Team4388/2025RidgeScape
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make auto chosser

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This commit is contained in:
C4llSiqn
2025-02-10 19:38:43 -07:00
parent 194dd26485
commit 5e15c1cc79
1 changed files with 39 additions and 20 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+39 -20
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@@ -10,6 +10,7 @@ package frc4388.robot;
// Drive Systems // Drive Systems
import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.DriverStation;
import java.io.File;
import java.util.ArrayList; import java.util.ArrayList;
import java.util.List; import java.util.List;
@@ -101,12 +102,13 @@ public class RobotContainer {
// ! /* Autos */ // ! /* Autos */
private String lastAutoName = "defualt.auto"; private String lastAutoName = "defualt.auto";
private final SendableChooser<Command> autoChooser; private SendableChooser<String> autoChooser;
private ConfigurableString autoplaybackName = new ConfigurableString("Auto Playback Name", lastAutoName); private Command autoCommand;
private neoJoystickPlayback autoPlayback = new neoJoystickPlayback(m_robotSwerveDrive, // private ConfigurableString autoplaybackName = new ConfigurableString("Auto Playback Name", lastAutoName);
() -> autoplaybackName.get(), // lastAutoName // private neoJoystickPlayback autoPlayback = new neoJoystickPlayback(m_robotSwerveDrive,
new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()}, // () -> autoplaybackName.get(), // lastAutoName
true, false); // new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
// true, false);
private Command AutoGotoPosition = new GotoLastApril(m_robotSwerveDrive, m_vision); private Command AutoGotoPosition = new GotoLastApril(m_robotSwerveDrive, m_vision);
private Command AprilLidarAlign = new SequentialCommandGroup( private Command AprilLidarAlign = new SequentialCommandGroup(
new GotoLastApril(m_robotSwerveDrive, m_vision), new GotoLastApril(m_robotSwerveDrive, m_vision),
@@ -172,8 +174,7 @@ public class RobotContainer {
}, m_robotSwerveDrive) }, m_robotSwerveDrive)
.withName("SwerveDrive DefaultCommand")); .withName("SwerveDrive DefaultCommand"));
m_robotSwerveDrive.setToSlow(); m_robotSwerveDrive.setToSlow();
makeAutoChooser();
autoChooser = AutoBuilder.buildAutoChooser();
SmartDashboard.putData("Auto Chooser", autoChooser); SmartDashboard.putData("Auto Chooser", autoChooser);
// this.subsystems.add(m_robotSwerveDrive); // this.subsystems.add(m_robotSwerveDrive);
// this.subsystems.add(m_robotMap.leftFront); // this.subsystems.add(m_robotMap.leftFront);
@@ -270,18 +271,18 @@ public class RobotContainer {
// ? /* Programer Buttons (Controller 3)*/ // ? /* Programer Buttons (Controller 3)*/
// * /* Auto Recording */ // * /* Auto Recording */
new JoystickButton(m_autoRecorderXbox, XboxController.LEFT_BUMPER_BUTTON) // new JoystickButton(m_autoRecorderXbox, XboxController.LEFT_BUMPER_BUTTON)
.whileTrue(new neoJoystickRecorder(m_robotSwerveDrive, // .whileTrue(new neoJoystickRecorder(m_robotSwerveDrive,
new DeadbandedXboxController[]{getDeadbandedDriverController(), getDeadbandedOperatorController()}, // new DeadbandedXboxController[]{getDeadbandedDriverController(), getDeadbandedOperatorController()},
() -> autoplaybackName.get())) // () -> autoplaybackName.get()))
.onFalse(new InstantCommand()); // .onFalse(new InstantCommand());
new JoystickButton(m_autoRecorderXbox, XboxController.RIGHT_BUMPER_BUTTON) // new JoystickButton(m_autoRecorderXbox, XboxController.RIGHT_BUMPER_BUTTON)
.onTrue(new neoJoystickPlayback(m_robotSwerveDrive, // .onTrue(new neoJoystickPlayback(m_robotSwerveDrive,
() -> autoplaybackName.get(), // () -> autoplaybackName.get(),
new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()}, // new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
true, false)) // true, false))
.onFalse(new InstantCommand()); // .onFalse(new InstantCommand());
} }
@@ -323,7 +324,7 @@ public class RobotContainer {
//return autoChooser.getSelected(); //return autoChooser.getSelected();
// try{ // try{
// // Load the path you want to follow using its name in the GUI // // Load the path you want to follow using its name in the GUI
return new PathPlannerAuto("Red Center Cage"); return autoCommand;
// } catch (Exception e) { // } catch (Exception e) {
// DriverStation.reportError("Path planner error: " + e.getMessage(), e.getStackTrace()); // DriverStation.reportError("Path planner error: " + e.getMessage(), e.getStackTrace());
// return Commands.none(); // return Commands.none();
@@ -333,7 +334,25 @@ public class RobotContainer {
// return new GotoPositionCommand(m_robotSwerveDrive, m_vision, AutoConstants.targetpos); // return new GotoPositionCommand(m_robotSwerveDrive, m_vision, AutoConstants.targetpos);
} }
public void makeAutoChooser() {
autoChooser = new SendableChooser<String>();
File dir = new File("/home/lvuser/deploy/pathplanner/autos/");
// File dir = new File("C:\\Users\\Ridgebotics\\Documents\\GitHub\\2025RidgeScape\\src\\main\\deploy\\pathplanner\\autos\\");
String[] autos = dir.list();
for (String auto : autos) {
if (auto.endsWith(".auto"))
autoChooser.addOption(auto.replaceAll(".auto", ""), auto);
}
autoChooser.onChange((filename) -> {
autoCommand = new PathPlannerAuto(filename);
System.out.println("Robot Auto Changed");
});
SmartDashboard.putData(autoChooser);
}
/** /**
* A button binding for two controllers, preferably an {@link DeadbandedXboxController Xbox Controller} and {@link VirtualController Virtual Xbox Controller} * A button binding for two controllers, preferably an {@link DeadbandedXboxController Xbox Controller} and {@link VirtualController Virtual Xbox Controller}