Team4388/2024AcrossTheRidgebotiverse
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Lots of bs (im geekin)

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This commit is contained in:
Abhishrek05
2024-02-16 21:49:50 -07:00
parent 2825af3cde
commit 890a3de02a
11 changed files with 135 additions and 229 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+38 -9
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@@ -25,6 +25,7 @@ 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.Limelight;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.Intake;
@@ -61,11 +62,9 @@ public class RobotContainer {
private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
private Command taxi = new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt");
private Limelight limelight = new Limelight();
private Command intakeToShootStuff = new ArmIntakeIn(m_robotIntake, m_robotShooter);
private SequentialCommandGroup intakeToShoot = new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.pidIn()),
new InstantCommand(() -> m_robotShooter.spin())
@@ -96,13 +95,34 @@ public class RobotContainer {
new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake)
);
/* 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 SequentialCommandGroup oneNoteStartingSpeaker = new SequentialCommandGroup (
ejectToShoot,
taxi
);
private SequentialCommandGroup oneNoteStartingFromLeft = new SequentialCommandGroup(
startLeftMoveRight,
ejectToShoot,
taxi
);
private SequentialCommandGroup oneNoteStartingFromRight = new SequentialCommandGroup(
startRightMoveLeft,
ejectToShoot,
taxi
);
private PlaybackChooser playbackChooser = new PlaybackChooser(m_robotSwerveDrive)
.addOption("Taxi Auto", new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"))
.addOption("Taxi Auto", taxi)
.addOption("One Note Auto Starting in Front of Speaker", oneNoteStartingSpeaker)
.addOption("One Note Auto Starting from Left Position", oneNoteStartingFromLeft)
.addOption("One Note Auto Starting from Right Position", oneNoteStartingFromRight)
.buildDisplay();
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
@@ -122,7 +142,7 @@ public class RobotContainer {
m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
SmartDashboard.putNumber("Velocity Output", m_robotIntake.getVelocity());
// SmartDashboard.putNumber("Velocity Output", m_robotIntake.getVelocity());
// m_robotIntake.resetPostion();
}
@@ -177,10 +197,19 @@ public class RobotContainer {
.onTrue(new InstantCommand(() -> m_robotIntake.pidIn()))
.onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
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.setPosition(-53), m_robotIntake));
// Override Intake Position encoder: out
new JoystickButton(getDeadbandedOperatorController(), XboxController.START_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.setPosition(0), m_robotIntake));
// //Pull arm in
// new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotIntake.pidIn(), m_robotIntake))
@@ -202,7 +231,7 @@ public class RobotContainer {
// .onFalse(new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake));
//Spin Shooter Motors
new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter))
.onFalse(new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter));