Team4388/2024AcrossTheRidgebotiverse
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playback chooser integrated into shuffleboard (im geekin)

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Abhishrek05
2024-01-19 18:59:38 -07:00
parent 06d19853a8
commit f64c010936
1 changed files with 35 additions and 19 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+35 -19
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@@ -8,19 +8,17 @@
package frc4388.robot; package frc4388.robot;
import edu.wpi.first.wpilibj.GenericHID; import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton; import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*; import frc4388.robot.Constants.OIConstants;
import frc4388.robot.commands.Autos.PlaybackChooser;
import frc4388.robot.commands.Swerve.JoystickPlayback; import frc4388.robot.commands.Swerve.JoystickPlayback;
import frc4388.robot.commands.Swerve.JoystickRecorder; import frc4388.robot.commands.Swerve.JoystickRecorder;
import frc4388.robot.subsystems.LED; import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.SwerveDrive; import frc4388.robot.subsystems.SwerveDrive;
import frc4388.utility.LEDPatterns;
import frc4388.utility.controller.DeadbandedXboxController; import frc4388.utility.controller.DeadbandedXboxController;
import frc4388.utility.controller.IHandController;
import frc4388.utility.controller.XboxController; import frc4388.utility.controller.XboxController;
/** /**
@@ -48,6 +46,10 @@ public class RobotContainer {
private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_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_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
private Command taxi = new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt");
private PlaybackChooser playbackChooser;
/** /**
* The container for the robot. Contains subsystems, OI devices, and commands. * The container for the robot. Contains subsystems, OI devices, and commands.
*/ */
@@ -64,6 +66,10 @@ public class RobotContainer {
.withName("SwerveDrive DefaultCommand")); .withName("SwerveDrive DefaultCommand"));
// continually sends updates to the Blinkin LED controller to keep the lights on // 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));
playbackChooser = new PlaybackChooser(m_robotSwerveDrive)
.addOption("Taxi Auto", new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"))
.buildDisplay();
} }
/** /**
@@ -76,21 +82,31 @@ public class RobotContainer {
/* Driver Buttons */ /* Driver Buttons */
new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON) new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive)); .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive));
/* Auto Recording */
// 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());
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
.whileTrue(new JoystickRecorder(m_robotSwerveDrive, // .onTrue(new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"))
() -> getDeadbandedDriverController().getLeftX(), // .onFalse(new InstantCommand());
() -> getDeadbandedDriverController().getLeftY(),
() -> getDeadbandedDriverController().getRightX(), /* Speed */
() -> getDeadbandedDriverController().getRightY(), new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
"Taxi.txt")) .onTrue(new InstantCommand(() -> m_robotSwerveDrive.setToTurbo()))
.onFalse(new InstantCommand()); .onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast()));
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
.onTrue(new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt")) .onTrue(new InstantCommand(() -> m_robotSwerveDrive.setToSlow()));
.onFalse(new InstantCommand());
/* Operator Buttons */ /* Operator Buttons */
// activates "Lit Mode" // activates "Lit Mode"s
} }
@@ -101,7 +117,7 @@ public class RobotContainer {
*/ */
public Command getAutonomousCommand() { public Command getAutonomousCommand() {
// no auto // no auto
return new InstantCommand(); return playbackChooser.getCommand();
} }
/** /**