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added commands for intaking notes (im tweakin)

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This commit is contained in:
Abhishrek05
2024-02-10 15:48:00 -07:00
parent bd99a75892
commit 529f242883
3 changed files with 95 additions and 21 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+61 -16
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@@ -7,11 +7,16 @@
package frc4388.robot;
import java.time.Instant;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.ConditionalCommand;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.OIConstants;
import frc4388.robot.commands.Autos.PlaybackChooser;
@@ -57,6 +62,28 @@ public class RobotContainer {
private Command taxi = new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt");
private SequentialCommandGroup intakeToShoot = new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.pidIn()),
new InstantCommand(() -> m_robotShooter.spin(0.4))
);
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()),
new RunCommand(() -> m_robotIntake.limitNote()).until(m_robotIntake.getArmFowardLimitState()),
new InstantCommand(() -> m_robotShooter.spin(0.4))
);
private PlaybackChooser playbackChooser = new PlaybackChooser(m_robotSwerveDrive)
@@ -140,25 +167,43 @@ public class RobotContainer {
// .onTrue(new InstantCommand(() -> m_robotIntake.rotateArmOut()))
// .onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.pidIn(), m_robotIntake))
.onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor(), m_robotIntake));
// //Pull arm in
// new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotIntake.pidIn(), m_robotIntake))
// .onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor(), m_robotIntake));
// //Pull arm out
// new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotIntake.pidOut(), m_robotIntake))
// .onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor(), m_robotIntake));
// //Intake Note
// new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotIntake.spinIntakeMotor(), m_robotIntake))
// .onFalse(new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake));
// //Outtake Note
// new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake))
// .onFalse(new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake));
// //Spin Shooter Motors
// new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter))
// .onFalse(new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter));
// //Intake Note and ramp up shooter to 40%
// new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
// .onTrue(intakeToShoot);
// //Ramps up shooter to 100% to Shooter
// new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
// .onTrue(outtakeToShootFull);
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.pidOut(), m_robotIntake))
.onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor(), m_robotIntake));
.whileTrue(intakeInToOut);
new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.spinIntakeMotor(), m_robotIntake))
.onFalse(new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake));
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_TRIGGER_AXIS)
.onTrue(new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake))
.onFalse(new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake));
new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_TRIGGER_AXIS)
.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter))
.onFalse(new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter));
}