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Merge branch 'virtualController' into shooter-test

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This commit is contained in:
Abhishrek05
2024-02-20 19:18:30 -07:00
parent 00f714f845 3aa82cc4f5
commit 69479ce1a9
14 changed files with 598 additions and 18 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+103 -16
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@@ -13,17 +13,17 @@ import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.GenericHID;
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.WaitCommand;
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;
import frc4388.robot.commands.Swerve.JoystickPlayback;
import frc4388.robot.commands.Swerve.JoystickRecorder;
//import frc4388.robot.commands.Swerve.JoystickPlayback;
//import frc4388.robot.commands.Swerve.JoystickRecorder;
import frc4388.robot.commands.Swerve.neoJoystickPlayback;
import frc4388.robot.commands.Swerve.neoJoystickRecorder;
import frc4388.robot.commands.Intake.ArmIntakeIn;
import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.Limelight;
@@ -31,6 +31,7 @@ import frc4388.robot.subsystems.SwerveDrive;
import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.Intake;
import frc4388.utility.controller.DeadbandedXboxController;
import frc4388.utility.controller.VirtualController;
import frc4388.utility.controller.XboxController;
/**
@@ -61,7 +62,13 @@ public class RobotContainer {
/* Controllers */
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_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
private final DeadbandedXboxController m_autoRecorderXbox = new DeadbandedXboxController(2);
/* Virtual Controllers */
private final VirtualController m_virtualDriver = new VirtualController(0);
private final VirtualController m_virtualOperator = new VirtualController(1);
private Limelight limelight = new Limelight();
private Command intakeToShootStuff = new ArmIntakeIn(m_robotIntake, m_robotShooter);
@@ -86,9 +93,9 @@ public class RobotContainer {
);
/* Autos */
private Command taxi = new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt");
private Command startLeftMoveRight = new JoystickPlayback(m_robotSwerveDrive, "StartLeftMoveRight.txt");
private Command startRightMoveLeft = new JoystickPlayback(m_robotSwerveDrive, "StartRightMoveLeft.txt");
private Command taxi = new InstantCommand(); // new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt");
private Command startLeftMoveRight = new InstantCommand(); // new JoystickPlayback(m_robotSwerveDrive, "StartLeftMoveRight.txt");
private Command startRightMoveLeft = new InstantCommand(); // new JoystickPlayback(m_robotSwerveDrive, "StartRightMoveLeft.txt");
private SequentialCommandGroup oneNoteStartingSpeaker = new SequentialCommandGroup (
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
@@ -153,7 +160,9 @@ public class RobotContainer {
* The container for the robot. Contains subsystems, OI devices, and commands.
*/
public RobotContainer() {
configureButtonBindings();
configureButtonBindings();
configureVirtualButtonBindings();
DriverStation.silenceJoystickConnectionWarning(true);
CameraServer.startAutomaticCapture();
@@ -182,8 +191,6 @@ public class RobotContainer {
new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive));
/* Auto Recording */
// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
// .whileTrue(new JoystickRecorder(m_robotSwerveDrive,
@@ -196,10 +203,22 @@ public class RobotContainer {
// "TwoNotePrt1.txt"))
// .onFalse(new InstantCommand());
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(new JoystickPlayback(m_robotSwerveDrive, "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());
// /* Speed */
// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
@@ -247,17 +266,77 @@ public class RobotContainer {
.onTrue(i)
.onFalse(new InstantCommand(() -> m_robotIntake.talonPIDIn()));
//spins up shooter, no wind down
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_JOYSTICK_BUTTON)
.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter));
}
private void configureVirtualButtonBindings() {
/* Driver Buttons */
new JoystickButton(getVirtualDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive));
/* Speed */
new JoystickButton(getVirtualDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast()));
new JoystickButton(getVirtualDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
/* Operator Buttons */
new JoystickButton(getVirtualOperatorController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.pidIn()))
.onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
new JoystickButton(getVirtualOperatorController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.pidOut()))
.onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
// Override Intake Position encoder: out
new JoystickButton(getVirtualOperatorController(), XboxController.BACK_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(-53), m_robotIntake));
// Override Intake Position encoder: in
new JoystickButton(getVirtualOperatorController(), XboxController.START_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(0), m_robotIntake));
//Spin Shooter Motors
new JoystickButton(getVirtualOperatorController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter))
.onFalse(new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter));
new JoystickButton(getVirtualOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(ejectToShoot)
.onFalse(turnOffShoot);
new JoystickButton(getVirtualOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
.onTrue(i)
.onFalse(new InstantCommand(() -> m_robotIntake.pidIn()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_JOYSTICK_BUTTON)
.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter));
}
/**
* Use this to pass the autonomous command to the main {@link Robot} class.
*
* @return the command to run in autonomous
*/
public Command getAutonomousCommand() {
//no auto
return playbackChooser.getCommand();
//no auto
return new neoJoystickPlayback(m_robotSwerveDrive,
"2note.auto",
new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
true, false);
//return playbackChooser.getCommand();
}
/**
@@ -270,4 +349,12 @@ public class RobotContainer {
public DeadbandedXboxController getDeadbandedOperatorController() {
return this.m_operatorXbox;
}
public VirtualController getVirtualDriverController() {
return m_virtualDriver;
}
public VirtualController getVirtualOperatorController() {
return m_virtualOperator;
}
}