388.robot.subsystems.Limelight;
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@@ -27,6 +27,7 @@ import frc4388.robot.subsystems.SwerveDrive;
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import frc4388.robot.subsystems.Shooter;
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import frc4388.robot.subsystems.Intake;
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import frc4388.utility.controller.DeadbandedXboxController;
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import frc4388.utility.controller.VirtualController;
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import frc4388.utility.controller.XboxController;
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/**
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@@ -59,6 +60,10 @@ public class RobotContainer {
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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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/* 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 Limelight limelight = new Limelight();
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private Command intakeToShootStuff = new ArmIntakeIn(m_robotIntake, m_robotShooter);
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@@ -82,9 +87,9 @@ public class RobotContainer {
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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 Command startLeftMoveRight = new JoystickPlayback(m_robotSwerveDrive, "StartLeftMoveRight.txt");
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private Command startRightMoveLeft = new JoystickPlayback(m_robotSwerveDrive, "StartRightMoveLeft.txt");
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private Command taxi = new InstantCommand(); // new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt");
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private Command startLeftMoveRight = new InstantCommand(); // new JoystickPlayback(m_robotSwerveDrive, "StartLeftMoveRight.txt");
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private Command startRightMoveLeft = new InstantCommand(); // new JoystickPlayback(m_robotSwerveDrive, "StartRightMoveLeft.txt");
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private SequentialCommandGroup oneNoteStartingSpeaker = new SequentialCommandGroup (
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ejectToShoot.asProxy(),
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@@ -139,11 +144,17 @@ public class RobotContainer {
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*/
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private void configureButtonBindings() {
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/* Driver Buttons */
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new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive));
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// new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
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// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive));
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// new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
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// .onTrue(new InstantCommand(() -> getVirtualDriverController().setOutput(XboxController.A_BUTTON, true)))
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// .onFalse(new InstantCommand(() -> getVirtualDriverController().setOutput(XboxController.A_BUTTON, false)));
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// new JoystickButton(getVirtualDriverController(), XboxController.A_BUTTON)
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// //.onTrue(new InstantCommand(() -> System.out.println("Hello")));
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// .onTrue(new InstantCommand(() -> getVirtualDriverController().setRumble(RumbleType.kBothRumble, 1.0)))
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// .onFalse(new InstantCommand(() -> getVirtualDriverController().setRumble(RumbleType.kBothRumble, 0.0)));
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/* Auto Recording */
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// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
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// .whileTrue(new JoystickRecorder(m_robotSwerveDrive,
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@@ -154,52 +165,79 @@ public class RobotContainer {
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// "IntenseTaxi.txt"))
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// .onFalse(new InstantCommand());
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new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
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.onTrue(new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"))
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.onFalse(new InstantCommand());
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// new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
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// .onTrue(new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"))
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// .onFalse(new InstantCommand());
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new JoystickButton(getDeadbandedDriverController(), 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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"sample.auto"))
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.onFalse(new InstantCommand());
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new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
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.onTrue(new neoJoystickPlayback(m_robotSwerveDrive,
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"sample.auto",
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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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new JoystickButton(getVirtualDriverController(), XboxController.A_BUTTON)
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.onTrue(new InstantCommand(() -> System.out.println("Pressed A")))
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.onFalse(new InstantCommand(() -> System.out.println("Released A")));
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new JoystickButton(getVirtualDriverController(), XboxController.B_BUTTON)
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.onTrue(new InstantCommand(() -> System.out.println("Pressed B")))
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.onFalse(new InstantCommand(() -> System.out.println("Released B")));
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new JoystickButton(getVirtualDriverController(), XboxController.X_BUTTON)
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.onTrue(new InstantCommand(() -> System.out.println("Pressed X")))
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.onFalse(new InstantCommand(() -> System.out.println("Released X")));
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new JoystickButton(getVirtualDriverController(), XboxController.Y_BUTTON)
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.onTrue(new InstantCommand(() -> System.out.println("Pressed Y")))
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.onFalse(new InstantCommand(() -> System.out.println("Released Y")));
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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.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 JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
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// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
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/* Operator Buttons */
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new JoystickButton(getDeadbandedOperatorController(), 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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// new JoystickButton(getDeadbandedOperatorController(), 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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new JoystickButton(getDeadbandedOperatorController(), XboxController.A_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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// new JoystickButton(getDeadbandedOperatorController(), XboxController.A_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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// 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(-53), m_robotIntake));
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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(-53), 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(0), 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(0), m_robotIntake));
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//Spin Shooter Motors
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new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter))
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.onFalse(new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter));
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// //Spin Shooter Motors
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// new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
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// .onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter))
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// .onFalse(new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter));
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new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
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.onTrue(ejectToShoot)
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.onFalse(turnOffShoot);
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// new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
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// .onTrue(ejectToShoot)
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// .onFalse(turnOffShoot);
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new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
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.onTrue(i)
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.onFalse(new InstantCommand(() -> m_robotIntake.pidIn()));
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// new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
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// .onTrue(i)
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// .onFalse(new InstantCommand(() -> m_robotIntake.pidIn()));
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}
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@@ -210,7 +248,8 @@ public class RobotContainer {
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* @return the command to run in autonomous
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*/
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public Command getAutonomousCommand() {
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//no auto
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//no auto
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return playbackChooser.getCommand();
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}
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@@ -224,4 +263,12 @@ public class RobotContainer {
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public DeadbandedXboxController getDeadbandedOperatorController() {
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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 getVirtualOperatorController() {
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return m_virtualOperator;
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}
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}
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