Team4388/2025RidgeScape
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spaget: end of utah

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This commit is contained in:
C4llSiqn
2025-03-15 19:03:59 -06:00
parent 761c8ff912
commit 1f6a077517
1 changed files with 10 additions and 4 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+10 -4
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@@ -116,6 +116,7 @@ public class RobotContainer {
public void stop() {
new InstantCommand(()->{}, m_robotSwerveDrive).schedule();
m_robotSwerveDrive.stopModules();
Constants.AutoConstants.Y_OFFSET_TRIM.set(0);
}
// ! /* Autos */
@@ -406,7 +407,9 @@ public class RobotContainer {
new MoveForTimeCommand(m_robotSwerveDrive,
new Translation2d(0, 1),
new Translation2d(), 300, true
), new InstantCommand(()-> {m_robotSwerveDrive.softStop();} , m_robotSwerveDrive)));
), new InstantCommand(() -> Constants.AutoConstants.Y_OFFSET_TRIM.set(0)),
new InstantCommand(()-> {m_robotSwerveDrive.softStop();} , m_robotSwerveDrive)));
NamedCommands.registerCommand("place-coral-left-l4", AprilLidarAlignL4Left);
NamedCommands.registerCommand("place-coral-right-l4", AprilLidarAlignL4Right);
@@ -415,9 +418,12 @@ public class RobotContainer {
NamedCommands.registerCommand("place-coral-left-l2", AprilLidarAlignL2Left);
NamedCommands.registerCommand("place-coral-right-l2", AprilLidarAlignL2Right);
NamedCommands.registerCommand("prepare-l4", new InstantCommand(() -> {
m_robotElevator.transitionState(CoordinationState.PrimedFour);
}));
NamedCommands.registerCommand("prepare-l4", new SequentialCommandGroup(
// new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Hovering)),
// new waitElevatorRefrence(m_robotElevator),
new InstantCommand(() -> Constants.AutoConstants.Y_OFFSET_TRIM.set(1.5)),
new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour))
));
configureButtonBindings();
configureVirtualButtonBindings();