Team4388/2024AcrossTheRidgebotiverse
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added D-Pad Stuff (im tweakin)

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This commit is contained in:
Abhishrek05
2024-03-15 14:51:56 -06:00
parent 6a405328e1
commit 4efa4385ff
1 changed files with 45 additions and 13 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+45 -13
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@@ -332,21 +332,41 @@ public class RobotContainer {
new Trigger(() -> getDeadbandedDriverController().getPOV() == 180)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroRightAmp()));
// * /* D-Pad Stuff */
new Trigger(() -> getDeadbandedDriverController().getRawAxis(XboxController.TOP_BOTTOM_DPAD_AXIS) > 0.9)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 1),
new Translation2d(0, 0),
true)))
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
new Translation2d(0, 0),
true)));
new Trigger(() -> getDeadbandedDriverController().getRawAxis(XboxController.TOP_BOTTOM_DPAD_AXIS) > -0.9)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, -1),
new Translation2d(0, 0),
true)))
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
new Translation2d(0, 0),
true)));
new Trigger(() -> getDeadbandedDriverController().getRawAxis(XboxController.LEFT_RIGHT_DPAD_AXIS) > 0.9)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(1, 0),
new Translation2d(0, 0),
true)))
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
new Translation2d(0, 0),
true)));
new Trigger(() -> getDeadbandedDriverController().getRawAxis(XboxController.LEFT_RIGHT_DPAD_AXIS) > -0.9)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(-1, 0),
new Translation2d(0, 0),
true)))
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
new Translation2d(0, 0),
true)));
// ! /* Auto Recording */
// 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(m_autoRecorderXbox, XboxController.LEFT_BUMPER_BUTTON)
.whileTrue(new neoJoystickRecorder(m_robotSwerveDrive,
new DeadbandedXboxController[]{getDeadbandedDriverController(), getDeadbandedOperatorController()},
@@ -360,6 +380,18 @@ public class RobotContainer {
true, false))
.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());
// ! /* Speed */
// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));