mirror of
https://github.com/Team4388/2024AcrossTheRidgebotiverse.git
synced 2026-06-09 00:38:02 -06:00
AHHHHHHHHHHHHHHHHH (Im tweakin)
This commit is contained in:
Abhishrek05
@@ -76,20 +76,20 @@ 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(
|
||||
new InstantCommand(() -> m_robotShooter.spin()),
|
||||
new InstantCommand(() -> m_robotIntake.handoff())
|
||||
);
|
||||
// private SequentialCommandGroup outtakeToShootFull = new SequentialCommandGroup(
|
||||
// new InstantCommand(() -> m_robotShooter.spin()),
|
||||
// new InstantCommand(() -> m_robotIntake.handoff())
|
||||
// );
|
||||
|
||||
private SequentialCommandGroup intakeInToOut = new SequentialCommandGroup(
|
||||
new InstantCommand(() -> m_robotIntake.rotateArmOut2(), m_robotIntake),
|
||||
new RunCommand(() -> m_robotIntake.limitNote(), m_robotIntake).until(m_robotIntake.getArmFowardLimitState()),
|
||||
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter)
|
||||
);
|
||||
// private SequentialCommandGroup intakeInToOut = new SequentialCommandGroup(
|
||||
// new InstantCommand(() -> m_robotIntake.rotateArmOut2(), m_robotIntake),
|
||||
// new RunCommand(() -> m_robotIntake.limitNote(), m_robotIntake).until(m_robotIntake.getArmFowardLimitState()),
|
||||
// new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter)
|
||||
// );
|
||||
|
||||
|
||||
private AutoAlign autoAlign = new AutoAlign(m_robotSwerveDrive, limelight);
|
||||
@@ -99,7 +99,7 @@ public class RobotContainer {
|
||||
autoAlign,
|
||||
new InstantCommand(() -> m_robotShooter.spin()),
|
||||
new WaitCommand(3.0),
|
||||
new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake),
|
||||
new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
|
||||
new WaitCommand(3.0),
|
||||
new InstantCommand(() -> m_robotShooter.idle()),
|
||||
new InstantCommand(() -> autoAlign.reverse()),
|
||||
@@ -112,8 +112,9 @@ public class RobotContainer {
|
||||
);
|
||||
|
||||
private SequentialCommandGroup ejectToShoot = new SequentialCommandGroup(
|
||||
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
|
||||
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(
|
||||
@@ -190,7 +191,7 @@ public class RobotContainer {
|
||||
*/
|
||||
public RobotContainer() {
|
||||
configureButtonBindings();
|
||||
configureVirtualButtonBindings();
|
||||
// configureVirtualButtonBindings();
|
||||
|
||||
|
||||
DriverStation.silenceJoystickConnectionWarning(true);
|
||||
@@ -218,43 +219,44 @@ public class RobotContainer {
|
||||
private void configureButtonBindings() {
|
||||
/* Driver Buttons */
|
||||
new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive));
|
||||
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroFlip(), m_robotSwerveDrive));
|
||||
|
||||
/* Auto Recording */
|
||||
// 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"))
|
||||
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.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,
|
||||
// new DeadbandedXboxController[]{getDeadbandedDriverController(), getDeadbandedOperatorController()},
|
||||
// "2note.auto"))
|
||||
// .onFalse(new InstantCommand());
|
||||
|
||||
// new JoystickButton(m_autoRecorderXbox, XboxController.RIGHT_BUMPER_BUTTON)
|
||||
// .onTrue(new neoJoystickPlayback(m_robotSwerveDrive,
|
||||
// "2note.auto",
|
||||
// new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
|
||||
// true, false))
|
||||
// .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,
|
||||
new DeadbandedXboxController[]{getDeadbandedDriverController(), getDeadbandedOperatorController()},
|
||||
"2note.auto"))
|
||||
.onFalse(new InstantCommand());
|
||||
|
||||
new JoystickButton(m_autoRecorderXbox, XboxController.RIGHT_BUMPER_BUTTON)
|
||||
.onTrue(new neoJoystickPlayback(m_robotSwerveDrive,
|
||||
"2note.auto",
|
||||
new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
|
||||
true, false))
|
||||
.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()));
|
||||
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
|
||||
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
|
||||
|
||||
|
||||
|
||||
@@ -264,18 +266,18 @@ public class RobotContainer {
|
||||
.onTrue(new InstantCommand(() -> m_robotIntake.talonPIDIn()))
|
||||
.onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor()));
|
||||
|
||||
new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
|
||||
new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> m_robotIntake.talonPIDOut()))
|
||||
.onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor()));
|
||||
|
||||
new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> m_robotIntake.talonSpinIntakeMotor()))
|
||||
new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> m_robotIntake.talonHandoff()))
|
||||
.onFalse(new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors()));
|
||||
|
||||
|
||||
// Override Intake Position encoder: out
|
||||
new JoystickButton(getDeadbandedOperatorController(), XboxController.BACK_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(-53), m_robotIntake));
|
||||
.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(-57), m_robotIntake));
|
||||
|
||||
// Override Intake Position encoder: in
|
||||
new JoystickButton(getDeadbandedOperatorController(), XboxController.START_BUTTON)
|
||||
@@ -287,7 +289,7 @@ public class RobotContainer {
|
||||
.onFalse(new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter));
|
||||
|
||||
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
|
||||
.onTrue(ejectToShoot)
|
||||
.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter))
|
||||
.onFalse(turnOffShoot);
|
||||
|
||||
|
||||
@@ -301,7 +303,7 @@ public class RobotContainer {
|
||||
|
||||
}
|
||||
|
||||
private void configureVirtualButtonBindings() {
|
||||
private void configureVirtualButtonBindings() {
|
||||
/* Driver Buttons */
|
||||
new JoystickButton(getVirtualDriverController(), XboxController.A_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive));
|
||||
@@ -319,21 +321,21 @@ public class RobotContainer {
|
||||
/* Operator Buttons */
|
||||
|
||||
new JoystickButton(getVirtualOperatorController(), XboxController.Y_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> m_robotIntake.pidIn()))
|
||||
.onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
|
||||
.onTrue(new InstantCommand(() -> m_robotIntake.talonPIDIn()))
|
||||
.onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor()));
|
||||
|
||||
new JoystickButton(getVirtualOperatorController(), XboxController.A_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> m_robotIntake.pidOut()))
|
||||
.onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
|
||||
.onTrue(new InstantCommand(() -> m_robotIntake.talonPIDOut()))
|
||||
.onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor()));
|
||||
|
||||
|
||||
// Override Intake Position encoder: out
|
||||
new JoystickButton(getVirtualOperatorController(), XboxController.BACK_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(-53), m_robotIntake));
|
||||
.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(-53), m_robotIntake));
|
||||
|
||||
// Override Intake Position encoder: in
|
||||
new JoystickButton(getVirtualOperatorController(), XboxController.START_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(0), m_robotIntake));
|
||||
.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(0), m_robotIntake));
|
||||
|
||||
//Spin Shooter Motors
|
||||
new JoystickButton(getVirtualOperatorController(), XboxController.X_BUTTON)
|
||||
@@ -347,7 +349,7 @@ public class RobotContainer {
|
||||
|
||||
new JoystickButton(getVirtualOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
|
||||
.onTrue(i)
|
||||
.onFalse(new InstantCommand(() -> m_robotIntake.pidIn()));
|
||||
.onFalse(new InstantCommand(() -> m_robotIntake.talonPIDIn()));
|
||||
|
||||
|
||||
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_JOYSTICK_BUTTON)
|
||||
@@ -361,11 +363,11 @@ public class RobotContainer {
|
||||
*/
|
||||
public Command getAutonomousCommand() {
|
||||
//no auto
|
||||
return new neoJoystickPlayback(m_robotSwerveDrive,
|
||||
"2note.auto",
|
||||
new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
|
||||
true, false);
|
||||
//return playbackChooser.getCommand();
|
||||
// return new neoJoystickPlayback(m_robotSwerveDrive,
|
||||
// "2note.auto",
|
||||
// new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
|
||||
// true, false);
|
||||
return playbackChooser.getCommand();
|
||||
}
|
||||
|
||||
/**
|
||||
|
||||
Reference in New Issue
Block a user