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Intergrate endefector into elevator for cordination

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This commit is contained in:
C4llSiqn
2025-01-27 17:29:25 -07:00
parent a7ac44c25d
commit 2b376d741c
5 changed files with 101 additions and 125 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+16 -35
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@@ -49,7 +49,7 @@ import com.pathplanner.lib.commands.PathPlannerAuto;
import frc4388.robot.subsystems.Vision;
import frc4388.robot.subsystems.Lidar;
import frc4388.robot.subsystems.Elevator;
import frc4388.robot.subsystems.Endeffector;
// import frc4388.robot.subsystems.Endeffector;
import frc4388.robot.subsystems.SwerveDrive;
// Utilites
@@ -74,8 +74,7 @@ public class RobotContainer {
// private final LED m_robotLED = new LED();
public final Vision m_vision = new Vision(m_robotMap.camera);
public final Lidar m_lidar = new Lidar();
public final Elevator m_robotELevator= new Elevator(m_robotMap.elevator);
public final Endeffector m_robotEndeffector = new Endeffector(m_robotMap.endeffector);
public final Elevator m_robotElevator= new Elevator(m_robotMap.elevator, m_robotMap.endeffector, m_robotMap.basinLimitSwitch, m_robotMap.endefectorLimitSwitch);
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
// public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain);
@@ -214,7 +213,20 @@ public class RobotContainer {
new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> {}, m_robotSwerveDrive));
// creates an empty command & requires the swerve drive, subsystems can run only 1 command at a time
DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotElevator.transitionWaiting(), m_robotElevator));
DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> m_robotElevator.transitionReady(), m_robotElevator));
DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> m_robotElevator.transitionScoringThree(), m_robotElevator));
DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> m_robotElevator.transitionScoringFour(), m_robotElevator));
// ? /* Programer Buttons (Controller 3)*/
@@ -232,37 +244,6 @@ public class RobotContainer {
true, false))
.onFalse(new InstantCommand());
/*DPad for Level 1 and 2*/
new Trigger(() -> getDeadbandedOperatorController().getRawAxis(XboxController.RIGHT_TRIGGER_AXIS) > 0.9)
.onTrue(new InstantCommand(() -> m_robotELevator.PIDLevel2()))
.onFalse(new InstantCommand(() -> m_robotELevator.elevatorStop()));
new Trigger(() -> getDeadbandedOperatorController().getRawAxis(XboxController.LEFT_TRIGGER_AXIS) > 0.9)
.onTrue(new InstantCommand(() -> m_robotELevator.PIDLevel1()))
.onFalse(new InstantCommand(() -> m_robotELevator.elevatorStop()));
/*Free Brid Mode With Bummpers*/
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotELevator.elevatorDown()))
.onFalse(new InstantCommand(() -> m_robotELevator.elevatorStop()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotELevator.elevatorUp()))
.onFalse(new InstantCommand(() -> m_robotELevator.elevatorStop()));
/*Endeffector Controls*/
new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> m_robotEndeffector.PIDTop()))
.onFalse(new InstantCommand(() -> m_robotEndeffector.endEffectorStop()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> m_robotEndeffector.PIDMiddle()))
.onFalse(new InstantCommand(() -> m_robotEndeffector.endEffectorStop()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotEndeffector.PIDBottom()))
.onFalse(new InstantCommand(() -> m_robotEndeffector.endEffectorStop()));;
}
/**