Team4388/2025RidgeScape
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Y auto activation

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autos activate when y is pressed, automatically stop when done
This commit is contained in:
McGrathMaggie
2025-01-13 19:43:35 -07:00
parent 7fdb5dcd58
commit 882acc9b93
2 changed files with 23 additions and 3 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+7
View File
@@ -164,6 +164,13 @@ public class RobotContainer {
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUpRot()));
// ? /* Operator Buttons */
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
.onTrue(new GotoPositionCommand(m_robotSwerveDrive, m_vision));
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
// ? /* Programer Buttons (Controller 3)*/
src/main/java/frc4388/robot/commands/GotoPositionCommand.java
+16 -3
View File
@@ -46,11 +46,17 @@ public class GotoPositionCommand extends Command {
yPID.initialize();
}
double xerr;
double yerr;
double roterr;
double xytolerance = 0.01;
double rottolerance = 1;
@Override
public void execute() {
double xerr = targetpos.getX() - vision.getPose2d().getX();
double yerr = targetpos.getY() - vision.getPose2d().getY();
double roterr = targetpos.getRotation().getDegrees() - vision.getPose2d().getRotation().getDegrees();
xerr = targetpos.getX() - vision.getPose2d().getX();
yerr = targetpos.getY() - vision.getPose2d().getY();
roterr = targetpos.getRotation().getDegrees() - vision.getPose2d().getRotation().getDegrees();
SmartDashboard.putNumber("PID X Error", xerr);
SmartDashboard.putNumber("PID Y Error", yerr);
@@ -76,6 +82,13 @@ public class GotoPositionCommand extends Command {
swerveDrive.driveWithInput(leftStick, rightStick, true);
}
@Override
public final boolean isFinished() {
return (Math.abs(xerr) < xytolerance && Math.abs(yerr) < xytolerance && Math.abs(roterr) < rottolerance);
// this statement is a boolean in and of itself
}
// @Override
// public void end(boolean interrupted) {