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Merge branch 'master' into Debug-Autos

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This commit is contained in:
Michael Mikovsky
2025-01-28 17:09:27 -07:00
parent 526cea9e64 a7052a54d2
commit 6aad044141
5 changed files with 109 additions and 126 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+18 -36
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@@ -47,9 +47,10 @@ import com.pathplanner.lib.commands.PathPlannerAuto;
// Subsystems
// import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.Vision;
import frc4388.robot.subsystems.Elevator.CoordinationState;
import frc4388.robot.subsystems.Lidar;
import frc4388.robot.subsystems.Elevator;
import frc4388.robot.subsystems.Endeffector;
// import frc4388.robot.subsystems.Endeffector;
import frc4388.robot.subsystems.SwerveDrive;
// Utilites
@@ -74,8 +75,7 @@ public class RobotContainer {
// 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 Elevator m_robotElevator= new Elevator(m_robotMap.elevator, m_robotMap.endeffector, m_robotMap.basinLimitSwitch, m_robotMap.endefectorLimitSwitch);
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
// public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain);
@@ -220,8 +220,21 @@ public class RobotContainer {
.onTrue(AutoGotoPosition);
new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(()->{}, m_robotSwerveDrive));
// creates an empty command & requires the swerve drive, subsystems can run only 1 command at a time
.onTrue(new InstantCommand(() -> {}, m_robotSwerveDrive));
DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Waiting), m_robotElevator));
DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Ready), m_robotElevator));
DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.ScoringThree), m_robotElevator));
DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.ScoringFour), m_robotElevator));
// ? /* Programer Buttons (Controller 3)*/
@@ -239,37 +252,6 @@ public class RobotContainer {
true, false))
.onFalse(new InstantCommand());
/*DPad for Level 1 and 2*/
new Trigger(() -> getDeadbandedOperatorController().getRawAxis(XboxController.RIGHT_TRIGGER_AXIS) > 0.9)
.onTrue(new InstantCommand(() -> m_robotELevator.PIDLevel2()))
.onFalse(new InstantCommand(() -> m_robotELevator.elevatorStop()));
new Trigger(() -> getDeadbandedOperatorController().getRawAxis(XboxController.LEFT_TRIGGER_AXIS) > 0.9)
.onTrue(new InstantCommand(() -> m_robotELevator.PIDLevel1()))
.onFalse(new InstantCommand(() -> m_robotELevator.elevatorStop()));
/*Free Brid Mode With Bummpers*/
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotELevator.elevatorDown()))
.onFalse(new InstantCommand(() -> m_robotELevator.elevatorStop()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotELevator.elevatorUp()))
.onFalse(new InstantCommand(() -> m_robotELevator.elevatorStop()));
/*Endeffector Controls*/
new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> m_robotEndeffector.PIDTop()))
.onFalse(new InstantCommand(() -> m_robotEndeffector.endEffectorStop()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> m_robotEndeffector.PIDMiddle()))
.onFalse(new InstantCommand(() -> m_robotEndeffector.endEffectorStop()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotEndeffector.PIDBottom()))
.onFalse(new InstantCommand(() -> m_robotEndeffector.endEffectorStop()));;
}
/**