mirror of
https://github.com/Team4388/2025RidgeScape.git
synced 2026-06-09 00:38:02 -06:00
Merge branch 'master' into autos-and-intake-fixes
This commit is contained in:
C4llSiqn
@@ -16,6 +16,7 @@ import java.util.List;
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import java.util.function.BooleanSupplier;
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import edu.wpi.first.cameraserver.CameraServer;
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import edu.wpi.first.math.geometry.Rotation2d;
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import edu.wpi.first.math.geometry.Translation2d;
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import edu.wpi.first.math.util.Units;
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import edu.wpi.first.wpilibj.GenericHID;
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@@ -115,6 +116,7 @@ public class RobotContainer {
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private String lastAutoName = "defualt.auto";
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private SendableChooser<String> autoChooser;
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private Command autoCommand;
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// private ConfigurableString autoplaybackName = new ConfigurableString("Auto Playback Name", lastAutoName);
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// private neoJoystickPlayback autoPlayback = new neoJoystickPlayback(m_robotSwerveDrive,
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// () -> autoplaybackName.get(), // lastAutoName
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@@ -289,8 +291,13 @@ public class RobotContainer {
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new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.Waiting);}, m_robotElevator),
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new InstantCommand(() -> {m_robotSwerveDrive.endSlowPeriod();})
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);
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private Command thrustIntake = new SequentialCommandGroup(
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new MoveForTimeCommand(m_robotSwerveDrive, new Translation2d(0,-1), new Translation2d(), 100, true),
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new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive)
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);
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private Boolean operatorManualMode = false;
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/**
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* The container for the robot. Contains subsystems, OI devices, and commands.
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@@ -338,11 +345,12 @@ public class RobotContainer {
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}, m_robotSwerveDrive)
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.withName("SwerveDrive DefaultCommand"));
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m_robotSwerveDrive.setToSlow();
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// m_robotElevator.setDefaultCommand(new RunCommand(() -> {
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// m_robotElevator.driveElevatorStick(m_operatorXbox.getRight());
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// }, m_robotElevator)
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// .withName("Elevator"));
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m_robotElevator.setDefaultCommand(new RunCommand(() -> {
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m_robotElevator.manualEndeffectorVel(getDeadbandedOperatorController().getLeftY());
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m_robotElevator.manualElevatorVel(getDeadbandedOperatorController().getRightY());
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}, m_robotElevator)
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.withName("Default Manual Controls"));
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makeAutoChooser();
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SmartDashboard.putData("Auto Chooser", autoChooser);
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@@ -387,98 +395,90 @@ public class RobotContainer {
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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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boolean driverPreferenceControls = false;
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// ? /* Driver Buttons */
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if (!driverPreferenceControls) {
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DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.A_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
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DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.A_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
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// ! /* Speed */
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new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
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new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
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new JoystickButton(getDeadbandedDriverController(), XboxController.START_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.activateLuigiMode()));
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new JoystickButton(getDeadbandedDriverController(), XboxController.BACK_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.deactivateLuigiMode()));
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new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
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new Trigger(() -> getDeadbandedDriverController().getPOV() == 0)
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.onTrue(new InstantCommand(() -> AutoConstants.Y_OFFSET_TRIM.stepUp()));
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new Trigger(() -> getDeadbandedDriverController().getPOV() == 180)
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.onTrue(new InstantCommand(() -> AutoConstants.Y_OFFSET_TRIM.stepDown()));
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new Trigger(() -> getDeadbandedDriverController().getPOV() == 90)
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.onTrue(new InstantCommand(() -> AutoConstants.X_OFFSET_TRIM.stepUp()));
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new Trigger(() -> getDeadbandedDriverController().getPOV() == 270)
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.onTrue(new InstantCommand(() -> AutoConstants.X_OFFSET_TRIM.stepDown()));
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new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
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.onTrue(new InstantCommand(() -> {}, m_robotSwerveDrive));
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} else {
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}
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// ? /* Operator Buttons */
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// ! /* Speed */
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new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
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if (!driverPreferenceControls) {
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new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
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new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
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.onTrue(new InstantCommand(() -> {}, m_robotSwerveDrive, m_lidar));
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new JoystickButton(getDeadbandedDriverController(), XboxController.START_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.activateLuigiMode()));
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new JoystickButton(getDeadbandedDriverController(), XboxController.BACK_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.deactivateLuigiMode()));
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DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.B_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Waiting), m_robotElevator));
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DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.A_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Ready), m_robotElevator));
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// While Left Trigger Pressed: Trims
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new Trigger(() -> getDeadbandedDriverController().getPOV() == 0 && getDeadbandedDriverController().getLeftTriggerAxis() > 0.8)
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.onTrue(new InstantCommand(() -> AutoConstants.Y_OFFSET_TRIM.stepUp()));
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new JoystickButton(getButtonBox(), ButtonBox.Five)
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.onTrue(AprilLidarAlignL4Left);
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new JoystickButton(getButtonBox(), ButtonBox.One)
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.onTrue(AprilLidarAlignL4Right);
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new Trigger(() -> getDeadbandedDriverController().getPOV() == 180 && getDeadbandedDriverController().getLeftTriggerAxis() > 0.8)
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.onTrue(new InstantCommand(() -> AutoConstants.Y_OFFSET_TRIM.stepDown()));
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new JoystickButton(getButtonBox(), ButtonBox.Six)
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.onTrue(AprilLidarAlignL3Left);
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new Trigger(() -> getDeadbandedDriverController().getPOV() == 90 && getDeadbandedDriverController().getLeftTriggerAxis() > 0.8)
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.onTrue(new InstantCommand(() -> AutoConstants.X_OFFSET_TRIM.stepUp()));
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new Trigger(() -> getDeadbandedDriverController().getPOV() == 270 && getDeadbandedDriverController().getLeftTriggerAxis() > 0.8)
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.onTrue(new InstantCommand(() -> AutoConstants.X_OFFSET_TRIM.stepDown()));
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// While Left Trigger NOT Pressed: Fine Alignment
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new Trigger(() -> getDeadbandedDriverController().getPOV() != -1 && !(getDeadbandedDriverController().getLeftTriggerAxis() > 0.8))
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.whileTrue(new RunCommand(
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() -> m_robotSwerveDrive.driveFine(
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new Translation2d(
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1,
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Rotation2d.fromDegrees(getDeadbandedDriverController().getPOV())
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),
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getDeadbandedDriverController().getRight(), 0.15
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), m_robotSwerveDrive))
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.onFalse(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive));
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new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
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.onTrue(thrustIntake.asProxy());
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new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
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.onTrue(new InstantCommand(() -> {}, m_robotSwerveDrive, m_lidar));
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new JoystickButton(getButtonBox(), ButtonBox.Two)
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.onTrue(AprilLidarAlignL3Right);
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new JoystickButton(getButtonBox(), ButtonBox.Seven)
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.onTrue(AprilLidarAlignL2Left);
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new JoystickButton(getButtonBox(), ButtonBox.Three)
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.onTrue(AprilLidarAlignL2Right);
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// Lower algae removal
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new JoystickButton(getButtonBox(), ButtonBox.Eight)
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.onTrue(leftAlgaeRemove);
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// Upper algae removal
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new JoystickButton(getButtonBox(), ButtonBox.Four)
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.onTrue(rightAlgaeRemove);
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// ? /* Operator Buttons */
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DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.B_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Waiting), m_robotElevator));
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DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.A_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Ready), m_robotElevator));
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// Button box
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new JoystickButton(getButtonBox(), ButtonBox.Five)
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.onTrue(AprilLidarAlignL4Left);
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new JoystickButton(getButtonBox(), ButtonBox.One)
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.onTrue(AprilLidarAlignL4Right);
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new JoystickButton(getButtonBox(), ButtonBox.Six)
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.onTrue(AprilLidarAlignL3Left);
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new JoystickButton(getButtonBox(), ButtonBox.Two)
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.onTrue(AprilLidarAlignL3Right);
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new JoystickButton(getButtonBox(), ButtonBox.Seven)
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.onTrue(AprilLidarAlignL2Left);
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new JoystickButton(getButtonBox(), ButtonBox.Three)
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.onTrue(AprilLidarAlignL2Right);
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// Lower algae removal
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new JoystickButton(getButtonBox(), ButtonBox.Eight)
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.onTrue(leftAlgaeRemove);
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// Upper algae removal
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new JoystickButton(getButtonBox(), ButtonBox.Four)
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.onTrue(rightAlgaeRemove);
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// Cancel button
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@@ -489,106 +489,58 @@ public class RobotContainer {
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m_robotSwerveDrive.endSlowPeriod();
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}, m_robotElevator));
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// Score prep
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// Prime 4
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new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator));
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// Manual Mode Buttons
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new Trigger(() -> (getDeadbandedOperatorController().getLeftTriggerAxis() >= 0.8 || getDeadbandedOperatorController().getRightTriggerAxis() >= 0.8) && operatorManualMode)
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.onTrue (new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator))
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.onFalse(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.ScoringFour), m_robotElevator));
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// Prime 3
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new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedThree), m_robotElevator));
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//Trims
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new Trigger(() -> getDeadbandedOperatorController().getPOV() == 0)
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.onTrue(new InstantCommand(() -> AutoConstants.ELEVATOR_OFFSET_TRIM.stepUp()));
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new Trigger(() -> getDeadbandedOperatorController().getPOV() == 180)
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.onTrue(new InstantCommand(() -> AutoConstants.ELEVATOR_OFFSET_TRIM.stepDown()));
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new Trigger(() -> getDeadbandedOperatorController().getPOV() == 90)
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.onTrue(new InstantCommand(() -> AutoConstants.ARM_OFFSET_TRIM.stepUp()));
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new Trigger(() -> getDeadbandedOperatorController().getPOV() == 270)
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.onTrue(new InstantCommand(() -> AutoConstants.ARM_OFFSET_TRIM.stepDown()));
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} else {
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// States: ready/waiting
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DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.B_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Waiting), m_robotElevator));
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DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.A_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Ready), m_robotElevator));
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//Controller Coral Scoring
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new Trigger(() -> getDeadbandedOperatorController().getLeftTriggerAxis() >= 0.8)
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.onTrue(AprilLidarAlignL4Left);
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new Trigger(() -> getDeadbandedOperatorController().getLeftTriggerAxis() >= 0.8)
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.onTrue(AprilLidarAlignL4Right);
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new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
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.onTrue(AprilLidarAlignL3Left);
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new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
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.onTrue(AprilLidarAlignL3Right);
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new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
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.onTrue(AprilLidarAlignL2Left);
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new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
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.onTrue(AprilLidarAlignL2Right);
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//Controller Lower Algae Removal
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new Trigger(() -> getDeadbandedOperatorController().getPOV() == 0)
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.onTrue(leftAlgaeRemove);
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//Controller Upper Algae Removal
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new Trigger(() -> getDeadbandedOperatorController().getPOV() == 180)
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.onTrue(rightAlgaeRemove);
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//Button Box Coral Scoring
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new JoystickButton(getButtonBox(), ButtonBox.Five)
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.onTrue(AprilLidarAlignL4Left);
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new JoystickButton(getButtonBox(), ButtonBox.One)
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.onTrue(AprilLidarAlignL4Right);
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new JoystickButton(getButtonBox(), ButtonBox.Six)
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.onTrue(AprilLidarAlignL3Left);
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new JoystickButton(getButtonBox(), ButtonBox.Two)
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.onTrue(AprilLidarAlignL3Right);
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new JoystickButton(getButtonBox(), ButtonBox.Seven)
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.onTrue(AprilLidarAlignL2Left);
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new JoystickButton(getButtonBox(), ButtonBox.Three)
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.onTrue(AprilLidarAlignL2Right);
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// Button Box Lower algae removal
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new JoystickButton(getButtonBox(), ButtonBox.Eight)
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.onTrue(leftAlgaeRemove);
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// Button Box Upper algae removal
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new JoystickButton(getButtonBox(), ButtonBox.Four)
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.onTrue(rightAlgaeRemove);
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// Cancel button
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new JoystickButton(getButtonBox(), ButtonBox.White)
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.onTrue(new InstantCommand(() -> {m_robotElevator.elevatorStop(); m_robotElevator.endeffectorStop();}, m_robotElevator));
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//Manual Controls
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m_robotElevator.setDefaultCommand(new RunCommand(() -> {
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m_robotElevator.manualEndeffectorVel(getDeadbandedOperatorController().getLeftY());
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m_robotElevator.manualElevatorVel(getDeadbandedOperatorController().getRightY());
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}, m_robotElevator)
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.withName("Default Manual Controls"));
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new Trigger(() -> (getDeadbandedOperatorController().getLeftBumperButton() || getDeadbandedOperatorController().getRightBumperButton()) && operatorManualMode)
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.onTrue (new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedThree), m_robotElevator))
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.onFalse(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.ScoringThree), m_robotElevator));
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}
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new Trigger(() -> (getDeadbandedOperatorController().getXButton() || getDeadbandedOperatorController().getYButton()) && operatorManualMode)
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.onTrue (new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.L2Score), m_robotElevator));
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new Trigger(() -> getDeadbandedOperatorController().getPOV() == 180 && operatorManualMode)
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.onTrue (new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.BallRemoverL2Primed), m_robotElevator))
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.onFalse(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.BallRemoverL2Go), m_robotElevator));
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new Trigger(() -> getDeadbandedOperatorController().getPOV() == 0 && operatorManualMode)
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.onTrue (new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.BallRemoverL3Primed), m_robotElevator))
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.onFalse(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.BallRemoverL3Go), m_robotElevator));
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new JoystickButton(getDeadbandedOperatorController(), XboxController.START_BUTTON)
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.onTrue(new InstantCommand(() -> {operatorManualMode = !operatorManualMode;}));
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new JoystickButton(getDeadbandedOperatorController(), XboxController.BACK_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotElevator.togggleAutoIntaking()));
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// Auto Scoring
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new Trigger(() -> getDeadbandedOperatorController().getLeftTriggerAxis() >= 0.8 && !operatorManualMode)
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.onTrue(AprilLidarAlignL4Left);
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new Trigger(() -> getDeadbandedOperatorController().getRightTriggerAxis() >= 0.8 && !operatorManualMode)
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.onTrue(AprilLidarAlignL4Right);
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new Trigger(() -> getDeadbandedOperatorController().getLeftBumperButton() && !operatorManualMode)
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.onTrue(AprilLidarAlignL3Left);
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new Trigger(() -> getDeadbandedOperatorController().getRightBumperButton() && !operatorManualMode)
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.onTrue(AprilLidarAlignL3Right);
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new Trigger(() -> getDeadbandedOperatorController().getXButton() && !operatorManualMode)
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.onTrue(AprilLidarAlignL2Left);
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new Trigger(() -> getDeadbandedOperatorController().getYButton() && !operatorManualMode)
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.onTrue(AprilLidarAlignL2Right);
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//Controller Lower Algae Removal
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new Trigger(() -> getDeadbandedOperatorController().getPOV() == 180 && !operatorManualMode)
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.onTrue(leftAlgaeRemove);
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//Controller Upper Algae Removal
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new Trigger(() -> getDeadbandedOperatorController().getPOV() == 0 && !operatorManualMode)
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.onTrue(rightAlgaeRemove);
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// ? /* Programer Buttons (Controller 3)*/
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