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end of day 2

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This commit is contained in:
C4llSiqn
2025-03-18 15:44:51 -06:00
parent 4747f6233b
commit 6ac4b62089
17 changed files with 157 additions and 93 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+8 -6
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@@ -39,6 +39,7 @@ import edu.wpi.first.wpilibj2.command.button.Trigger;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup;
import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.WaitCommand;
@@ -90,6 +91,7 @@ import frc4388.utility.configurable.ConfigurableString;
*/
public class RobotContainer {
/* RobotMap */
public final RobotMap m_robotMap = new RobotMap();
/* Subsystems */
@@ -154,7 +156,7 @@ public class RobotContainer {
waitDebuger.asProxy(),
new LidarAlign(m_robotSwerveDrive, m_reefLidar),
waitDebuger.asProxy(),
new ParallelDeadlineGroup(
new ParallelRaceGroup(
new WaitCommand(1),
new MoveUntilSuply(
m_robotSwerveDrive,
@@ -271,7 +273,7 @@ public class RobotContainer {
waitDebuger.asProxy(),
new LidarAlign(m_robotSwerveDrive, m_reefLidar),
waitDebuger.asProxy(),
new ParallelDeadlineGroup(
new ParallelRaceGroup(
new WaitCommand(1),
new MoveUntilSuply(
m_robotSwerveDrive,
@@ -635,10 +637,10 @@ public class RobotContainer {
), m_robotSwerveDrive))
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive));
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
.onTrue( new DriveUntilLiDAR(m_robotSwerveDrive,
new Translation2d(-1,0), new Translation2d(), m_reverseLidar, LiDARConstants.HUMAN_PLAYER_STATION_DISTANCE, true));
// .onTrue(new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.HALF_ROBOT_SIZE, Side.CENTER, true));
// new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
// .onTrue( new DriveUntilLiDAR(m_robotSwerveDrive,
// new Translation2d(-1,0), new Translation2d(), m_reverseLidar, LiDARConstants.HUMAN_PLAYER_STATION_DISTANCE, true));
// // .onTrue(new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.HALF_ROBOT_SIZE, Side.CENTER, true));
new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
.onTrue(thrustIntake.asProxy());