mirror of
https://github.com/Team4388/2024AcrossTheRidgebotiverse.git
synced 2026-06-09 00:38:02 -06:00
Code Cleanup, Remove old autos in container. Refactor Intake to be talon only.
This commit is contained in:
C4llSiqn
@@ -7,14 +7,20 @@
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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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// Drive Systems
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import edu.wpi.first.wpilibj.DriverStation;
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import edu.wpi.first.cameraserver.CameraServer;
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import edu.wpi.first.wpilibj.GenericHID;
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import edu.wpi.first.wpilibj.GenericHID.RumbleType;
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import frc4388.utility.controller.XboxController;
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import frc4388.utility.controller.DeadbandedXboxController;
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import frc4388.robot.Constants.OIConstants;
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import edu.wpi.first.wpilibj2.command.button.JoystickButton;
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import edu.wpi.first.wpilibj2.command.button.Trigger;
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import edu.wpi.first.math.geometry.Rotation2d;
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import edu.wpi.first.math.geometry.Translation2d;
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// Commands
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.InstantCommand;
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import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
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@@ -22,30 +28,28 @@ import edu.wpi.first.wpilibj2.command.RunCommand;
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import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
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import edu.wpi.first.wpilibj2.command.WaitCommand;
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import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
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import edu.wpi.first.wpilibj2.command.button.JoystickButton;
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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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// Autos
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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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import frc4388.utility.controller.VirtualController;
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import frc4388.robot.commands.Swerve.neoJoystickPlayback;
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import frc4388.robot.commands.Swerve.neoJoystickRecorder;
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import frc4388.robot.commands.Intake.ArmIntakeIn;
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import frc4388.robot.commands.Autos.ArmIntakeInAuto;
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//import frc4388.robot.commands.Autos.AutoAlign;
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// Subsystems
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import frc4388.robot.subsystems.LED;
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import frc4388.robot.subsystems.Limelight;
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import frc4388.robot.subsystems.SwerveDrive;
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import frc4388.robot.subsystems.Shooter;
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import frc4388.robot.subsystems.Climber;
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import frc4388.robot.subsystems.Intake;
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// Utilites
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import frc4388.utility.DeferredBlock;
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import frc4388.utility.configurable.ConfigurableString;
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import frc4388.utility.controller.DeadbandedXboxController;
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import frc4388.utility.controller.VirtualController;
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import frc4388.utility.controller.XboxController;
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/**
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* This class is where the bulk of the robot should be declared. Since
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@@ -57,10 +61,12 @@ import frc4388.utility.controller.XboxController;
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public class RobotContainer {
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/* RobotMap */
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private final RobotMap m_robotMap = new RobotMap();
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/* Subsystems */
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private final LED m_robotLED = new LED();
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private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.pivotMotor);
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public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront,
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m_robotMap.rightFront,
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m_robotMap.leftBack,
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@@ -74,14 +80,11 @@ public class RobotContainer {
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private final Climber m_robotClimber = new Climber(m_robotMap.climbMotor);
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//private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.pivotMotor);
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/* Controllers */
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private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
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private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
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private final DeadbandedXboxController m_autoRecorderXbox = new DeadbandedXboxController(2);
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private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.pivotMotor);
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/* Virtual Controllers */
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private final VirtualController m_virtualDriver = new VirtualController(0);
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@@ -91,23 +94,12 @@ public class RobotContainer {
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private Command interrupt = new InstantCommand(() -> {}, m_robotIntake, m_robotShooter);
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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_robotIntake.PIDIn()),
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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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// new InstantCommand(() -> m_robotShooter.spin())
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);
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// private SequentialCommandGroup outtakeToShootFull = new SequentialCommandGroup(
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// new InstantCommand(() -> m_robotShooter.spin()),
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// new InstantCommand(() -> m_robotIntake.handoff())
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// );
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// private SequentialCommandGroup intakeInToOut = new SequentialCommandGroup(
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// new InstantCommand(() -> m_robotIntake.rotateArmOut2(), m_robotIntake),
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// new RunCommand(() -> m_robotIntake.limitNote(), m_robotIntake).until(m_robotIntake.getArmFowardLimitState()),
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// new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter)
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// );
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// ! Teleop Commands
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@@ -118,7 +110,7 @@ public class RobotContainer {
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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 InstantCommand(() -> m_robotIntake.handoff(), 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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@@ -134,7 +126,7 @@ public class RobotContainer {
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private SequentialCommandGroup ejectToShoot = new SequentialCommandGroup(
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new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
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new WaitCommand(0.75),
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new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake)
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new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake)
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);
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private SequentialCommandGroup turnOffShoot = new SequentialCommandGroup(
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@@ -144,8 +136,8 @@ public class RobotContainer {
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private SequentialCommandGroup emergencyRetract = new SequentialCommandGroup(
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interrupt,
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new InstantCommand(() -> m_robotIntake.talonPIDIn(), m_robotIntake),
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new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake)
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new InstantCommand(() -> m_robotIntake.PIDIn(), m_robotIntake),
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new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake)
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);
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private SequentialCommandGroup ampShoot = new SequentialCommandGroup(
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@@ -154,137 +146,24 @@ public class RobotContainer {
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);
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// ! /* Autos */
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private Command taxi = new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"); //new InstantCommand();
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private Command startLeftMoveRight = new InstantCommand(); // new JoystickPlayback(m_robotSwerveDrive, "StartLeftMoveRight.txt");
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private Command startRightMoveLeft = new InstantCommand(); // new JoystickPlayback(m_robotSwerveDrive, "StartRightMoveLeft.txt");
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// private Command taxi = new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt");
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private String lastAutoName = "final_red_center_4note_taxi.auto";
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private ConfigurableString autoplaybackName = new ConfigurableString("Auto Playback Name", lastAutoName);
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private neoJoystickPlayback autoPlayback = new neoJoystickPlayback(m_robotSwerveDrive,
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lastAutoName, // () -> autoplaybackName.get(),
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() -> autoplaybackName.get(), // lastAutoName
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new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
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true, true);
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true, false);
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//Help Simplify Shooting
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// private SequentialCommandGroup pullInArmtoShoot = new SequentialCommandGroup(
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// new InstantCommand(() -> m_robotIntake.talonPIDIn()),
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// new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
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// new WaitCommand(1.4).asProxy(),
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// new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
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// new WaitCommand(0.5),
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// new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
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// new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake)
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// );
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private SequentialCommandGroup oneNoteStartingSpeaker = new SequentialCommandGroup (
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new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
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new WaitCommand(1).asProxy(),
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new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
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new WaitCommand(1).asProxy(),
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new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
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new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake),
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new WaitCommand(1).asProxy(),
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new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt")
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);
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private SequentialCommandGroup oneNoteStartingSpeakerStationary = new SequentialCommandGroup (
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new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
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new WaitCommand(1).asProxy(),
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new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
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new WaitCommand(1).asProxy(),
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new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
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new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake)
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);
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private SequentialCommandGroup oneNoteStartingFromLeft = new SequentialCommandGroup(
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startLeftMoveRight.asProxy(),
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ejectToShoot.asProxy(),
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taxi.asProxy()
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);
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private SequentialCommandGroup oneNoteStartingFromRight = new SequentialCommandGroup(
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startRightMoveLeft.asProxy(),
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ejectToShoot.asProxy(),
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taxi.asProxy()
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);
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private SequentialCommandGroup twoNoteStartingFromSpeaker = new SequentialCommandGroup(
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new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
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new WaitCommand(1).asProxy(),
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new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
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new WaitCommand(1).asProxy(),
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new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
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new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake),
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new ArmIntakeInAuto(m_robotIntake, m_robotShooter, m_robotSwerveDrive),
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new InstantCommand(() -> m_robotIntake.talonPIDIn()),
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new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
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new WaitCommand(1.4).asProxy(),
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new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
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new WaitCommand(0.5),
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new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
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new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake),
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new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt")
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// new WaitCommand(1).asProxy(),
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// new JoystickPlayback(m_robotSwerveDrive, "TwoNotePrt2.txt"),
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// new WaitCommand(0.5).asProxy(),
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// new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
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// new WaitCommand(1).asProxy(),
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// new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
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// new WaitCommand(1).asProxy(),
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// new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
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// new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake)
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);
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private SequentialCommandGroup stayTwoNoteStartingFromSpeaker = new SequentialCommandGroup(
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new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
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new WaitCommand(1).asProxy(),
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new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
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new WaitCommand(1).asProxy(),
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new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
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new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake),
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new ArmIntakeInAuto(m_robotIntake, m_robotShooter, m_robotSwerveDrive),
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new InstantCommand(() -> m_robotIntake.talonPIDIn()),
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new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
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new WaitCommand(1.4).asProxy(),
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new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
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new WaitCommand(0.5),
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new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
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new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake)
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);
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private SequentialCommandGroup threeNoteStartingFromSpeaker = new SequentialCommandGroup(
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new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
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new WaitCommand(1).asProxy(),
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new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
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new WaitCommand(1).asProxy(),
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new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
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new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake),
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new ArmIntakeInAuto(m_robotIntake, m_robotShooter, m_robotSwerveDrive),
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new InstantCommand(() -> m_robotIntake.talonPIDIn()),
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new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
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new WaitCommand(1.4).asProxy(),
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new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
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new WaitCommand(0.5),
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new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
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new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake),
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//? Create Another Parallel Command Group :(
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new InstantCommand(() -> m_robotIntake.talonPIDIn()),
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new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
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new WaitCommand(1.4).asProxy(),
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new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
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new WaitCommand(0.5),
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new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
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new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake),
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new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt")
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);
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private PlaybackChooser playbackChooser = new PlaybackChooser(m_robotSwerveDrive)
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.addOption("Taxi Auto", taxi.asProxy())
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.addOption("One Note Auto Starting in Front of Speaker", oneNoteStartingSpeaker.asProxy())
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.addOption("Stay One Note Auto Starting in Front of Speaker", oneNoteStartingSpeakerStationary.asProxy())
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// .addOption("One Note Auto Starting from Left Position", oneNoteStartingFromLeft.asProxy())
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// .addOption("One Note Auto Starting from Right Position", oneNoteStartingFromRight.asProxy())
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.addOption("Two Note Starting in Front of Speaker", twoNoteStartingFromSpeaker.asProxy())
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.addOption("Stay Two Note Starting in Front of Speaker", stayTwoNoteStartingFromSpeaker.asProxy())
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.buildDisplay();
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// private PlaybackChooser playbackChooser = new PlaybackChooser(m_robotSwerveDrive)
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// .addOption("Taxi Auto", taxi.asProxy())
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// .addOption("One Note Auto Starting in Front of Speaker", oneNoteStartingSpeaker.asProxy())
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// .addOption("Stay One Note Auto Starting in Front of Speaker", oneNoteStartingSpeakerStationary.asProxy())
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// // .addOption("One Note Auto Starting from Left Position", oneNoteStartingFromLeft.asProxy())
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// // .addOption("One Note Auto Starting from Right Position", oneNoteStartingFromRight.asProxy())
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// .addOption("Two Note Starting in Front of Speaker", twoNoteStartingFromSpeaker.asProxy())
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// .addOption("Stay Two Note Starting in Front of Speaker", stayTwoNoteStartingFromSpeaker.asProxy())
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// .buildDisplay();
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@@ -341,14 +220,14 @@ public class RobotContainer {
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// ? /* Driver Buttons */
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new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
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DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.A_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroFlip(), m_robotSwerveDrive));
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new JoystickButton(getDeadbandedDriverController(), XboxController.BACK_BUTTON)
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DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.BACK_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroRightBlue()))
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.onFalse(new InstantCommand(() -> m_robotSwerveDrive.add180()));
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new JoystickButton(getDeadbandedDriverController(), XboxController.START_BUTTON)
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DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.START_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroRightAmp()))
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.onFalse(new InstantCommand(() -> m_robotSwerveDrive.add180()));
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@@ -434,48 +313,48 @@ public class RobotContainer {
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//? /* Operator Buttons */
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new JoystickButton(getDeadbandedOperatorController(), 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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DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.Y_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotIntake.PIDIn()))
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.onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
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new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotIntake.talonPIDOut()))
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.onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor()));
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DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.X_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotIntake.PIDOut()))
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.onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
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new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotIntake.talonHandoff()))
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.onFalse(new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors()));
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DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.A_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotIntake.handoff()))
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.onFalse(new InstantCommand(() -> m_robotIntake.stopIntakeMotors()));
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new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
|
||||
DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.B_BUTTON)
|
||||
.onTrue(emergencyRetract);
|
||||
|
||||
|
||||
// Override Intake Position encoder: out
|
||||
new JoystickButton(getDeadbandedOperatorController(), XboxController.BACK_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(-55), m_robotIntake));
|
||||
.onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(-55), m_robotIntake));
|
||||
|
||||
// Override Intake Position encoder: in
|
||||
new JoystickButton(getDeadbandedOperatorController(), XboxController.START_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(-6.2), m_robotIntake));
|
||||
.onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(-6.2), m_robotIntake));
|
||||
|
||||
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
|
||||
DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> m_robotShooter.spin(0.5), m_robotShooter))
|
||||
.onFalse(turnOffShoot);
|
||||
|
||||
|
||||
new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
|
||||
DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
|
||||
.onTrue(i)
|
||||
.onFalse(new InstantCommand(() -> m_robotIntake.talonPIDIn()));
|
||||
.onFalse(new InstantCommand(() -> m_robotIntake.PIDIn()));
|
||||
|
||||
//spins up shooter, no wind down
|
||||
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_JOYSTICK_BUTTON)
|
||||
DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.LEFT_JOYSTICK_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter));
|
||||
|
||||
// new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_JOYSTICK_BUTTON)
|
||||
// DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.RIGHT_JOYSTICK_BUTTON)
|
||||
// .onTrue(new InstantCommand(() -> m_robotIntake.talonSpinIntakeMotor(), m_robotIntake))
|
||||
// .onFalse(new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake));
|
||||
|
||||
new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_JOYSTICK_BUTTON)
|
||||
DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.RIGHT_JOYSTICK_BUTTON)
|
||||
.onTrue(emergencyRetract);
|
||||
|
||||
new Trigger(() -> getDeadbandedOperatorController().getRawAxis(XboxController.RIGHT_TRIGGER_AXIS) > 0.5)
|
||||
@@ -490,156 +369,36 @@ public class RobotContainer {
|
||||
.onTrue(new InstantCommand(() -> m_robotIntake.ampOuttake(0.5)));
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* This method is used to replcate {@link Trigger Triggers} for {@link VirtualController Virtual Controllers}.
|
||||
* Please use {@link RobotContainer#DualJoystickButton} for standard buttons.
|
||||
*/
|
||||
private void configureVirtualButtonBindings() {
|
||||
|
||||
private void configureVirtualButtonBindings() {
|
||||
|
||||
// ? /* Driver Buttons */
|
||||
|
||||
new JoystickButton(getVirtualDriverController(), XboxController.A_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroFlip(), m_robotSwerveDrive));
|
||||
|
||||
new JoystickButton(getVirtualDriverController(), XboxController.BACK_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroRightBlue()))
|
||||
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.add180()));
|
||||
|
||||
new JoystickButton(getVirtualDriverController(), XboxController.START_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroRightAmp()))
|
||||
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.add180()));
|
||||
|
||||
|
||||
// * /* D-Pad Stuff */
|
||||
// new Trigger(() -> getVirtualDriverController().getRawAxis(XboxController.TOP_BOTTOM_DPAD_AXIS) > 0.9)
|
||||
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 1),
|
||||
// new Translation2d(0, 0),
|
||||
// true)))
|
||||
// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
|
||||
// new Translation2d(0, 0),
|
||||
// true)));
|
||||
|
||||
// new Trigger(() -> getVirtualDriverController().getRawAxis(XboxController.TOP_BOTTOM_DPAD_AXIS) > -0.9)
|
||||
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, -1),
|
||||
// new Translation2d(0, 0),
|
||||
// true)))
|
||||
// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
|
||||
// new Translation2d(0, 0),
|
||||
// true)));
|
||||
|
||||
// new Trigger(() -> getVirtualDriverController().getRawAxis(XboxController.LEFT_RIGHT_DPAD_AXIS) > 0.9)
|
||||
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(1, 0),
|
||||
// new Translation2d(0, 0),
|
||||
// true)))
|
||||
// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
|
||||
// new Translation2d(0, 0),
|
||||
// true)));
|
||||
|
||||
// new Trigger(() -> getVirtualDriverController().getRawAxis(XboxController.LEFT_RIGHT_DPAD_AXIS) > -0.9)
|
||||
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(-1, 0),
|
||||
// new Translation2d(0, 0),
|
||||
// true)))
|
||||
// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
|
||||
// new Translation2d(0, 0),
|
||||
// true)));
|
||||
|
||||
// ! /* Auto Recording */
|
||||
new JoystickButton(m_autoRecorderXbox, XboxController.LEFT_BUMPER_BUTTON)
|
||||
.whileTrue(new neoJoystickRecorder(m_robotSwerveDrive,
|
||||
new DeadbandedXboxController[]{getDeadbandedDriverController(), getDeadbandedOperatorController()},
|
||||
() -> autoplaybackName.get()))
|
||||
.onFalse(new InstantCommand());
|
||||
|
||||
new JoystickButton(m_autoRecorderXbox, XboxController.RIGHT_BUMPER_BUTTON)
|
||||
.onTrue(new neoJoystickPlayback(m_robotSwerveDrive,
|
||||
() -> autoplaybackName.get(),
|
||||
new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
|
||||
true, false))
|
||||
.onFalse(new InstantCommand());
|
||||
/* Notice: the following buttons have not been replicated
|
||||
* Swerve Drive Slow and Fast mode Gear Shifts : Fast mode is known to cause drift, so we disable that feature in Autoplayback
|
||||
* Swerve Drive Rotation Gear Shifts : Same reason as Slow and Fast mode.
|
||||
* Auto Recording controls : We don't want an Null Ouroboros for an auto.
|
||||
*/
|
||||
|
||||
// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
|
||||
// .whileTrue(new JoystickRecorder(m_robotSwerveDrive,
|
||||
// () -> getDeadbandedDriverController().getLeftX(),
|
||||
// () -> getDeadbandedDriverController().getLeftY(),
|
||||
// () -> getDeadbandedDriverController().getRightX(),
|
||||
// () -> getDeadbandedDriverController().getRightY(),
|
||||
// "Taxi.txt"))
|
||||
// .onFalse(new InstantCommand());
|
||||
// ? /* Operator Buttons */
|
||||
|
||||
// new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
|
||||
// .onTrue(new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"))
|
||||
// .onFalse(new InstantCommand());
|
||||
// ! /* 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()));
|
||||
/* Notice: the following buttons have not been replicated
|
||||
* Override Intake Position Encoder : It's an emergancy overide, for when the position of intake when the robot boots, the intake is not inside the robot.
|
||||
* We don't need it in an auto.
|
||||
* Climbing controls : We don't need to climb in auto.
|
||||
*/
|
||||
|
||||
new Trigger(() -> getVirtualDriverController().getPOV() == 270)
|
||||
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDownRot()));
|
||||
// new Trigger(() -> getVirtualOperatorController().getRawAxis(XboxController.RIGHT_TRIGGER_AXIS) > 0.5)
|
||||
// .onTrue(new InstantCommand(() -> m_robotClimber.climbOut()))
|
||||
// .onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
|
||||
|
||||
new Trigger(() -> getVirtualDriverController().getPOV() == 90)
|
||||
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUpRot()));
|
||||
|
||||
// new JoystickButton(getVirtualDriverController(), XboxController.Y_BUTTON)
|
||||
// .whileTrue(new InstantCommand(() ->
|
||||
// m_robotSwerveDrive.driveWithInput(new Translation2d(0, 1),
|
||||
// new Translation2d(0, 0),
|
||||
// true), m_robotSwerveDrive));
|
||||
|
||||
|
||||
//? /* Operator Buttons */
|
||||
|
||||
new JoystickButton(getVirtualOperatorController(), XboxController.Y_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> m_robotIntake.talonPIDIn()))
|
||||
.onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor()));
|
||||
|
||||
new JoystickButton(getVirtualOperatorController(), XboxController.X_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> m_robotIntake.talonPIDOut()))
|
||||
.onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor()));
|
||||
|
||||
new JoystickButton(getVirtualOperatorController(), XboxController.A_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> m_robotIntake.talonHandoff()))
|
||||
.onFalse(new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors()));
|
||||
|
||||
new JoystickButton(getVirtualOperatorController(), XboxController.B_BUTTON)
|
||||
.onTrue(emergencyRetract);
|
||||
|
||||
|
||||
// Override Intake Position encoder: out
|
||||
new JoystickButton(getVirtualOperatorController(), XboxController.BACK_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(-55), m_robotIntake));
|
||||
|
||||
// Override Intake Position encoder: in
|
||||
new JoystickButton(getVirtualOperatorController(), XboxController.START_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(-6.2), m_robotIntake));
|
||||
|
||||
new JoystickButton(getVirtualOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> m_robotShooter.spin(0.5), m_robotShooter))
|
||||
.onFalse(turnOffShoot);
|
||||
|
||||
|
||||
new JoystickButton(getVirtualOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
|
||||
.onTrue(i)
|
||||
.onFalse(new InstantCommand(() -> m_robotIntake.talonPIDIn()));
|
||||
|
||||
//spins up shooter, no wind down
|
||||
new JoystickButton(getVirtualOperatorController(), XboxController.LEFT_JOYSTICK_BUTTON)
|
||||
.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter));
|
||||
|
||||
// new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_JOYSTICK_BUTTON)
|
||||
// .onTrue(new InstantCommand(() -> m_robotIntake.talonSpinIntakeMotor(), m_robotIntake))
|
||||
// .onFalse(new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake));
|
||||
|
||||
new JoystickButton(getVirtualOperatorController(), XboxController.RIGHT_JOYSTICK_BUTTON)
|
||||
.onTrue(emergencyRetract);
|
||||
|
||||
new Trigger(() -> getVirtualOperatorController().getRawAxis(XboxController.RIGHT_TRIGGER_AXIS) > 0.5)
|
||||
.onTrue(new InstantCommand(() -> m_robotClimber.climbOut()))
|
||||
.onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
|
||||
|
||||
new Trigger(() -> getVirtualOperatorController().getRawAxis(XboxController.LEFT_TRIGGER_AXIS) > 0.5)
|
||||
.onTrue(new InstantCommand(() -> m_robotClimber.climbIn()))
|
||||
.onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
|
||||
// new Trigger(() -> getVirtualOperatorController().getRawAxis(XboxController.LEFT_TRIGGER_AXIS) > 0.5)
|
||||
// .onTrue(new InstantCommand(() -> m_robotClimber.climbIn()))
|
||||
// .onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
|
||||
|
||||
new Trigger(() -> getVirtualOperatorController().getPOV() == 0)
|
||||
.onTrue(new InstantCommand(() -> m_robotIntake.ampOuttake(0.5)));
|
||||
@@ -657,6 +416,16 @@ public class RobotContainer {
|
||||
//return playbackChooser.getCommand();
|
||||
}
|
||||
|
||||
/**
|
||||
* A button binding for two controllers, preferably an {@link DeadbandedXboxController Xbox Controller} and {@link VirtualController Virtual Xbox Controller}
|
||||
* @param joystickA A controller
|
||||
* @param joystickB A controller
|
||||
* @param buttonNumber The button to bind to
|
||||
*/
|
||||
public Trigger DualJoystickButton(GenericHID joystickA, GenericHID joystickB, int buttonNumber) {
|
||||
return new Trigger(() -> (joystickA.getRawButton(buttonNumber) || joystickB.getRawButton(buttonNumber)));
|
||||
}
|
||||
|
||||
/**
|
||||
* Add your docs here.
|
||||
*/
|
||||
|
||||
Reference in New Issue
Block a user