Team4388/2024AcrossTheRidgebotiverse
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it not shooting properly (im tweakin)

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Abhishrek05
2024-02-13 20:01:12 -07:00
parent fa26da2b2b
commit 5997c73f55
7 changed files with 184 additions and 58 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+43 -24
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@@ -22,6 +22,7 @@ import frc4388.robot.Constants.OIConstants;
import frc4388.robot.commands.Autos.PlaybackChooser;
import frc4388.robot.commands.Swerve.JoystickPlayback;
import frc4388.robot.commands.Swerve.JoystickRecorder;
import frc4388.robot.commands.Intake.ArmIntakeIn;
import frc4388.robot.commands.Intake.RotateIntakeToPosition;
import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.SwerveDrive;
@@ -42,7 +43,7 @@ public class RobotContainer {
private final RobotMap m_robotMap = new RobotMap();
/* Subsystems */
private final LED m_robotLED = new LED(m_robotMap.LEDController);
private final LED m_robotLED = new LED();
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront,
m_robotMap.rightFront,
@@ -61,12 +62,13 @@ public class RobotContainer {
private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
private Command taxi = new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt");
private Command intakeToShootStuff = new ArmIntakeIn(m_robotIntake, m_robotShooter);
private SequentialCommandGroup intakeToShoot = new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.pidIn()),
new InstantCommand(() -> m_robotShooter.spin(0.4))
new InstantCommand(() -> m_robotShooter.spin())
);
private SequentialCommandGroup outtakeToShootFull = new SequentialCommandGroup(
@@ -75,12 +77,24 @@ public class RobotContainer {
);
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))
new InstantCommand(() -> m_robotIntake.rotateArmOut2(), m_robotIntake),
new RunCommand(() -> m_robotIntake.limitNote(), m_robotIntake).until(m_robotIntake.getArmFowardLimitState()),
new InstantCommand(() -> m_robotShooter.idle(), m_robotShooter)
);
private SequentialCommandGroup i = new SequentialCommandGroup(
intakeToShootStuff, intakeToShoot
);
private SequentialCommandGroup ejectToShoot = new SequentialCommandGroup(
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake)
);
private SequentialCommandGroup turnOffShoot = new SequentialCommandGroup(
new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake)
);
@@ -136,9 +150,9 @@ public class RobotContainer {
// "IntenseTaxi.txt"))
// .onFalse(new InstantCommand());
//new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
// .onTrue(new JoystickPlayback(m_robotSwerveDrive, "IntenseTaxi.txt"))
// .onFalse(new InstantCommand());
new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
.onTrue(new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"))
.onFalse(new InstantCommand());
/* Speed */
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
@@ -159,13 +173,13 @@ public class RobotContainer {
// .onTrue(new InstantCommand(() -> new RotateIntakeToPosition(m_robotIntake, 360).execute(), m_robotIntake))
// .onFalse(new InstantCommand(() -> new RotateIntakeToPosition(m_robotIntake, 0).execute(), m_robotShooter));
// new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotIntake.rotateArmIn()))
// .onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.pidIn()))
.onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
// new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotIntake.rotateArmOut()))
// .onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.pidOut()))
.onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
// //Pull arm in
// new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
@@ -187,10 +201,10 @@ public class RobotContainer {
// .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));
//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)
@@ -202,8 +216,13 @@ public class RobotContainer {
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
.whileTrue(intakeInToOut);
.onTrue(ejectToShoot)
.onFalse(turnOffShoot);
new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
.onTrue(i)
.onFalse(new InstantCommand(() -> m_robotIntake.pidIn()));
}
@@ -213,10 +232,10 @@ public class RobotContainer {
*
* @return the command to run in autonomous
*/
// public Command getAutonomousCommand() {
// no auto
// return playbackChooser.getCommand();
// }
public Command getAutonomousCommand() {
//no auto
return playbackChooser.getCommand();
}
/**
* Add your docs here.