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This commit is contained in:
Michael Mikovsky
2025-07-15 11:07:01 -06:00
parent 2a38f94d5e
commit 3130f647c8
10 changed files with 150 additions and 192 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+7 -4
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@@ -51,11 +51,12 @@ import frc4388.robot.constants.Constants.OIConstants;
import com.pathplanner.lib.auto.NamedCommands;
import com.pathplanner.lib.commands.PathPlannerAuto;
import frc4388.robot.subsystems.Elevator;
// Subsystems
import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.Vision;
import frc4388.robot.subsystems.Elevator.CoordinationState;
import frc4388.robot.subsystems.Elevator;
// import frc4388.robot.subsystems.Endeffector;
import frc4388.robot.subsystems.SwerveDrive;
@@ -560,7 +561,7 @@ public class RobotContainer {
NamedCommands.registerCommand("feed-driveback", new DriveUntilLiDAR(m_robotSwerveDrive,
new Translation2d(-1,0), new Translation2d(), m_robotMap.reverseLidar, LiDARConstants.HUMAN_PLAYER_STATION_DISTANCE));
// NamedCommands.registerCommand("feed-driveback", Commands.none());
NamedCommands.registerCommand("stop", new waitSupplier(() -> m_robotSwerveDrive.lastOdomSpeed < AutoConstants.STOP_VELOCITY));
NamedCommands.registerCommand("stop", new waitSupplier(() -> m_robotSwerveDrive.isStopped()));
NamedCommands.registerCommand("align-feed", new SequentialCommandGroup(
new MoveForTimeCommand(m_robotSwerveDrive,
@@ -694,8 +695,8 @@ public class RobotContainer {
.onTrue(new InstantCommand(() -> AutoConstants.X_OFFSET_TRIM.stepDown()));
new Trigger(() -> getDeadbandedDriverController().getLeftTriggerAxis() > 0.8)
.onTrue(new InstantCommand(() -> {m_robotSwerveDrive.rotSpeedAdjust *= 2;}))
.onFalse(new InstantCommand(() -> {m_robotSwerveDrive.rotSpeedAdjust /= 2;}));
.onTrue(new InstantCommand(() -> {m_robotSwerveDrive.state.rotSpeedAdjust *= 2;}))
.onFalse(new InstantCommand(() -> {m_robotSwerveDrive.state.rotSpeedAdjust /= 2;}));
new Trigger(() ->getDeadbandedDriverController().getRightTriggerAxis() > 0.8)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.startTurboPeriod()))
@@ -890,6 +891,7 @@ public class RobotContainer {
// return new GotoPositionCommand(m_robotSwerveDrive, m_vision, AutoConstants.targetpos);
}
public boolean autoChooserUpdated = false;
public void makeAutoChooser() {
autoChooser = new SendableChooser<String>();
@@ -913,6 +915,7 @@ public class RobotContainer {
}
autoChooser.onChange((filename) -> {
autoChooserUpdated = true;
if (filename.equals("Taxi")) {
autoCommand = new SequentialCommandGroup(
new MoveForTimeCommand(m_robotSwerveDrive,