Team4388/2024AcrossTheRidgebotiverse
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florida comp

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This commit is contained in:
Abhishrek05
2024-03-06 16:29:42 -07:00
parent c5f5e6c57f
commit a7e9ef9951
10 changed files with 225 additions and 33 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+70 -23
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@@ -32,6 +32,7 @@ import frc4388.robot.subsystems.Limelight;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.Intake;
import frc4388.utility.DeferredBlock;
import frc4388.utility.controller.DeadbandedXboxController;
import frc4388.utility.controller.VirtualController;
import frc4388.utility.controller.XboxController;
@@ -76,6 +77,7 @@ public class RobotContainer {
// private final VirtualController m_virtualOperator = new VirtualController(1);
private Command intakeToShootStuff = new ArmIntakeIn(m_robotIntake, m_robotShooter);
private Command interrupt = new InstantCommand(() -> {}, m_robotIntake, m_robotShooter);
private SequentialCommandGroup intakeToShoot = new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.talonPIDIn())
@@ -94,6 +96,8 @@ public class RobotContainer {
// );
// ! Teleop Commands
private AutoAlign autoAlign = new AutoAlign(m_robotSwerveDrive, limelight);
private SequentialCommandGroup autoShoot = new SequentialCommandGroup(
@@ -124,22 +128,33 @@ public class RobotContainer {
new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake)
);
private SequentialCommandGroup emergencyRetract = new SequentialCommandGroup(
interrupt,
new InstantCommand(() -> m_robotIntake.talonPIDIn(), m_robotIntake),
new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake)
);
private SequentialCommandGroup ampShoot = new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.ampPosition()),
new InstantCommand(() -> m_robotIntake.ampShoot(0.1)) //TODO: Find Actual Speed
);
// ! /* Autos */
private Command taxi = new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"); //new InstantCommand();
private Command startLeftMoveRight = new InstantCommand(); // new JoystickPlayback(m_robotSwerveDrive, "StartLeftMoveRight.txt");
private Command startRightMoveLeft = new InstantCommand(); // new JoystickPlayback(m_robotSwerveDrive, "StartRightMoveLeft.txt");
private Command interrupt = new InstantCommand(() -> {}, m_robotIntake, m_robotShooter);
//Help Simplify Shooting
private SequentialCommandGroup pullInArmtoShoot = new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.talonPIDIn()),
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
new WaitCommand(1.4).asProxy(),
new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
new WaitCommand(0.5),
new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake)
);
// private SequentialCommandGroup pullInArmtoShoot = new SequentialCommandGroup(
// new InstantCommand(() -> m_robotIntake.talonPIDIn()),
// new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
// new WaitCommand(1.4).asProxy(),
// new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
// new WaitCommand(0.5),
// new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
// new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake)
// );
private SequentialCommandGroup oneNoteStartingSpeaker = new SequentialCommandGroup (
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
@@ -170,11 +185,6 @@ public class RobotContainer {
taxi.asProxy()
);
private SequentialCommandGroup emergencyRetract = new SequentialCommandGroup(
interrupt,
new InstantCommand(() -> m_robotIntake.talonPIDIn(), m_robotIntake),
new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake)
);
private SequentialCommandGroup twoNoteStartingFromSpeaker = new SequentialCommandGroup(
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
@@ -184,7 +194,13 @@ public class RobotContainer {
new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake),
new ArmIntakeInAuto(m_robotIntake, m_robotShooter, m_robotSwerveDrive),
pullInArmtoShoot,
new InstantCommand(() -> m_robotIntake.talonPIDIn()),
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
new WaitCommand(1.4).asProxy(),
new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
new WaitCommand(0.5),
new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake),
new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt")
// new WaitCommand(1).asProxy(),
// new JoystickPlayback(m_robotSwerveDrive, "TwoNotePrt2.txt"),
@@ -197,6 +213,23 @@ public class RobotContainer {
// new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake)
);
private SequentialCommandGroup stayTwoNoteStartingFromSpeaker = new SequentialCommandGroup(
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
new WaitCommand(1).asProxy(),
new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
new WaitCommand(1).asProxy(),
new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake),
new ArmIntakeInAuto(m_robotIntake, m_robotShooter, m_robotSwerveDrive),
new InstantCommand(() -> m_robotIntake.talonPIDIn()),
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
new WaitCommand(1.4).asProxy(),
new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
new WaitCommand(0.5),
new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake)
);
private SequentialCommandGroup threeNoteStartingFromSpeaker = new SequentialCommandGroup(
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
new WaitCommand(1).asProxy(),
@@ -205,19 +238,32 @@ public class RobotContainer {
new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake),
new ArmIntakeInAuto(m_robotIntake, m_robotShooter, m_robotSwerveDrive),
pullInArmtoShoot,
new InstantCommand(() -> m_robotIntake.talonPIDIn()),
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
new WaitCommand(1.4).asProxy(),
new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
new WaitCommand(0.5),
new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake),
//? Create Another Parallel Command Group :(
pullInArmtoShoot,
new InstantCommand(() -> m_robotIntake.talonPIDIn()),
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
new WaitCommand(1.4).asProxy(),
new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
new WaitCommand(0.5),
new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake),
new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt")
);
private PlaybackChooser playbackChooser = new PlaybackChooser(m_robotSwerveDrive)
.addOption("Taxi Auto", taxi.asProxy())
.addOption("One Note Auto Starting in Front of Speaker", oneNoteStartingSpeaker)
.addOption("One Note Auto Starting in Front of Speaker, But Stay", oneNoteStartingSpeakerStationary)
// .addOption("One Note Auto Starting from Left Position", oneNoteStartingFromLeft)
// .addOption("One Note Auto Starting from Right Position", oneNoteStartingFromRight)
.addOption("Two Note Starting in Front of Speaker", twoNoteStartingFromSpeaker)
.addOption("One Note Auto Starting in Front of Speaker", oneNoteStartingSpeaker.asProxy())
.addOption("Stay One Note Auto Starting in Front of Speaker", oneNoteStartingSpeakerStationary.asProxy())
// .addOption("One Note Auto Starting from Left Position", oneNoteStartingFromLeft.asProxy())
// .addOption("One Note Auto Starting from Right Position", oneNoteStartingFromRight.asProxy())
.addOption("Two Note Starting in Front of Speaker", twoNoteStartingFromSpeaker.asProxy())
.addOption("Stay Two Note Starting in Front of Speaker", stayTwoNoteStartingFromSpeaker.asProxy())
.buildDisplay();
@@ -228,6 +274,7 @@ public class RobotContainer {
public RobotContainer() {
configureButtonBindings();
// configureVirtualButtonBindings();
new DeferredBlock(() -> m_robotSwerveDrive.resetGyroFlip());
DriverStation.silenceJoystickConnectionWarning(true);