mirror of
https://github.com/Team4388/2024AcrossTheRidgebotiverse.git
synced 2026-06-09 00:38:02 -06:00
Janky working prototype, Most code removed, Using phoenix 6
This commit is contained in:
Michael Mikovsky
@@ -7,20 +7,50 @@
|
||||
|
||||
package frc4388.robot;
|
||||
|
||||
// Drive Systems
|
||||
import edu.wpi.first.wpilibj.DriverStation;
|
||||
import edu.wpi.first.cameraserver.CameraServer;
|
||||
import edu.wpi.first.wpilibj.GenericHID;
|
||||
import edu.wpi.first.wpilibj.Joystick;
|
||||
import edu.wpi.first.wpilibj.GenericHID.RumbleType;
|
||||
import frc4388.utility.controller.XboxController;
|
||||
import frc4388.utility.controller.DeadbandedXboxController;
|
||||
import frc4388.robot.Constants.OIConstants;
|
||||
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
|
||||
import edu.wpi.first.wpilibj2.command.button.Trigger;
|
||||
import edu.wpi.first.math.geometry.Rotation2d;
|
||||
import edu.wpi.first.math.geometry.Translation2d;
|
||||
|
||||
// Commands
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import edu.wpi.first.wpilibj2.command.InstantCommand;
|
||||
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
|
||||
import edu.wpi.first.wpilibj2.command.RunCommand;
|
||||
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
|
||||
import frc4388.robot.Constants.*;
|
||||
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
|
||||
import edu.wpi.first.wpilibj2.command.WaitCommand;
|
||||
import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
|
||||
|
||||
// Autos
|
||||
import frc4388.robot.commands.Autos.PlaybackChooser;
|
||||
import frc4388.robot.commands.Swerve.JoystickPlayback;
|
||||
import frc4388.robot.commands.Swerve.JoystickRecorder;
|
||||
import frc4388.robot.subsystems.LED;
|
||||
import frc4388.utility.controller.VirtualController;
|
||||
import frc4388.robot.commands.Swerve.neoJoystickPlayback;
|
||||
import frc4388.robot.commands.Swerve.neoJoystickRecorder;
|
||||
// import frc4388.robot.commands.Intake.ArmIntakeIn;
|
||||
//import frc4388.robot.commands.Autos.AutoAlign;
|
||||
|
||||
// Subsystems
|
||||
// import frc4388.robot.subsystems.LED;
|
||||
// import frc4388.robot.subsystems.Limelight;
|
||||
import frc4388.robot.subsystems.SwerveDrive;
|
||||
import frc4388.utility.LEDPatterns;
|
||||
import frc4388.utility.controller.DeadbandedXboxController;
|
||||
import frc4388.utility.controller.IHandController;
|
||||
import frc4388.utility.controller.XboxController;
|
||||
// import frc4388.robot.subsystems.Shooter;
|
||||
// import frc4388.robot.subsystems.Climber;
|
||||
// import frc4388.robot.subsystems.Intake;
|
||||
|
||||
// Utilites
|
||||
import frc4388.utility.DeferredBlock;
|
||||
import frc4388.utility.configurable.ConfigurableString;
|
||||
|
||||
/**
|
||||
* This class is where the bulk of the robot should be declared. Since
|
||||
@@ -31,34 +61,160 @@ import frc4388.utility.controller.XboxController;
|
||||
*/
|
||||
public class RobotContainer {
|
||||
/* RobotMap */
|
||||
private final RobotMap m_robotMap = new RobotMap();
|
||||
|
||||
/* Subsystems */
|
||||
private final LED m_robotLED = new LED(m_robotMap.LEDController);
|
||||
|
||||
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront,
|
||||
m_robotMap.rightFront,
|
||||
m_robotMap.leftBack,
|
||||
m_robotMap.rightBack,
|
||||
m_robotMap.gyro);
|
||||
public final RobotMap m_robotMap = new RobotMap();
|
||||
|
||||
/* Subsystems */
|
||||
// private final LED m_robotLED = new LED();
|
||||
|
||||
// private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.pivotMotor);
|
||||
|
||||
// public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront,
|
||||
// m_robotMap.rightFront,
|
||||
// m_robotMap.leftBack,
|
||||
// m_robotMap.rightBack,
|
||||
|
||||
// m_robotMap.gyro);
|
||||
/* Limelight */
|
||||
// private final Limelight limelight = new Limelight();
|
||||
|
||||
// private final Shooter m_robotShooter = new Shooter(m_robotMap.leftShooter, m_robotMap.rightShooter, limelight);
|
||||
|
||||
// private final Climber m_robotClimber = new Climber(m_robotMap.climbMotor);
|
||||
|
||||
/* 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_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_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);
|
||||
// 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.PIDIn()),
|
||||
// new InstantCommand(() -> m_robotShooter.idle())
|
||||
// // new InstantCommand(() -> m_driverXbox.setRumble(RumbleType.kRightRumble, 1.0)).andThen(new WaitCommand(0.2)).andThen(new InstantCommand(() -> m_driverXbox.setRumble(RumbleType.kRightRumble, 0.0))),
|
||||
// // new InstantCommand(() -> m_robotShooter.spin())
|
||||
// );
|
||||
|
||||
|
||||
// ! Teleop Commands
|
||||
|
||||
//private AutoAlign autoAlign = new AutoAlign(m_robotSwerveDrive, limelight);
|
||||
|
||||
// private SequentialCommandGroup autoShoot = new SequentialCommandGroup(
|
||||
// // MoveToSpeaker,
|
||||
// //autoAlign,
|
||||
// new InstantCommand(() -> m_robotShooter.spin()),
|
||||
// new WaitCommand(3.0),
|
||||
// new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake),
|
||||
// new WaitCommand(3.0),
|
||||
// new InstantCommand(() -> m_robotShooter.idle())
|
||||
// // new InstantCommand(() -> autoAlign.reverse()),
|
||||
// // autoAlign.asProxy()
|
||||
// );
|
||||
|
||||
|
||||
// private SequentialCommandGroup i = new SequentialCommandGroup(
|
||||
// intakeToShootStuff, intakeToShoot,
|
||||
// new InstantCommand(() -> m_robotShooter.idle())
|
||||
// );
|
||||
|
||||
// private SequentialCommandGroup ejectToShoot = new SequentialCommandGroup(
|
||||
// new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
|
||||
// new WaitCommand(0.75),
|
||||
// new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake)
|
||||
// );
|
||||
|
||||
// private SequentialCommandGroup turnOffShoot = new SequentialCommandGroup(
|
||||
// new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter)
|
||||
// // new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake)
|
||||
// );
|
||||
|
||||
// private SequentialCommandGroup emergencyRetract = new SequentialCommandGroup(
|
||||
// interrupt,
|
||||
// new InstantCommand(() -> m_robotIntake.PIDIn(), m_robotIntake),
|
||||
// new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake)
|
||||
// );
|
||||
|
||||
// private SequentialCommandGroup ampShoot = new SequentialCommandGroup(
|
||||
// new InstantCommand(() -> m_robotIntake.ampPosition()),
|
||||
// new InstantCommand(() -> m_robotIntake.ampOuttake(0.1)) //TODO: Find Actual Speed
|
||||
// );
|
||||
|
||||
// ! /* Autos */
|
||||
// private Command taxi = new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt");
|
||||
// private String lastAutoName = "final_red_center_4note_taxi.auto";
|
||||
// private ConfigurableString autoplaybackName = new ConfigurableString("Auto Playback Name", lastAutoName);
|
||||
// private neoJoystickPlayback autoPlayback = new neoJoystickPlayback(m_robotSwerveDrive,
|
||||
// () -> autoplaybackName.get(), // lastAutoName
|
||||
// new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
|
||||
// true, false);
|
||||
|
||||
|
||||
// private PlaybackChooser playbackChooser = new PlaybackChooser(m_robotSwerveDrive)
|
||||
// .addOption("Taxi Auto", taxi.asProxy())
|
||||
// .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();
|
||||
|
||||
|
||||
|
||||
/**
|
||||
* The container for the robot. Contains subsystems, OI devices, and commands.
|
||||
*/
|
||||
public RobotContainer() {
|
||||
configureButtonBindings();
|
||||
configureButtonBindings();
|
||||
configureVirtualButtonBindings();
|
||||
// new Trigger(() -> autoplaybackName.get().equals(lastAutoName)).onTrue(new InstantCommand(() -> changeAuto()));
|
||||
// new DeferredBlock(() -> m_robotSwerveDrive.resetGyro());
|
||||
|
||||
/* Default Commands */
|
||||
// drives the robot with a two-axis input from the driver controller
|
||||
|
||||
// DriverStation.silenceJoystickConnectionWarning(true);
|
||||
// // CameraServer.startAutomaticCapture();
|
||||
|
||||
// /* Default Commands */
|
||||
// // drives the robot with a two-axis input from the driver controller
|
||||
// ! Swerve Drive Default Command (Regular Rotation)
|
||||
|
||||
// m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
|
||||
// m_robotMap.rightFront.go(getDeadbandedDriverController().getLeft());
|
||||
// }
|
||||
// m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
|
||||
// m_robotSwerveDrive.driveWithInput(getDeadbandedDriverController().getLeft(),
|
||||
// getDeadbandedDriverController().getRight(),
|
||||
// true);
|
||||
// }, m_robotSwerveDrive)
|
||||
// .withName("SwerveDrive DefaultCommand"));
|
||||
// m_robotSwerveDrive.setToSlow();
|
||||
|
||||
// ! Swerve Drive Default Command (Orientation Rotation)
|
||||
// m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
|
||||
// m_robotSwerveDrive.driveWithInputOrientation(getDeadbandedDriverController().getLeft(),
|
||||
// getDeadbandedDriverController().getRightX(),
|
||||
// getDeadbandedDriverController().getRightY(),
|
||||
// true);
|
||||
// }, m_robotSwerveDrive)
|
||||
// .withName("SwerveDrive OrientationCommand"));
|
||||
// continually sends updates to the Blinkin LED controller to keep the lights on
|
||||
m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
|
||||
// m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
|
||||
|
||||
}
|
||||
|
||||
// private void changeAuto() {
|
||||
// autoPlayback.unloadAuto();
|
||||
// autoPlayback.loadAuto();
|
||||
// lastAutoName = autoplaybackName.get();
|
||||
// System.out.println("AUTO: Changed auto to; `" + lastAutoName + "`");
|
||||
// }
|
||||
/**
|
||||
* Use this method to define your button->command mappings. Buttons can be
|
||||
* created by instantiating a {@link GenericHID} or one of its subclasses
|
||||
@@ -66,26 +222,191 @@ public class RobotContainer {
|
||||
* passing it to a {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
|
||||
*/
|
||||
private void configureButtonBindings() {
|
||||
/* Driver Buttons */
|
||||
// test command to spin the robot while pressing A on the driver controller
|
||||
|
||||
// ? /* Driver Buttons */
|
||||
|
||||
// DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.A_BUTTON)
|
||||
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroFlip(), m_robotSwerveDrive));
|
||||
|
||||
// DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.BACK_BUTTON)
|
||||
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroRightBlue()))
|
||||
// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.add180()));
|
||||
|
||||
// DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.START_BUTTON)
|
||||
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroRightAmp()))
|
||||
// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.add180()));
|
||||
|
||||
// * /* D-Pad Stuff */
|
||||
// new Trigger(() -> getDeadbandedDriverController().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(() -> getDeadbandedDriverController().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(() -> getDeadbandedDriverController().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(() -> getDeadbandedDriverController().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());
|
||||
|
||||
// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
|
||||
// .whileTrue(new JoystickRecorder(m_robotSwerveDrive,
|
||||
// () -> getDeadbandedDriverController().getLeftX(),
|
||||
// () -> getDeadbandedDriverController().getLeftY(),
|
||||
// () -> getDeadbandedDriverController().getRightX(),
|
||||
// () -> getDeadbandedDriverController().getRightY(),
|
||||
// "Blue1Path.txt"))
|
||||
// .onFalse(new InstantCommand());
|
||||
// .whileTrue(new JoystickRecorder(m_robotSwerveDrive,
|
||||
// () -> getDeadbandedDriverController().getLeftX(),
|
||||
// () -> getDeadbandedDriverController().getLeftY(),
|
||||
// () -> getDeadbandedDriverController().getRightX(),
|
||||
// () -> getDeadbandedDriverController().getRightY(),
|
||||
// "Taxi.txt"))
|
||||
// .onFalse(new InstantCommand());
|
||||
|
||||
// new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
|
||||
// .onTrue(new JoystickPlayback(m_robotSwerveDrive, "Blue1Path.txt"))
|
||||
// .onFalse(new InstantCommand());
|
||||
// new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
|
||||
// .onTrue(new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"))
|
||||
// .onFalse(new InstantCommand());
|
||||
// ! /* 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.LEFT_BUMPER_BUTTON) // final
|
||||
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
|
||||
|
||||
// new Trigger(() -> getDeadbandedDriverController().getPOV() == 270)
|
||||
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDownRot()));
|
||||
|
||||
// new Trigger(() -> getDeadbandedDriverController().getPOV() == 90)
|
||||
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUpRot()));
|
||||
|
||||
// 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 */
|
||||
|
||||
// new Joystick(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
|
||||
// .onTrue(new InstantCommand(() -> m_robotMap.rightFront.go(new Translation2d())));
|
||||
|
||||
// DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.X_BUTTON)
|
||||
// .onTrue(new InstantCommand(() -> m_robotIntake.PIDOut()))
|
||||
// .onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
|
||||
|
||||
// DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.A_BUTTON)
|
||||
// .onTrue(new InstantCommand(() -> m_robotIntake.handoff()))
|
||||
// .onFalse(new InstantCommand(() -> m_robotIntake.stopIntakeMotors()));
|
||||
|
||||
// DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.B_BUTTON)
|
||||
// .onTrue(emergencyRetract);
|
||||
|
||||
|
||||
// Override Intake Position encoder: out
|
||||
// new JoystickButton(getDeadbandedOperatorController(), XboxController.BACK_BUTTON)
|
||||
// .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.setPivotEncoderPosition(-6.2), m_robotIntake));
|
||||
|
||||
// DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
|
||||
// .onTrue(new InstantCommand(() -> m_robotShooter.spin(0.5), m_robotShooter))
|
||||
// .onFalse(turnOffShoot);
|
||||
|
||||
|
||||
// DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
|
||||
// .onTrue(i)
|
||||
// .onFalse(new InstantCommand(() -> m_robotIntake.PIDIn()));
|
||||
|
||||
// //spins up shooter, no wind down
|
||||
// DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.LEFT_JOYSTICK_BUTTON)
|
||||
// .onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter));
|
||||
|
||||
// // DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.RIGHT_JOYSTICK_BUTTON)
|
||||
// // .onTrue(new InstantCommand(() -> m_robotIntake.talonSpinIntakeMotor(), m_robotIntake))
|
||||
// // .onFalse(new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake));
|
||||
|
||||
// DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.RIGHT_JOYSTICK_BUTTON)
|
||||
// .onTrue(emergencyRetract);
|
||||
|
||||
// new Trigger(() -> getDeadbandedOperatorController().getRawAxis(XboxController.RIGHT_TRIGGER_AXIS) > 0.5)
|
||||
// .onTrue(new InstantCommand(() -> m_robotClimber.climbOut()))
|
||||
// .onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
|
||||
|
||||
// new Trigger(() -> getDeadbandedOperatorController().getRawAxis(XboxController.LEFT_TRIGGER_AXIS) > 0.5)
|
||||
// .onTrue(new InstantCommand(() -> m_robotClimber.climbIn()))
|
||||
// .onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
|
||||
|
||||
// new Trigger(() -> getDeadbandedOperatorController().getPOV() == 0)
|
||||
// .onTrue(new InstantCommand(() -> m_robotIntake.ampOuttake(0.5)));
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* This method is used to replcate {@link Trigger Triggers} for {@link VirtualController Virtual Controllers}. <p/>
|
||||
* Please use {@link RobotContainer#DualJoystickButton} in {@link RobotContainer#configureButtonBindings} for standard buttons.
|
||||
*/
|
||||
private void configureVirtualButtonBindings() {
|
||||
|
||||
// ? /* Driver Buttons */
|
||||
|
||||
/* 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.
|
||||
*/
|
||||
|
||||
// ? /* Operator Buttons */
|
||||
|
||||
/* 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(() -> 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().getPOV() == 0)
|
||||
// .onTrue(new InstantCommand(() -> m_robotIntake.ampOuttake(0.5)));
|
||||
|
||||
/* Operator Buttons */
|
||||
// activates "Lit Mode"
|
||||
// new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
|
||||
// .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
|
||||
// .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -94,8 +415,20 @@ public class RobotContainer {
|
||||
* @return the command to run in autonomous
|
||||
*/
|
||||
public Command getAutonomousCommand() {
|
||||
// no auto
|
||||
return new InstantCommand();
|
||||
//no auto
|
||||
// return autoPlayback;
|
||||
//return playbackChooser.getCommand();
|
||||
return new Command() {};
|
||||
}
|
||||
|
||||
/**
|
||||
* 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)));
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -108,4 +441,12 @@ public class RobotContainer {
|
||||
public DeadbandedXboxController getDeadbandedOperatorController() {
|
||||
return this.m_operatorXbox;
|
||||
}
|
||||
|
||||
// public VirtualController getVirtualDriverController() {
|
||||
// return m_virtualDriver;
|
||||
// }
|
||||
|
||||
// public VirtualController getVirtualOperatorController() {
|
||||
// return m_virtualOperator;
|
||||
// }
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user