Team4388/2024AcrossTheRidgebotiverse
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This commit is contained in:
Michael Mikovsky
2024-10-24 17:04:03 -06:00
parent 157770b1b8
commit e9dcabce62
2 changed files with 29 additions and 14 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+22 -14
View File
@@ -120,13 +120,16 @@ public class RobotContainer {
);
// ! /* Autos */
private String lastAutoName = "final_red_center_4note_taxi.auto";
private String lastAutoName = "four_note_taxi_kracken.auto";
private ConfigurableString autoplaybackName = new ConfigurableString("Auto Playback Name", lastAutoName);
private neoJoystickPlayback autoPlayback = new neoJoystickPlayback(m_robotSwerveDrive,
() -> autoplaybackName.get(), // lastAutoName
lastAutoName, // () -> autoplaybackName.get(), // lastAutoName
new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
true, false);
true, true);
private neoJoystickPlayback amp_shoot = new neoJoystickPlayback(m_robotSwerveDrive, "Amp_shoot.auto",
new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
false, true);
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
@@ -134,7 +137,7 @@ public class RobotContainer {
public RobotContainer() {
configureButtonBindings();
configureVirtualButtonBindings();
new DeferredBlock(() -> m_robotSwerveDrive.resetGyro());
new DeferredBlock(() -> m_robotSwerveDrive.resetGyroFlip());
DriverStation.silenceJoystickConnectionWarning(true);
// CameraServer.startAutomaticCapture();
@@ -147,6 +150,7 @@ public class RobotContainer {
true);
}, m_robotSwerveDrive)
.withName("SwerveDrive DefaultCommand"));
m_robotSwerveDrive.setToSlow();
// ! Swerve Drive One Module Test
// m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
@@ -164,12 +168,12 @@ public class RobotContainer {
// continually sends updates to the Blinkin LED controller to keep the lights on
// m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
m_robotSwerveDrive.driveWithInput(
getDeadbandedDriverController().getLeft(),
getDeadbandedDriverController().getRight(),
true);
}, m_robotSwerveDrive));
// m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
// m_robotSwerveDrive.driveWithInput(
// getDeadbandedDriverController().getLeft(),
// getDeadbandedDriverController().getRight(),
// true);
// }, m_robotSwerveDrive));
@@ -187,7 +191,7 @@ public class RobotContainer {
// ? /* Driver Buttons */
DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroFlip(), m_robotSwerveDrive));
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroFlip()));
// ! /* Speed */
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
@@ -254,8 +258,12 @@ public class RobotContainer {
.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)));
// new Trigger(() -> getDeadbandedOperatorController().getPOV() == 0)
// .onTrue(new InstantCommand(() -> m_robotIntake.ampOuttake(0.5)));
new Trigger(() -> getDeadbandedOperatorController().getPOV() != -1)
.onTrue(amp_shoot)
.onFalse(new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter, m_robotSwerveDrive));
// ? /* Programer Buttons (Controller 3)*/
src/main/java/frc4388/robot/subsystems/SwerveModule.java
+7
View File
@@ -18,6 +18,7 @@ import com.ctre.phoenix6.StatusSignal;
import com.ctre.phoenix6.Utils;
import com.ctre.phoenix6.configs.CANcoderConfiguration;
import com.ctre.phoenix6.configs.ClosedLoopRampsConfigs;
import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
import com.ctre.phoenix6.configs.FeedbackConfigs;
import com.ctre.phoenix6.configs.MotorOutputConfigs;
import com.ctre.phoenix6.configs.OpenLoopRampsConfigs;
@@ -73,6 +74,12 @@ public class SwerveModule extends SubsystemBase {
new MotorOutputConfigs()
.withNeutralMode(NeutralModeValue.Brake)
.withDutyCycleNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND)
).withCurrentLimits(
new CurrentLimitsConfigs()
.withStatorCurrentLimit(110)
.withStatorCurrentLimitEnable(true)
.withSupplyCurrentLimit(110)
.withSupplyCurrentLimitEnable(true)
);
driveMotor.getConfigurator().apply(motorCfg);