mirror of
https://github.com/Team4388/2024AcrossTheRidgebotiverse.git
synced 2026-06-09 00:38:02 -06:00
denver comp (im tweakin)
This commit is contained in:
Abhishrek05
@@ -7,7 +7,10 @@
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package frc4388.robot;
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import org.opencv.video.Video;
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import edu.wpi.first.cameraserver.CameraServer;
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import edu.wpi.first.cscore.VideoMode;
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import edu.wpi.first.math.geometry.Translation2d;
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import edu.wpi.first.wpilibj.DriverStation;
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import edu.wpi.first.wpilibj.GenericHID;
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@@ -24,7 +27,7 @@ import edu.wpi.first.wpilibj2.command.button.Trigger;
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import frc4388.robot.Constants.IntakeConstants;
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import frc4388.robot.Constants.OIConstants;
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import frc4388.robot.Constants.ShooterConstants;
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import frc4388.robot.commands.Autos.AutoAlign;
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//import frc4388.robot.commands.Autos.AutoAlign;
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import frc4388.robot.commands.Autos.PlaybackChooser;
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import frc4388.robot.commands.Swerve.JoystickPlayback;
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import frc4388.robot.commands.Swerve.JoystickRecorder;
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@@ -87,7 +90,7 @@ public class RobotContainer {
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private Command intakeToShootStuff = new ArmIntakeIn(m_robotIntake, m_robotShooter);
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private Command interrupt = new InstantCommand(() -> {}, m_robotIntake, m_robotShooter);
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private ParallelCommandGroup intakeToShoot = new ParallelCommandGroup(
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private SequentialCommandGroup intakeToShoot = new SequentialCommandGroup(
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new InstantCommand(() -> m_robotIntake.talonPIDIn()),
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new InstantCommand(() -> m_robotShooter.idle())
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// new InstantCommand(() -> m_driverXbox.setRumble(RumbleType.kRightRumble, 1.0)).andThen(new WaitCommand(0.2)).andThen(new InstantCommand(() -> m_driverXbox.setRumble(RumbleType.kRightRumble, 0.0))),
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@@ -108,18 +111,18 @@ public class RobotContainer {
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// ! Teleop Commands
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private AutoAlign autoAlign = new AutoAlign(m_robotSwerveDrive, limelight);
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//private AutoAlign autoAlign = new AutoAlign(m_robotSwerveDrive, limelight);
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private SequentialCommandGroup autoShoot = new SequentialCommandGroup(
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// MoveToSpeaker,
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autoAlign,
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//autoAlign,
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new InstantCommand(() -> m_robotShooter.spin()),
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new WaitCommand(3.0),
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new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
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new WaitCommand(3.0),
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new InstantCommand(() -> m_robotShooter.idle()),
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new InstantCommand(() -> autoAlign.reverse()),
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autoAlign.asProxy()
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new InstantCommand(() -> m_robotShooter.idle())
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// new InstantCommand(() -> autoAlign.reverse()),
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// autoAlign.asProxy()
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);
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@@ -290,7 +293,7 @@ public class RobotContainer {
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DriverStation.silenceJoystickConnectionWarning(true);
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CameraServer.startAutomaticCapture();
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CameraServer.startAutomaticCapture().setConfigJson("{ \"width\": -512, \"height\": 512 }");
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/* Default Commands */
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// drives the robot with a two-axis input from the driver controller
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@@ -329,58 +332,58 @@ public class RobotContainer {
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new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroFlip(), m_robotSwerveDrive));
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new Trigger(() -> getDeadbandedDriverController().getPOV() == 0)
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new JoystickButton(getDeadbandedDriverController(), XboxController.BACK_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroRightBlue()));
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new Trigger(() -> getDeadbandedDriverController().getPOV() == 180)
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new JoystickButton(getDeadbandedDriverController(), XboxController.START_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroRightAmp()));
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// * /* D-Pad Stuff */
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new Trigger(() -> getDeadbandedDriverController().getRawAxis(XboxController.TOP_BOTTOM_DPAD_AXIS) > 0.9)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 1),
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new Translation2d(0, 0),
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true)))
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.onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
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new Translation2d(0, 0),
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true)));
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// new Trigger(() -> getDeadbandedDriverController().getRawAxis(XboxController.TOP_BOTTOM_DPAD_AXIS) > 0.9)
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// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 1),
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// new Translation2d(0, 0),
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// true)))
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// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
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// new Translation2d(0, 0),
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// true)));
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new Trigger(() -> getDeadbandedDriverController().getRawAxis(XboxController.TOP_BOTTOM_DPAD_AXIS) > -0.9)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, -1),
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new Translation2d(0, 0),
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true)))
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.onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
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new Translation2d(0, 0),
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true)));
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// new Trigger(() -> getDeadbandedDriverController().getRawAxis(XboxController.TOP_BOTTOM_DPAD_AXIS) > -0.9)
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// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, -1),
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// new Translation2d(0, 0),
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// true)))
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// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
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// new Translation2d(0, 0),
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// true)));
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new Trigger(() -> getDeadbandedDriverController().getRawAxis(XboxController.LEFT_RIGHT_DPAD_AXIS) > 0.9)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(1, 0),
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new Translation2d(0, 0),
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true)))
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.onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
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new Translation2d(0, 0),
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true)));
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// new Trigger(() -> getDeadbandedDriverController().getRawAxis(XboxController.LEFT_RIGHT_DPAD_AXIS) > 0.9)
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// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(1, 0),
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// new Translation2d(0, 0),
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// true)))
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// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
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// new Translation2d(0, 0),
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// true)));
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new Trigger(() -> getDeadbandedDriverController().getRawAxis(XboxController.LEFT_RIGHT_DPAD_AXIS) > -0.9)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(-1, 0),
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new Translation2d(0, 0),
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true)))
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.onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
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new Translation2d(0, 0),
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true)));
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// new Trigger(() -> getDeadbandedDriverController().getRawAxis(XboxController.LEFT_RIGHT_DPAD_AXIS) > -0.9)
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// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(-1, 0),
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// new Translation2d(0, 0),
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// true)))
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// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
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// new Translation2d(0, 0),
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// true)));
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// ! /* Auto Recording */
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// new JoystickButton(m_autoRecorderXbox, XboxController.LEFT_BUMPER_BUTTON)
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// .whileTrue(new neoJoystickRecorder(m_robotSwerveDrive,
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// new DeadbandedXboxController[]{getDeadbandedDriverController(), getDeadbandedOperatorController()},
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// () -> autoplaybackName.get()))
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// .onFalse(new InstantCommand());
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new JoystickButton(m_autoRecorderXbox, XboxController.LEFT_BUMPER_BUTTON)
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.whileTrue(new neoJoystickRecorder(m_robotSwerveDrive,
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new DeadbandedXboxController[]{getDeadbandedDriverController(), getDeadbandedOperatorController()},
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() -> autoplaybackName.get()))
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.onFalse(new InstantCommand());
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// new JoystickButton(m_autoRecorderXbox, XboxController.RIGHT_BUMPER_BUTTON)
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// .onTrue(new neoJoystickPlayback(m_robotSwerveDrive,
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// () -> autoplaybackName.get(),
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// new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
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// true, false))
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// .onFalse(new InstantCommand());
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new JoystickButton(m_autoRecorderXbox, XboxController.RIGHT_BUMPER_BUTTON)
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.onTrue(new neoJoystickPlayback(m_robotSwerveDrive,
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() -> autoplaybackName.get(),
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new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
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true, false))
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.onFalse(new InstantCommand());
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// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
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// .whileTrue(new JoystickRecorder(m_robotSwerveDrive,
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@@ -475,25 +478,101 @@ public class RobotContainer {
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}
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private void configureVirtualButtonBindings() {
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/* Driver Buttons */
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// new JoystickButton(getVirtualDriverController(), XboxController.A_BUTTON)
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// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive));
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// /* Speed */
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// new JoystickButton(getVirtualDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
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// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
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// // .onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast()));
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// new JoystickButton(getVirtualDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
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// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
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new Trigger(() -> getDeadbandedDriverController().getPOV() == 0)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroRightBlue()));
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// /* Operator Buttons */
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// ? /* Driver Buttons */
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new JoystickButton(getVirtualOperatorController(), XboxController.Y_BUTTON)
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new JoystickButton(getVirtualDriverController(), XboxController.A_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroFlip(), m_robotSwerveDrive));
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new JoystickButton(getVirtualDriverController(), XboxController.BACK_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroRightBlue()));
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new JoystickButton(getVirtualDriverController(), XboxController.START_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroRightAmp()));
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// * /* D-Pad Stuff */
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// new Trigger(() -> getVirtualDriverController().getRawAxis(XboxController.TOP_BOTTOM_DPAD_AXIS) > 0.9)
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// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 1),
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// new Translation2d(0, 0),
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// true)))
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// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
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// new Translation2d(0, 0),
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// true)));
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// new Trigger(() -> getVirtualDriverController().getRawAxis(XboxController.TOP_BOTTOM_DPAD_AXIS) > -0.9)
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// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, -1),
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// new Translation2d(0, 0),
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// true)))
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// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
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// new Translation2d(0, 0),
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// true)));
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// new Trigger(() -> getVirtualDriverController().getRawAxis(XboxController.LEFT_RIGHT_DPAD_AXIS) > 0.9)
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// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(1, 0),
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// new Translation2d(0, 0),
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// true)))
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// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
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// new Translation2d(0, 0),
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// true)));
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// new Trigger(() -> getVirtualDriverController().getRawAxis(XboxController.LEFT_RIGHT_DPAD_AXIS) > -0.9)
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// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(-1, 0),
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// new Translation2d(0, 0),
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// true)))
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// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
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// new Translation2d(0, 0),
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// true)));
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// ! /* Auto Recording */
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// new JoystickButton(m_autoRecorderXbox, XboxController.LEFT_BUMPER_BUTTON)
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// .whileTrue(new neoJoystickRecorder(m_robotSwerveDrive,
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// new DeadbandedXboxController[]{getDeadbandedDriverController(), getDeadbandedOperatorController()},
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// () -> autoplaybackName.get()))
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// .onFalse(new InstantCommand());
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// new JoystickButton(m_autoRecorderXbox, XboxController.RIGHT_BUMPER_BUTTON)
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// .onTrue(new neoJoystickPlayback(m_robotSwerveDrive,
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// () -> autoplaybackName.get(),
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// new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
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// true, false))
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// .onFalse(new InstantCommand());
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// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
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// .whileTrue(new JoystickRecorder(m_robotSwerveDrive,
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// () -> getDeadbandedDriverController().getLeftX(),
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// () -> getDeadbandedDriverController().getLeftY(),
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// () -> getDeadbandedDriverController().getRightX(),
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// () -> getDeadbandedDriverController().getRightY(),
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// "Taxi.txt"))
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// .onFalse(new InstantCommand());
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// new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
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// .onTrue(new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"))
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// .onFalse(new InstantCommand());
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// ! /* Speed */
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new JoystickButton(getVirtualDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
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// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast()));
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new JoystickButton(getVirtualDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
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new Trigger(() -> getVirtualDriverController().getPOV() == 270)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDownRot()));
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new Trigger(() -> getVirtualDriverController().getPOV() == 90)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUpRot()));
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// new JoystickButton(getVirtualDriverController(), XboxController.Y_BUTTON)
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// .whileTrue(new InstantCommand(() ->
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// m_robotSwerveDrive.driveWithInput(new Translation2d(0, 1),
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// new Translation2d(0, 0),
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// true), m_robotSwerveDrive));
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//? /* Operator Buttons */
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new JoystickButton(getVirtualOperatorController(), XboxController.Y_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotIntake.talonPIDIn()))
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.onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor()));
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@@ -506,37 +585,48 @@ public class RobotContainer {
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.onFalse(new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors()));
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new JoystickButton(getVirtualOperatorController(), XboxController.B_BUTTON)
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.onTrue(emergencyRetract.asProxy());
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.onTrue(emergencyRetract);
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// Override Intake Position encoder: out
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new JoystickButton(getVirtualOperatorController(), XboxController.BACK_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(-53), m_robotIntake));
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.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(-55), m_robotIntake));
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// Override Intake Position encoder: in
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new JoystickButton(getVirtualOperatorController(), XboxController.START_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(0), m_robotIntake));
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.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(-6.2), m_robotIntake));
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new JoystickButton(getVirtualOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotShooter.spin(0.5), m_robotShooter))
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.onFalse(turnOffShoot.asProxy());
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.onFalse(turnOffShoot);
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new JoystickButton(getVirtualOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
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.onTrue(i.asProxy())
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.onTrue(i)
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.onFalse(new InstantCommand(() -> m_robotIntake.talonPIDIn()));
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//spins up shooter, no wind down
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new JoystickButton(getVirtualOperatorController(), XboxController.LEFT_JOYSTICK_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter));
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// new JoystickButton(getVirtualOperatorController(), XboxController.RIGHT_JOYSTICK_BUTTON)
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// new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_JOYSTICK_BUTTON)
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// .onTrue(new InstantCommand(() -> m_robotIntake.talonSpinIntakeMotor(), m_robotIntake))
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// .onFalse(new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake));
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new JoystickButton(getVirtualOperatorController(), XboxController.RIGHT_JOYSTICK_BUTTON)
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.onTrue(emergencyRetract.asProxy());
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.onTrue(emergencyRetract);
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new Trigger(() -> getVirtualOperatorController().getRawAxis(XboxController.RIGHT_TRIGGER_AXIS) > 0.5)
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.onTrue(new InstantCommand(() -> m_robotClimber.climbOut()))
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.onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
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new Trigger(() -> getVirtualOperatorController().getRawAxis(XboxController.LEFT_TRIGGER_AXIS) > 0.5)
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.onTrue(new InstantCommand(() -> m_robotClimber.climbIn()))
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.onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
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new Trigger(() -> getVirtualOperatorController().getPOV() == 0)
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.onTrue(new InstantCommand(() -> m_robotIntake.ampOuttake(0.5)));
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}
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/**
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Reference in New Issue
Block a user