Team4388/2025RidgeScape
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C4llSiqn
2025-03-03 17:49:06 -07:00
parent fe5466484b
commit 8bea597230
7 changed files with 86 additions and 12 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+10 -5
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@@ -49,6 +49,7 @@ import frc4388.robot.commands.MoveForTimeCommand;
import frc4388.robot.commands.waitElevatorRefrence;
import frc4388.robot.commands.waitEndefectorRefrence;
import frc4388.robot.commands.waitFeedCoral;
import frc4388.robot.commands.waitSupplier;
import frc4388.robot.commands.Swerve.neoJoystickPlayback;
import frc4388.robot.commands.Swerve.neoJoystickRecorder;
@@ -89,7 +90,7 @@ public class RobotContainer {
public final LED m_robotLED = new LED();
public final Vision m_vision = new Vision(m_robotMap.leftCamera, m_robotMap.rightCamera);
public final Lidar m_lidar = new Lidar();
public final Elevator m_robotElevator = new Elevator(m_robotMap.elevator, m_robotMap.endeffector, m_robotMap.basinLimitSwitch, m_robotMap.endeffectorLimitSwitch, m_vision, m_robotLED);
public final Elevator m_robotElevator = new Elevator(m_robotMap.elevator, m_robotMap.endeffector, m_robotMap.basinLimitSwitch, m_robotMap.endeffectorLimitSwitch, m_robotMap.basinLimitSwitch, m_robotLED);
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
// public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain);
@@ -108,7 +109,7 @@ public class RobotContainer {
// ! Teleop Commands
public void stop() {
new InstantCommand(()->{}, m_robotSwerveDrive).schedule();;;;;
new InstantCommand(()->{}, m_robotSwerveDrive).schedule();
m_robotSwerveDrive.stopModules();
}
@@ -117,6 +118,8 @@ public class RobotContainer {
private SendableChooser<String> autoChooser;
private Command autoCommand;
private Command waitFeedStation = new waitSupplier(m_robotElevator::readyToMove);
// private ConfigurableString autoplaybackName = new ConfigurableString("Auto Playback Name", lastAutoName);
// private neoJoystickPlayback autoPlayback = new neoJoystickPlayback(m_robotSwerveDrive,
// () -> autoplaybackName.get(), // lastAutoName
@@ -316,7 +319,9 @@ public class RobotContainer {
*/
public RobotContainer() {
NamedCommands.registerCommand("grab-coral", new waitFeedCoral(m_robotElevator));
NamedCommands.registerCommand("grab-coral", waitFeedStation.asProxy());
NamedCommands.registerCommand("await-coral", new waitFeedCoral(m_robotElevator));
NamedCommands.registerCommand("align-feed", new SequentialCommandGroup(
new MoveForTimeCommand(m_robotSwerveDrive,
new Translation2d(0, 1),
@@ -330,8 +335,8 @@ public class RobotContainer {
NamedCommands.registerCommand("place-coral-left-l2", AprilLidarAlignL2Left);
NamedCommands.registerCommand("place-coral-right-l2", AprilLidarAlignL2Right);
NamedCommands.registerCommand("enable-preraise-l4", new InstantCommand(() -> {
m_robotElevator.enablePreRaiseElevator();
NamedCommands.registerCommand("prepare-l4", new InstantCommand(() -> {
m_robotElevator.transitionState(CoordinationState.PrimedFour);
}));
configureButtonBindings();