Team4388/2025RidgeScape
1
0
Fork 0
mirror of https://github.com/Team4388/2025RidgeScape.git synced 2026-06-09 00:38:02 -06:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'master' into Elevator

Browse Source
This commit is contained in:
C4llSiqn
2025-01-20 14:47:58 -07:00
parent d341b6a7d7 adadac3d8b
commit 5a57da2698
9 changed files with 542 additions and 264 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/RobotContainer.java
+8 -4
View File
@@ -39,13 +39,16 @@ import com.pathplanner.lib.commands.PathPlannerAuto;
// Subsystems
// import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.Vision;
import frc4388.robot.subsystems.Lidar;
import frc4388.robot.subsystems.Elevator;
import frc4388.robot.subsystems.Endeffector;
import frc4388.robot.subsystems.SwerveDrive;
// Utilites
import frc4388.utility.DeferredBlock;
import frc4388.utility.ReefPositionHelper;
import frc4388.utility.Subsystem;
import frc4388.utility.ReefPositionHelper.Side;
import frc4388.utility.configurable.ConfigurableString;
/**
@@ -62,7 +65,7 @@ public class RobotContainer {
/* Subsystems */
// 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 SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
@@ -94,6 +97,7 @@ public class RobotContainer {
* The container for the robot. Contains subsystems, OI devices, and commands.
*/
public RobotContainer() {
configureButtonBindings();
configureVirtualButtonBindings();
new DeferredBlock(() -> m_robotSwerveDrive.resetGyro());
@@ -157,7 +161,7 @@ public class RobotContainer {
DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
// ! /* Speed */
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
@@ -174,7 +178,7 @@ public class RobotContainer {
// ? /* Operator Buttons */
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
.onTrue(new GotoPositionCommand(m_robotSwerveDrive, m_vision, AutoConstants.targetpos));
.onTrue(new GotoPositionCommand(m_robotSwerveDrive, m_vision));
new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> {}, m_robotSwerveDrive));
@@ -267,7 +271,7 @@ public class RobotContainer {
// Load the path you want to follow using its name in the GUI
return new PathPlannerAuto("New Auto");
} catch (Exception e) {
DriverStation.reportError("Big oops: " + e.getMessage(), e.getStackTrace());
DriverStation.reportError("Path planner error: " + e.getMessage(), e.getStackTrace());
return Commands.none();
}
// zach told me to do the below comment