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Optimization and improvements

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This commit is contained in:
Michael Mikovsky
2025-03-03 16:32:27 -07:00
parent 97630fe2b4
commit 204ba6d511
7 changed files with 74 additions and 34 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+25 -9
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@@ -148,8 +148,12 @@ public class RobotContainer {
new MoveForTimeCommand(m_robotSwerveDrive,
new Translation2d(0,1), new Translation2d(), AutoConstants.L4_DRIVE_TIME, true),
new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Waiting), m_robotElevator),
new ConditionalCommand(
new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Waiting), m_robotElevator),
() -> m_robotElevator.hasCoral()),
new InstantCommand(() -> {m_robotSwerveDrive.endSlowPeriod();})
);
@@ -177,11 +181,17 @@ public class RobotContainer {
new waitEndefectorRefrence(m_robotElevator),
new MoveForTimeCommand(m_robotSwerveDrive,
new Translation2d(0,1), new Translation2d(), AutoConstants.L4_DRIVE_TIME, true),
new ConditionalCommand(
new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Waiting), m_robotElevator),
() -> m_robotElevator.hasCoral()),
new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Waiting), m_robotElevator),
new InstantCommand(() -> {m_robotSwerveDrive.endSlowPeriod();})
);
@@ -295,8 +305,10 @@ public class RobotContainer {
);
private Command thrustIntake = new SequentialCommandGroup(
new MoveForTimeCommand(m_robotSwerveDrive, new Translation2d(0,-1), new Translation2d(), 100, true),
new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive)
new InstantCommand(() -> m_robotSwerveDrive.startTurboPeriod(), m_robotSwerveDrive),
new MoveForTimeCommand(m_robotSwerveDrive, new Translation2d(0,-1), new Translation2d(), 300, true),
new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive),
new InstantCommand(() -> m_robotSwerveDrive.endSlowPeriod(), m_robotSwerveDrive)
);
private Boolean operatorManualMode = false;
@@ -310,7 +322,7 @@ public class RobotContainer {
NamedCommands.registerCommand("align-feed", new SequentialCommandGroup(
new MoveForTimeCommand(m_robotSwerveDrive,
new Translation2d(0, 1),
new Translation2d(), 200, true
new Translation2d(), 400, true
), new InstantCommand(()-> {m_robotSwerveDrive.softStop();} , m_robotSwerveDrive)));
NamedCommands.registerCommand("place-coral-left-l4", AprilLidarAlignL4Left);
@@ -428,6 +440,10 @@ public class RobotContainer {
new Trigger(() -> getDeadbandedDriverController().getPOV() == 270 && getDeadbandedDriverController().getLeftTriggerAxis() > 0.8)
.onTrue(new InstantCommand(() -> AutoConstants.X_OFFSET_TRIM.stepDown()));
new Trigger(() ->getDeadbandedDriverController().getRightTriggerAxis() > 0.8)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.startTurboPeriod()))
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.endSlowPeriod()));
// While Left Trigger NOT Pressed: Fine Alignment
new Trigger(() -> getDeadbandedDriverController().getPOV() != -1 && !(getDeadbandedDriverController().getLeftTriggerAxis() > 0.8))
.whileTrue(new RunCommand(
@@ -436,7 +452,7 @@ public class RobotContainer {
1,
Rotation2d.fromDegrees(getDeadbandedDriverController().getPOV())
),
getDeadbandedDriverController().getRight(), 0.15
getDeadbandedDriverController().getRight(), 0.30
), m_robotSwerveDrive))
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive));
@@ -511,10 +527,10 @@ public class RobotContainer {
.onTrue (new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.BallRemoverL3Primed), m_robotElevator))
.onFalse(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.BallRemoverL3Go), m_robotElevator));
new JoystickButton(getDeadbandedOperatorController(), XboxController.START_BUTTON)
new JoystickButton(getDeadbandedOperatorController(), XboxController.BACK_BUTTON)
.onTrue(new InstantCommand(() -> {operatorManualMode = !operatorManualMode;}));
new JoystickButton(getDeadbandedOperatorController(), XboxController.BACK_BUTTON)
new JoystickButton(getDeadbandedOperatorController(), XboxController.START_BUTTON)
.onTrue(new InstantCommand(() -> m_robotElevator.togggleAutoIntaking()));
// Auto Scoring