Team4388/2024AcrossTheRidgebotiverse
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This commit is contained in:
Abhishrek05
2024-03-11 15:44:32 -06:00
parent 19197b5850
commit 2dd1fe72e5
8 changed files with 105 additions and 16 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+19 -6
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@@ -62,12 +62,10 @@ public class RobotContainer {
m_robotMap.gyro);
/* Limelight */
public final Limelight limelight = new Limelight();
private final Limelight limelight = new Limelight();
private final Shooter m_robotShooter = new Shooter(m_robotMap.leftShooter, m_robotMap.rightShooter, limelight);
private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.pivotMotor);
private final Climber m_robotClimber = new Climber(m_robotMap.climbMotor);
//private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.pivotMotor);
@@ -76,7 +74,8 @@ public class RobotContainer {
private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
private final DeadbandedXboxController m_autoRecorderXbox = new DeadbandedXboxController(2);
private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.pivotMotor, m_driverXbox, m_operatorXbox);
/* Virtual Controllers */
private final VirtualController m_virtualDriver = new VirtualController(0);
@@ -297,6 +296,7 @@ public class RobotContainer {
true);
}, m_robotSwerveDrive)
.withName("SwerveDrive DefaultCommand"));
m_robotSwerveDrive.setToSlow();
// ! Swerve Drive Default Command (Orientation Rotation)
// m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
@@ -331,6 +331,12 @@ public class RobotContainer {
new Trigger(() -> getDeadbandedDriverController().getRawAxis(XboxController.LEFT_TRIGGER_AXIS) > 0.5)
.onTrue(new InstantCommand(() -> m_robotClimber.climbIn()))
.onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
new Trigger(() -> getDeadbandedDriverController().getPOV() == 0)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroRightBlue()));
new Trigger(() -> getDeadbandedDriverController().getPOV() == 180)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroRightAmp()));
// ! /* Auto Recording */
// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
@@ -400,8 +406,6 @@ public class RobotContainer {
new JoystickButton(getDeadbandedOperatorController(), XboxController.START_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(0), m_robotIntake));
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter))
.onFalse(turnOffShoot);
@@ -426,6 +430,13 @@ public class RobotContainer {
.onTrue(new InstantCommand(() -> m_robotShooter.idle()))
.onFalse(new InstantCommand(() -> m_robotShooter.stop()));
new Trigger(() -> getDeadbandedOperatorController().getPOV() == 0)
.onTrue(new InstantCommand(() -> m_robotClimber.climbOut()))
.onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
new Trigger(() -> getDeadbandedOperatorController().getPOV() == 180)
.onTrue(new InstantCommand(() -> m_robotClimber.climbIn()))
.onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
}
@@ -442,6 +453,8 @@ public class RobotContainer {
// new JoystickButton(getVirtualDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
new Trigger(() -> getDeadbandedDriverController().getPOV() == 0)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroRightBlue()));
// /* Operator Buttons */