mirror of
https://github.com/Team4388/2024AcrossTheRidgebotiverse.git
synced 2026-06-09 00:38:02 -06:00
mondays changes
This commit is contained in:
Abhishrek05
@@ -58,7 +58,9 @@ 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);
|
||||
@@ -119,7 +121,9 @@ public class RobotContainer {
|
||||
* The container for the robot. Contains subsystems, OI devices, and commands.
|
||||
*/
|
||||
public RobotContainer() {
|
||||
configureButtonBindings();
|
||||
configureButtonBindings();
|
||||
configureVirtualButtonBindings();
|
||||
|
||||
|
||||
DriverStation.silenceJoystickConnectionWarning(true);
|
||||
|
||||
@@ -144,17 +148,9 @@ public class RobotContainer {
|
||||
*/
|
||||
private void configureButtonBindings() {
|
||||
/* Driver Buttons */
|
||||
// new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
|
||||
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive));
|
||||
new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive));
|
||||
|
||||
// new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
|
||||
// .onTrue(new InstantCommand(() -> getVirtualDriverController().setOutput(XboxController.A_BUTTON, true)))
|
||||
// .onFalse(new InstantCommand(() -> getVirtualDriverController().setOutput(XboxController.A_BUTTON, false)));
|
||||
|
||||
// new JoystickButton(getVirtualDriverController(), XboxController.A_BUTTON)
|
||||
// //.onTrue(new InstantCommand(() -> System.out.println("Hello")));
|
||||
// .onTrue(new InstantCommand(() -> getVirtualDriverController().setRumble(RumbleType.kBothRumble, 1.0)))
|
||||
// .onFalse(new InstantCommand(() -> getVirtualDriverController().setRumble(RumbleType.kBothRumble, 0.0)));
|
||||
/* Auto Recording */
|
||||
// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
|
||||
// .whileTrue(new JoystickRecorder(m_robotSwerveDrive,
|
||||
@@ -168,78 +164,119 @@ public class RobotContainer {
|
||||
// new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
|
||||
// .onTrue(new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"))
|
||||
// .onFalse(new InstantCommand());
|
||||
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
|
||||
new JoystickButton(m_autoRecorderXbox, XboxController.LEFT_BUMPER_BUTTON)
|
||||
.whileTrue(new neoJoystickRecorder(m_robotSwerveDrive,
|
||||
new DeadbandedXboxController[]{getDeadbandedDriverController(), getDeadbandedOperatorController()},
|
||||
"sample.auto"))
|
||||
"2note.auto"))
|
||||
.onFalse(new InstantCommand());
|
||||
|
||||
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
|
||||
new JoystickButton(m_autoRecorderXbox, XboxController.RIGHT_BUMPER_BUTTON)
|
||||
.onTrue(new neoJoystickPlayback(m_robotSwerveDrive,
|
||||
"sample.auto",
|
||||
"2note.auto",
|
||||
new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
|
||||
true, false))
|
||||
.onFalse(new InstantCommand());
|
||||
|
||||
new JoystickButton(getVirtualDriverController(), XboxController.A_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> System.out.println("Pressed A")))
|
||||
.onFalse(new InstantCommand(() -> System.out.println("Released A")));
|
||||
|
||||
new JoystickButton(getVirtualDriverController(), XboxController.B_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> System.out.println("Pressed B")))
|
||||
.onFalse(new InstantCommand(() -> System.out.println("Released B")));
|
||||
|
||||
new JoystickButton(getVirtualDriverController(), XboxController.X_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> System.out.println("Pressed X")))
|
||||
.onFalse(new InstantCommand(() -> System.out.println("Released X")));
|
||||
|
||||
new JoystickButton(getVirtualDriverController(), XboxController.Y_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> System.out.println("Pressed Y")))
|
||||
.onFalse(new InstantCommand(() -> System.out.println("Released Y")));
|
||||
/* Speed */
|
||||
// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
|
||||
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
|
||||
// // .onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast()));
|
||||
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
|
||||
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
|
||||
// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast()));
|
||||
|
||||
// new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
|
||||
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
|
||||
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
|
||||
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
|
||||
|
||||
|
||||
|
||||
/* Operator Buttons */
|
||||
|
||||
// new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
|
||||
// .onTrue(new InstantCommand(() -> m_robotIntake.pidIn()))
|
||||
// .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.A_BUTTON)
|
||||
// .onTrue(new InstantCommand(() -> m_robotIntake.pidOut()))
|
||||
// .onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
|
||||
new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> m_robotIntake.pidOut()))
|
||||
.onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
|
||||
|
||||
|
||||
// // Override Intake Position encoder: out
|
||||
// new JoystickButton(getDeadbandedOperatorController(), XboxController.BACK_BUTTON)
|
||||
// .onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(-53), m_robotIntake));
|
||||
// Override Intake Position encoder: out
|
||||
new JoystickButton(getDeadbandedOperatorController(), XboxController.BACK_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(-53), m_robotIntake));
|
||||
|
||||
// // Override Intake Position encoder: in
|
||||
// new JoystickButton(getDeadbandedOperatorController(), XboxController.START_BUTTON)
|
||||
// .onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(0), m_robotIntake));
|
||||
// Override Intake Position encoder: in
|
||||
new JoystickButton(getDeadbandedOperatorController(), XboxController.START_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(0), m_robotIntake));
|
||||
|
||||
// //Spin Shooter Motors
|
||||
// new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
|
||||
// .onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter))
|
||||
// .onFalse(new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter));
|
||||
//Spin Shooter Motors
|
||||
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter))
|
||||
.onFalse(new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter));
|
||||
|
||||
// new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
|
||||
// .onTrue(ejectToShoot)
|
||||
// .onFalse(turnOffShoot);
|
||||
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
|
||||
.onTrue(ejectToShoot)
|
||||
.onFalse(turnOffShoot);
|
||||
|
||||
|
||||
// new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
|
||||
// .onTrue(i)
|
||||
// .onFalse(new InstantCommand(() -> m_robotIntake.pidIn()));
|
||||
new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
|
||||
.onTrue(i)
|
||||
.onFalse(new InstantCommand(() -> m_robotIntake.pidIn()));
|
||||
|
||||
//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));
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -249,8 +286,11 @@ public class RobotContainer {
|
||||
*/
|
||||
public Command getAutonomousCommand() {
|
||||
//no auto
|
||||
|
||||
return playbackChooser.getCommand();
|
||||
return new neoJoystickPlayback(m_robotSwerveDrive,
|
||||
"2note.auto",
|
||||
new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
|
||||
true, false);
|
||||
//return playbackChooser.getCommand();
|
||||
}
|
||||
|
||||
/**
|
||||
|
||||
Reference in New Issue
Block a user