mirror of
https://github.com/Team4388/2025RidgeScape.git
synced 2026-06-09 00:38:02 -06:00
Merge branch 'master' into Functional-LEDS
This commit is contained in:
C4llSiqn
@@ -19,6 +19,7 @@ import edu.wpi.first.cameraserver.CameraServer;
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import edu.wpi.first.math.geometry.Translation2d;
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import edu.wpi.first.math.util.Units;
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import edu.wpi.first.wpilibj.GenericHID;
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import edu.wpi.first.wpilibj.Joystick;
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import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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import frc4388.utility.controller.XboxController;
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@@ -87,7 +88,7 @@ public class RobotContainer {
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private final LED m_robotLED = new LED();
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public final Vision m_vision = new Vision(m_robotMap.leftCamera, m_robotMap.rightCamera);
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public final Lidar m_lidar = new Lidar();
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public final Elevator m_robotElevator= new Elevator(m_robotMap.elevator, m_robotMap.endeffector, m_robotMap.basinLimitSwitch, m_robotMap.endefectorLimitSwitch, m_robotLED);
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public final Elevator m_robotElevator = new Elevator(m_robotMap.elevator, m_robotMap.endeffector, m_robotMap.basinLimitSwitch, m_robotMap.endeffectorLimitSwitch, m_robotLED);
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public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
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// public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain);
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@@ -396,121 +397,208 @@ public class RobotContainer {
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*/
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private void configureButtonBindings() {
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boolean driverPreferenceControls = false;
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// ? /* Driver Buttons */
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DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.A_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
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// ! /* Speed */
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new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
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new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
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if (!driverPreferenceControls) {
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DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.A_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
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new JoystickButton(getDeadbandedDriverController(), XboxController.START_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.activateLuigiMode()));
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new JoystickButton(getDeadbandedDriverController(), XboxController.BACK_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.deactivateLuigiMode()));
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// ! /* Speed */
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new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
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new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
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new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
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new JoystickButton(getDeadbandedDriverController(), XboxController.START_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.activateLuigiMode()));
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new JoystickButton(getDeadbandedDriverController(), XboxController.BACK_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.deactivateLuigiMode()));
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new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
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new Trigger(() -> getDeadbandedDriverController().getPOV() == 0)
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.onTrue(new InstantCommand(() -> AutoConstants.Y_OFFSET_TRIM.stepUp()));
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new Trigger(() -> getDeadbandedDriverController().getPOV() == 0)
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.onTrue(new InstantCommand(() -> AutoConstants.Y_OFFSET_TRIM.stepUp()));
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new Trigger(() -> getDeadbandedDriverController().getPOV() == 180)
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.onTrue(new InstantCommand(() -> AutoConstants.Y_OFFSET_TRIM.stepDown()));
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new Trigger(() -> getDeadbandedDriverController().getPOV() == 180)
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.onTrue(new InstantCommand(() -> AutoConstants.Y_OFFSET_TRIM.stepDown()));
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new Trigger(() -> getDeadbandedDriverController().getPOV() == 90)
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.onTrue(new InstantCommand(() -> AutoConstants.X_OFFSET_TRIM.stepUp()));
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new Trigger(() -> getDeadbandedDriverController().getPOV() == 90)
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.onTrue(new InstantCommand(() -> AutoConstants.X_OFFSET_TRIM.stepUp()));
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new Trigger(() -> getDeadbandedDriverController().getPOV() == 270)
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.onTrue(new InstantCommand(() -> AutoConstants.X_OFFSET_TRIM.stepDown()));
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new Trigger(() -> getDeadbandedDriverController().getPOV() == 270)
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.onTrue(new InstantCommand(() -> AutoConstants.X_OFFSET_TRIM.stepDown()));
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new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
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.onTrue(new InstantCommand(() -> {}, m_robotSwerveDrive));
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new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
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.onTrue(new InstantCommand(() -> {}, m_robotSwerveDrive));
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} else {
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}
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// ? /* Operator Buttons */
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new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
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.onTrue(new InstantCommand(() -> {}, m_robotSwerveDrive, m_lidar));
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if (!driverPreferenceControls) {
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DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.B_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Waiting), m_robotElevator));
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DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.A_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Ready), m_robotElevator));
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new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
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.onTrue(new InstantCommand(() -> {}, m_robotSwerveDrive, m_lidar));
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new JoystickButton(getButtonBox(), ButtonBox.Five)
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.onTrue(AprilLidarAlignL4Left);
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new JoystickButton(getButtonBox(), ButtonBox.One)
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.onTrue(AprilLidarAlignL4Right);
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new JoystickButton(getButtonBox(), ButtonBox.Six)
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.onTrue(AprilLidarAlignL3Left);
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new JoystickButton(getButtonBox(), ButtonBox.Two)
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.onTrue(AprilLidarAlignL3Right);
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new JoystickButton(getButtonBox(), ButtonBox.Seven)
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.onTrue(AprilLidarAlignL2Left);
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new JoystickButton(getButtonBox(), ButtonBox.Three)
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.onTrue(AprilLidarAlignL2Right);
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// Lower coral removal
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new JoystickButton(getButtonBox(), ButtonBox.Eight)
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.onTrue(leftAlgaeRemove);
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// Upper coral removal
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new JoystickButton(getButtonBox(), ButtonBox.Four)
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.onTrue(rightAlgaeRemove);
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DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.B_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Waiting), m_robotElevator));
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DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.A_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Ready), m_robotElevator));
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new JoystickButton(getButtonBox(), ButtonBox.Five)
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.onTrue(AprilLidarAlignL4Left);
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new JoystickButton(getButtonBox(), ButtonBox.One)
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.onTrue(AprilLidarAlignL4Right);
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new JoystickButton(getButtonBox(), ButtonBox.Six)
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.onTrue(AprilLidarAlignL3Left);
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new JoystickButton(getButtonBox(), ButtonBox.Two)
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.onTrue(AprilLidarAlignL3Right);
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new JoystickButton(getButtonBox(), ButtonBox.Seven)
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.onTrue(AprilLidarAlignL2Left);
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new JoystickButton(getButtonBox(), ButtonBox.Three)
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.onTrue(AprilLidarAlignL2Right);
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// Lower algae removal
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new JoystickButton(getButtonBox(), ButtonBox.Eight)
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.onTrue(leftAlgaeRemove);
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// Upper algae removal
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new JoystickButton(getButtonBox(), ButtonBox.Four)
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.onTrue(rightAlgaeRemove);
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// Cancel button
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new JoystickButton(getButtonBox(), ButtonBox.White)
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.onTrue(new InstantCommand(() -> {
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m_robotElevator.elevatorStop();
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m_robotElevator.endefectorStop();
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m_robotElevator.endeffectorStop();
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m_robotSwerveDrive.endSlowPeriod();
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}, m_robotElevator));
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// Score prep
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// Prime 4
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new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator));
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// Score prep
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// Prime 4
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new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator));
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// Prime 3
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new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedThree), m_robotElevator));
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// Prime 3
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new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedThree), m_robotElevator));
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//Trims
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new Trigger(() -> getDeadbandedOperatorController().getPOV() == 0)
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.onTrue(new InstantCommand(() -> AutoConstants.ELEVATOR_OFFSET_TRIM.stepUp()));
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new Trigger(() -> getDeadbandedOperatorController().getPOV() == 180)
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.onTrue(new InstantCommand(() -> AutoConstants.ELEVATOR_OFFSET_TRIM.stepDown()));
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new Trigger(() -> getDeadbandedOperatorController().getPOV() == 90)
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.onTrue(new InstantCommand(() -> AutoConstants.ARM_OFFSET_TRIM.stepUp()));
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new Trigger(() -> getDeadbandedOperatorController().getPOV() == 270)
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.onTrue(new InstantCommand(() -> AutoConstants.ARM_OFFSET_TRIM.stepDown()));
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//Trims
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new Trigger(() -> getDeadbandedOperatorController().getPOV() == 0)
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.onTrue(new InstantCommand(() -> AutoConstants.ELEVATOR_OFFSET_TRIM.stepUp()));
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new Trigger(() -> getDeadbandedOperatorController().getPOV() == 180)
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.onTrue(new InstantCommand(() -> AutoConstants.ELEVATOR_OFFSET_TRIM.stepDown()));
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new Trigger(() -> getDeadbandedOperatorController().getPOV() == 90)
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.onTrue(new InstantCommand(() -> AutoConstants.ARM_OFFSET_TRIM.stepUp()));
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new Trigger(() -> getDeadbandedOperatorController().getPOV() == 270)
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.onTrue(new InstantCommand(() -> AutoConstants.ARM_OFFSET_TRIM.stepDown()));
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} else {
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// States: ready/waiting
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DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.B_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Waiting), m_robotElevator));
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DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.A_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Ready), m_robotElevator));
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//Controller Coral Scoring
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new Trigger(() -> getDeadbandedOperatorController().getLeftTriggerAxis() >= 0.8)
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.onTrue(AprilLidarAlignL4Left);
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new Trigger(() -> getDeadbandedOperatorController().getLeftTriggerAxis() >= 0.8)
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.onTrue(AprilLidarAlignL4Right);
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new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
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.onTrue(AprilLidarAlignL3Left);
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new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
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.onTrue(AprilLidarAlignL3Right);
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new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
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.onTrue(AprilLidarAlignL2Left);
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new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
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.onTrue(AprilLidarAlignL2Right);
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//Controller Lower Algae Removal
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new Trigger(() -> getDeadbandedOperatorController().getPOV() == 0)
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.onTrue(leftAlgaeRemove);
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//Controller Upper Algae Removal
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new Trigger(() -> getDeadbandedOperatorController().getPOV() == 180)
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.onTrue(rightAlgaeRemove);
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//Button Box Coral Scoring
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new JoystickButton(getButtonBox(), ButtonBox.Five)
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.onTrue(AprilLidarAlignL4Left);
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new JoystickButton(getButtonBox(), ButtonBox.One)
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.onTrue(AprilLidarAlignL4Right);
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new JoystickButton(getButtonBox(), ButtonBox.Six)
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.onTrue(AprilLidarAlignL3Left);
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new JoystickButton(getButtonBox(), ButtonBox.Two)
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.onTrue(AprilLidarAlignL3Right);
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new JoystickButton(getButtonBox(), ButtonBox.Seven)
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.onTrue(AprilLidarAlignL2Left);
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new JoystickButton(getButtonBox(), ButtonBox.Three)
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.onTrue(AprilLidarAlignL2Right);
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// Button Box Lower algae removal
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new JoystickButton(getButtonBox(), ButtonBox.Eight)
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.onTrue(leftAlgaeRemove);
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// Button Box Upper algae removal
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new JoystickButton(getButtonBox(), ButtonBox.Four)
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.onTrue(rightAlgaeRemove);
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// Cancel button
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new JoystickButton(getButtonBox(), ButtonBox.White)
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.onTrue(new InstantCommand(() -> {m_robotElevator.elevatorStop(); m_robotElevator.endeffectorStop();}, m_robotElevator));
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//Manual Controls
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m_robotElevator.setDefaultCommand(new RunCommand(() -> {
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m_robotElevator.manualEndeffectorVel(getDeadbandedOperatorController().getLeftY());
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m_robotElevator.manualElevatorVel(getDeadbandedOperatorController().getRightY());
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}, m_robotElevator)
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.withName("Default Manual Controls"));
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}
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// ? /* Programer Buttons (Controller 3)*/
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// * /* Auto Recording */
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