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Limelight lidar stuff

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This commit is contained in:
Michael Mikovsky
2025-02-04 19:44:24 -07:00
parent 3cacb7743e
commit 426d9f231a
7 changed files with 25 additions and 26 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+6 -6
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@@ -112,20 +112,20 @@ public class RobotContainer {
new GotoLastApril(m_robotSwerveDrive, m_vision),
new InstantCommand(() -> System.out.println("Soup")),
new WaitCommand(1),
new LidarAlign(m_robotSwerveDrive, m_lidar, true)
new LidarAlign(m_robotSwerveDrive, m_lidar)
);
private Command AprilLidarLeft = new SequentialCommandGroup(
AutoGotoPosition.asProxy(),
new LidarAlign(m_robotSwerveDrive, m_lidar, false)
new LidarAlign(m_robotSwerveDrive, m_lidar)
);
private Command AprilLidarRight = new SequentialCommandGroup(
AutoGotoPosition.asProxy(),
new InstantCommand(() -> System.out.println("Soup")),
new WaitCommand(1),
new LidarAlign(m_robotSwerveDrive, m_lidar, true),
new MoveForTimeCommand(m_robotSwerveDrive,
new Translation2d(0, 0.5), new Translation2d(), 1000, true)
new LidarAlign(m_robotSwerveDrive, m_lidar)//,
// new MoveForTimeCommand(m_robotSwerveDrive,
// new Translation2d(0, 0.5), new Translation2d(), 1000, true)
);
private Command placeCoral = new SequentialCommandGroup(
@@ -251,7 +251,7 @@ public class RobotContainer {
.onTrue(AprilLidarRight);
new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> {}, m_robotSwerveDrive));
.onTrue(new InstantCommand(() -> {}, m_robotSwerveDrive, m_lidar));
DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.A_BUTTON)