mirror of
https://github.com/Team4388/2024AcrossTheRidgebotiverse.git
synced 2026-06-09 00:38:02 -06:00
Abhishrek05
392 lines
19 KiB
Java
392 lines
19 KiB
Java
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package frc4388.robot;
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import edu.wpi.first.cameraserver.CameraServer;
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import edu.wpi.first.wpilibj.DriverStation;
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import edu.wpi.first.wpilibj.GenericHID;
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.InstantCommand;
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import edu.wpi.first.wpilibj2.command.RunCommand;
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import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
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import edu.wpi.first.wpilibj2.command.WaitCommand;
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import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
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import edu.wpi.first.wpilibj2.command.button.JoystickButton;
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import frc4388.robot.Constants.OIConstants;
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import frc4388.robot.commands.Autos.AutoAlign;
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import frc4388.robot.commands.Autos.PlaybackChooser;
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import frc4388.robot.commands.Swerve.JoystickPlayback;
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import frc4388.robot.commands.Swerve.JoystickRecorder;
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import frc4388.robot.commands.Swerve.neoJoystickPlayback;
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import frc4388.robot.commands.Swerve.neoJoystickRecorder;
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import frc4388.robot.commands.Intake.ArmIntakeIn;
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import frc4388.robot.subsystems.LED;
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import frc4388.robot.subsystems.Limelight;
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import frc4388.robot.subsystems.SwerveDrive;
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import frc4388.robot.subsystems.Shooter;
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import frc4388.robot.subsystems.Intake;
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import frc4388.utility.controller.DeadbandedXboxController;
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import frc4388.utility.controller.VirtualController;
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import frc4388.utility.controller.XboxController;
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/**
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* This class is where the bulk of the robot should be declared. Since
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* Command-based is a "declarative" paradigm, very little robot logic should
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* actually be handled in the {@link Robot} periodic methods (other than the
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* scheduler calls). Instead, the structure of the robot (including subsystems,
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* commands, and button mappings) should be declared here.
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*/
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public class RobotContainer {
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/* RobotMap */
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private final RobotMap m_robotMap = new RobotMap();
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/* Subsystems */
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private final LED m_robotLED = new LED();
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public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront,
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m_robotMap.rightFront,
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m_robotMap.leftBack,
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m_robotMap.rightBack,
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m_robotMap.gyro);
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/* Limelight */
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private final Limelight limelight = new Limelight();
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private final Shooter m_robotShooter = new Shooter(m_robotMap.leftShooter, m_robotMap.rightShooter);
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private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.pivotMotor);
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//private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.pivotMotor);
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/* Controllers */
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private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
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private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
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private final DeadbandedXboxController m_autoRecorderXbox = new DeadbandedXboxController(2);
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/* Virtual Controllers */
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private final VirtualController m_virtualDriver = new VirtualController(0);
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private final VirtualController m_virtualOperator = new VirtualController(1);
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private Command intakeToShootStuff = new ArmIntakeIn(m_robotIntake, m_robotShooter);
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private SequentialCommandGroup intakeToShoot = new SequentialCommandGroup(
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new InstantCommand(() -> m_robotIntake.talonPIDIn())
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//new InstantCommand(() -> m_robotShooter.spin())
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);
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// private SequentialCommandGroup outtakeToShootFull = new SequentialCommandGroup(
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// new InstantCommand(() -> m_robotShooter.spin()),
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// new InstantCommand(() -> m_robotIntake.handoff())
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// );
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// private SequentialCommandGroup intakeInToOut = new SequentialCommandGroup(
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// new InstantCommand(() -> m_robotIntake.rotateArmOut2(), m_robotIntake),
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// new RunCommand(() -> m_robotIntake.limitNote(), m_robotIntake).until(m_robotIntake.getArmFowardLimitState()),
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// new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter)
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// );
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private AutoAlign autoAlign = new AutoAlign(m_robotSwerveDrive, limelight);
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private SequentialCommandGroup autoShoot = new SequentialCommandGroup(
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// MoveToSpeaker,
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autoAlign,
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new InstantCommand(() -> m_robotShooter.spin()),
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new WaitCommand(3.0),
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new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
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new WaitCommand(3.0),
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new InstantCommand(() -> m_robotShooter.idle()),
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new InstantCommand(() -> autoAlign.reverse()),
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autoAlign.asProxy()
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);
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private SequentialCommandGroup i = new SequentialCommandGroup(
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intakeToShootStuff, intakeToShoot
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);
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private SequentialCommandGroup ejectToShoot = new SequentialCommandGroup(
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new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter)
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// new WaitCommand(0.75),
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//new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake)
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);
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private SequentialCommandGroup turnOffShoot = new SequentialCommandGroup(
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new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
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new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake)
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);
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/* Autos */
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private Command taxi = new InstantCommand(); // new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt");
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private Command startLeftMoveRight = new InstantCommand(); // new JoystickPlayback(m_robotSwerveDrive, "StartLeftMoveRight.txt");
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private Command startRightMoveLeft = new InstantCommand(); // new JoystickPlayback(m_robotSwerveDrive, "StartRightMoveLeft.txt");
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private SequentialCommandGroup oneNoteStartingSpeaker = new SequentialCommandGroup (
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new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
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new WaitCommand(1).asProxy(),
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new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
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new WaitCommand(1).asProxy(),
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new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
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new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake),
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new WaitCommand(1).asProxy(),
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new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt")
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);
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private SequentialCommandGroup oneNoteStartingSpeakerStationary = new SequentialCommandGroup (
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new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
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new WaitCommand(1).asProxy(),
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new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
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new WaitCommand(1).asProxy(),
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new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
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new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake)
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);
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private SequentialCommandGroup oneNoteStartingFromLeft = new SequentialCommandGroup(
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startLeftMoveRight.asProxy(),
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ejectToShoot.asProxy(),
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taxi.asProxy()
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);
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private SequentialCommandGroup oneNoteStartingFromRight = new SequentialCommandGroup(
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startRightMoveLeft.asProxy(),
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ejectToShoot.asProxy(),
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taxi.asProxy()
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);
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private SequentialCommandGroup twoNoteStartingFromSpeaker = new SequentialCommandGroup(
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new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
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new WaitCommand(1).asProxy(),
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new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
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new WaitCommand(1).asProxy(),
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new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
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new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake),
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intakeToShootStuff.asProxy(),
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new WaitCommand(1).asProxy(),
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new JoystickPlayback(m_robotSwerveDrive, "TwoNotePrt1.txt"),
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intakeToShoot.asProxy(),
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new WaitCommand(1).asProxy(),
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new JoystickPlayback(m_robotSwerveDrive, "TwoNotePrt2.txt"),
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new WaitCommand(0.5).asProxy(),
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new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
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new WaitCommand(1).asProxy(),
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new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
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new WaitCommand(1).asProxy(),
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new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
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new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake)
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);
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private PlaybackChooser playbackChooser = new PlaybackChooser(m_robotSwerveDrive)
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.addOption("Taxi Auto", taxi.asProxy())
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.addOption("One Note Auto Starting in Front of Speaker", oneNoteStartingSpeaker)
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.addOption("One Note Auto Starting in Front of Speaker, But Stay", oneNoteStartingSpeakerStationary)
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.addOption("One Note Auto Starting from Left Position", oneNoteStartingFromLeft)
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.addOption("One Note Auto Starting from Right Position", oneNoteStartingFromRight)
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.buildDisplay();
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/**
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* The container for the robot. Contains subsystems, OI devices, and commands.
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*/
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public RobotContainer() {
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configureButtonBindings();
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// configureVirtualButtonBindings();
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DriverStation.silenceJoystickConnectionWarning(true);
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CameraServer.startAutomaticCapture();
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/* Default Commands */
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// drives the robot with a two-axis input from the driver controller
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m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
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m_robotSwerveDrive.driveWithInput(getDeadbandedDriverController().getLeft(),
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getDeadbandedDriverController().getRight(),
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true);
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}, m_robotSwerveDrive)
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.withName("SwerveDrive DefaultCommand"));
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// continually sends updates to the Blinkin LED controller to keep the lights on
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m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
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}
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/**
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* Use this method to define your button->command mappings. Buttons can be
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* created by instantiating a {@link GenericHID} or one of its subclasses
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* ({@link edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then
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* passing it to a {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
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*/
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private void configureButtonBindings() {
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/* Driver Buttons */
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new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroFlip(), m_robotSwerveDrive));
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/* Auto Recording */
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new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
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.whileTrue(new JoystickRecorder(m_robotSwerveDrive, m_robotShooter, m_robotIntake,
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() -> getDeadbandedDriverController().getLeftX(),
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() -> getDeadbandedDriverController().getLeftY(),
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() -> getDeadbandedDriverController().getRightX(),
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() -> getDeadbandedDriverController().getRightY(),
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() -> getDeadbandedOperatorController().getLeftBumper(),
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() -> getDeadbandedOperatorController().getRightBumper(),
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"Taxi.txt"))
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.onFalse(new InstantCommand());
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new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
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.onTrue(new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"))
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.onFalse(new InstantCommand());
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// new JoystickButton(m_autoRecorderXbox, XboxController.LEFT_BUMPER_BUTTON)
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// .whileTrue(new neoJoystickRecorder(m_robotSwerveDrive,
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// new DeadbandedXboxController[]{getDeadbandedDriverController(), getDeadbandedOperatorController()},
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// "2note.auto"))
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// .onFalse(new InstantCommand());
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// new JoystickButton(m_autoRecorderXbox, XboxController.RIGHT_BUMPER_BUTTON)
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// .onTrue(new neoJoystickPlayback(m_robotSwerveDrive,
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// "2note.auto",
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// new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
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// true, false))
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// .onFalse(new InstantCommand());
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// /* Speed */
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new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
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// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast()));
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new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
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/* Operator Buttons */
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new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotIntake.talonPIDIn()))
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.onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor()));
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new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotIntake.talonPIDOut()))
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.onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor()));
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new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotIntake.talonHandoff()))
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.onFalse(new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors()));
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// Override Intake Position encoder: out
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new JoystickButton(getDeadbandedOperatorController(), XboxController.BACK_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(-57), m_robotIntake));
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// Override Intake Position encoder: in
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new JoystickButton(getDeadbandedOperatorController(), XboxController.START_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(0), m_robotIntake));
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//Spin Shooter Motors
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new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter))
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.onFalse(new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter));
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new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter))
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.onFalse(turnOffShoot);
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new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
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.onTrue(i)
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.onFalse(new InstantCommand(() -> m_robotIntake.talonPIDIn()));
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//spins up shooter, no wind down
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new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_JOYSTICK_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter));
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}
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private void configureVirtualButtonBindings() {
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/* Driver Buttons */
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new JoystickButton(getVirtualDriverController(), XboxController.A_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive));
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/* Speed */
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new JoystickButton(getVirtualDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
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// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast()));
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new JoystickButton(getVirtualDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
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/* Operator Buttons */
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new JoystickButton(getVirtualOperatorController(), XboxController.Y_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotIntake.talonPIDIn()))
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.onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor()));
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new JoystickButton(getVirtualOperatorController(), XboxController.A_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotIntake.talonPIDOut()))
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.onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor()));
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// Override Intake Position encoder: out
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new JoystickButton(getVirtualOperatorController(), XboxController.BACK_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(-53), m_robotIntake));
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// Override Intake Position encoder: in
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new JoystickButton(getVirtualOperatorController(), XboxController.START_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(0), m_robotIntake));
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//Spin Shooter Motors
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new JoystickButton(getVirtualOperatorController(), XboxController.X_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter))
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.onFalse(new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter));
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new JoystickButton(getVirtualOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
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.onTrue(ejectToShoot)
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.onFalse(turnOffShoot);
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new JoystickButton(getVirtualOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
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.onTrue(i)
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.onFalse(new InstantCommand(() -> m_robotIntake.talonPIDIn()));
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new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_JOYSTICK_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter));
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}
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/**
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* Use this to pass the autonomous command to the main {@link Robot} class.
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*
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* @return the command to run in autonomous
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*/
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public Command getAutonomousCommand() {
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//no auto
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// return new neoJoystickPlayback(m_robotSwerveDrive,
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// "2note.auto",
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// new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
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// true, false);
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return playbackChooser.getCommand();
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}
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/**
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* Add your docs here.
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*/
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public DeadbandedXboxController getDeadbandedDriverController() {
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return this.m_driverXbox;
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}
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public DeadbandedXboxController getDeadbandedOperatorController() {
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return this.m_operatorXbox;
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}
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public VirtualController getVirtualDriverController() {
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return m_virtualDriver;
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}
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public VirtualController getVirtualOperatorController() {
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return m_virtualOperator;
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}
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}
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