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Connorppeach
2025-01-14 17:43:49 -07:00
parent b7da705c0c cfe3ece8e5
commit 54a8c32564
3 changed files with 31 additions and 29 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+6 -4
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@@ -18,6 +18,7 @@ import edu.wpi.first.wpilibj.GenericHID;
import frc4388.utility.controller.XboxController;
import frc4388.utility.controller.DeadbandedXboxController;
import frc4388.robot.Constants.OIConstants;
import frc4388.robot.Constants.SwerveDriveConstants.AutoConstants;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import edu.wpi.first.wpilibj2.command.button.Trigger;
@@ -167,7 +168,7 @@ public class RobotContainer {
// ? /* Operator Buttons */
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
.onTrue(new GotoPositionCommand(m_robotSwerveDrive, m_vision));
.onTrue(new GotoPositionCommand(m_robotSwerveDrive, m_vision, AutoConstants.targetpos));
new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> {}, m_robotSwerveDrive));
@@ -224,15 +225,16 @@ public class RobotContainer {
public Command getAutonomousCommand() {
//return autoPlayback;
//return new GotoPositionCommand(m_robotSwerveDrive, m_vision);
try{
// Load the path you want to follow using its name in the GUI
return new PathPlannerAuto("Example Auto");
//try{
// // Load the path you want to follow using its name in the GUI
/ return new PathPlannerAuto("Example Auto");
} catch (Exception e) {
DriverStation.reportError("Big oops: " + e.getMessage(), e.getStackTrace());
return Commands.none();
}
// zach told me to do the below comment
//return new GotoPositionCommand(m_robotSwerveDrive, m_vision);
return new GotoPositionCommand(m_robotSwerveDrive, m_vision, AutoConstants.targetpos);
}