Team4388/2025RidgeScape
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l2 baby

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This commit is contained in:
C4llSiqn
2025-02-21 20:22:07 -07:00
parent c9a947d3b8
commit 0914601699
4 changed files with 108 additions and 30 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+43 -4
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@@ -314,11 +314,20 @@ public class RobotContainer {
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
.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 Trigger(() -> getDeadbandedOperatorController().getPOV() == 0)
.onTrue(new InstantCommand(() -> AutoConstants.ELEVATOR_OFFSET_TRIM.stepUp()));
new Trigger(() -> getDeadbandedOperatorController().getPOV() == 180)
.onTrue(new InstantCommand(() -> AutoConstants.ELEVATOR_OFFSET_TRIM.stepDown()));
new Trigger(() -> getDeadbandedOperatorController().getPOV() == 90)
.onTrue(new InstantCommand(() -> AutoConstants.ARM_OFFSET_TRIM.stepUp()));
new Trigger(() -> getDeadbandedOperatorController().getPOV() == 270)
.onTrue(new InstantCommand(() -> AutoConstants.ARM_OFFSET_TRIM.stepDown()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
@@ -360,6 +369,23 @@ public class RobotContainer {
new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
.onTrue(AprilLidarAlignL3);
//Trims
new Trigger(() -> getDeadbandedDriverController().getPOV() == 0)
.onTrue(new InstantCommand(() -> AutoConstants.Y_OFFSET_TRIM.stepUp()));
new Trigger(() -> getDeadbandedDriverController().getPOV() == 180)
.onTrue(new InstantCommand(() -> AutoConstants.Y_OFFSET_TRIM.stepDown()));
new Trigger(() -> getDeadbandedDriverController().getPOV() == 90)
.onTrue(new InstantCommand(() -> AutoConstants.X_OFFSET_TRIM.stepUp()));
new Trigger(() -> getDeadbandedDriverController().getPOV() == 270)
.onTrue(new InstantCommand(() -> AutoConstants.X_OFFSET_TRIM.stepDown()));
// Lower coral removal
DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.LEFT_JOYSTICK_BUTTON)
.onTrue(new SequentialCommandGroup(
new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.BallRemoverL2Primed);}, m_robotElevator),
@@ -372,6 +398,19 @@ public class RobotContainer {
new Translation2d(0,1), new Translation2d(), 500, true)
));
// Upper coral removal
DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.RIGHT_JOYSTICK_BUTTON)
.onTrue(new SequentialCommandGroup(
new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.BallRemoverL3Primed);}, m_robotElevator),
new waitEndefectorRefrence(m_robotElevator),
new waitElevatorRefrence(m_robotElevator),
new GotoLastApril(m_robotSwerveDrive, m_vision, FieldConstants.L2_ALGAE_REMOVAL - Units.inchesToMeters(1), Side.LEFT),
new LidarAlign(m_robotSwerveDrive, m_lidar),
new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.BallRemoverL3Go);}, m_robotElevator),
new MoveForTimeCommand(m_robotSwerveDrive,
new Translation2d(0,1), new Translation2d(), 500, true)
));
// ? /* Programer Buttons (Controller 3)*/