Team4388/2024AcrossTheRidgebotiverse
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added climber stuff and tweaked auto stuff (im tweakin)

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This commit is contained in:
Abhishrek05
2024-03-09 14:31:26 -07:00
parent e1b0864c28
commit be29d00336
9 changed files with 136 additions and 25 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+31 -12
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@@ -19,6 +19,7 @@ import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.WaitCommand;
import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import edu.wpi.first.wpilibj2.command.button.Trigger;
import frc4388.robot.Constants.OIConstants;
import frc4388.robot.commands.Autos.AutoAlign;
import frc4388.robot.commands.Autos.PlaybackChooser;
@@ -32,8 +33,10 @@ import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.Limelight;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.Climber;
import frc4388.robot.subsystems.Intake;
import frc4388.utility.DeferredBlock;
import frc4388.utility.configurable.ConfigurableString;
import frc4388.utility.controller.DeadbandedXboxController;
import frc4388.utility.controller.VirtualController;
import frc4388.utility.controller.XboxController;
@@ -59,12 +62,14 @@ public class RobotContainer {
m_robotMap.gyro);
/* Limelight */
private final Limelight limelight = new Limelight();
public final Limelight limelight = new Limelight();
private final Shooter m_robotShooter = new Shooter(m_robotMap.leftShooter, m_robotMap.rightShooter);
private final Shooter m_robotShooter = new Shooter(m_robotMap.leftShooter, m_robotMap.rightShooter, limelight);
private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.pivotMotor);
private final Climber m_robotClimber = new Climber(m_robotMap.climbMotor);
//private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.pivotMotor);
/* Controllers */
@@ -115,7 +120,8 @@ public class RobotContainer {
private SequentialCommandGroup i = new SequentialCommandGroup(
intakeToShootStuff, intakeToShoot
intakeToShootStuff, intakeToShoot,
new InstantCommand(() -> m_robotShooter.idle())
);
private SequentialCommandGroup ejectToShoot = new SequentialCommandGroup(
@@ -145,6 +151,7 @@ public class RobotContainer {
private Command startLeftMoveRight = new InstantCommand(); // new JoystickPlayback(m_robotSwerveDrive, "StartLeftMoveRight.txt");
private Command startRightMoveLeft = new InstantCommand(); // new JoystickPlayback(m_robotSwerveDrive, "StartRightMoveLeft.txt");
private ConfigurableString autoplaybackName = new ConfigurableString("Auto Playback Name", "defualt.auto");
//Help Simplify Shooting
// private SequentialCommandGroup pullInArmtoShoot = new SequentialCommandGroup(
@@ -316,6 +323,14 @@ public class RobotContainer {
new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroFlip(), m_robotSwerveDrive));
new Trigger(() -> getDeadbandedDriverController().getRawAxis(XboxController.RIGHT_TRIGGER_AXIS) > 0.5)
.onTrue(new InstantCommand(() -> m_robotClimber.climbOut()))
.onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
new Trigger(() -> getDeadbandedDriverController().getRawAxis(XboxController.LEFT_TRIGGER_AXIS) > 0.5)
.onTrue(new InstantCommand(() -> m_robotClimber.climbIn()))
.onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
// ! /* Auto Recording */
// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
@@ -334,29 +349,29 @@ public class RobotContainer {
new JoystickButton(m_autoRecorderXbox, XboxController.LEFT_BUMPER_BUTTON)
.whileTrue(new neoJoystickRecorder(m_robotSwerveDrive,
new DeadbandedXboxController[]{getDeadbandedDriverController(), getDeadbandedOperatorController()},
"Nuetral_Center_1note_taxi.auto"))
() -> autoplaybackName.get()))
.onFalse(new InstantCommand());
new JoystickButton(m_autoRecorderXbox, XboxController.RIGHT_BUMPER_BUTTON)
.onTrue(new neoJoystickPlayback(m_robotSwerveDrive,
"Nuetral_Center_1note_taxi.auto",
autoplaybackName.get(),
new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
true, false))
.onFalse(new InstantCommand());
// ! /* Speed */
// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
// 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.Y_BUTTON)
.whileTrue(new InstantCommand(() ->
m_robotSwerveDrive.driveWithInput(new Translation2d(0, 1),
new Translation2d(0, 0),
true), m_robotSwerveDrive));
// new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
// .whileTrue(new InstantCommand(() ->
// m_robotSwerveDrive.driveWithInput(new Translation2d(0, 1),
// new Translation2d(0, 0),
// true), m_robotSwerveDrive));
//? /* Operator Buttons */
@@ -407,6 +422,10 @@ public class RobotContainer {
new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_JOYSTICK_BUTTON)
.onTrue(emergencyRetract);
new Trigger(() -> getDeadbandedOperatorController().getRawAxis(XboxController.RIGHT_TRIGGER_AXIS) > 0.5)
.onTrue(new InstantCommand(() -> m_robotShooter.idle()))
.onFalse(new InstantCommand(() -> m_robotShooter.stop()));
}