Team4388/2025RidgeScape
1
0
Fork 0
mirror of https://github.com/Team4388/2025RidgeScape.git synced 2026-06-09 00:38:02 -06:00
Code Issues Packages Projects Releases Wiki Activity

Tune

Browse Source
This commit is contained in:
Zach Wilke
2025-09-11 17:20:49 -06:00
parent 44286f81e7
commit 93ba351a19
5 changed files with 74 additions and 48 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/RobotContainer.java
+57 -32
View File
@@ -79,7 +79,7 @@ public class RobotContainer {
/* Subsystems */
public final LED m_robotLED = new LED();
public final Vision m_vision = new Vision(m_robotMap.leftCamera, m_robotMap.rightCamera);
public final Vision m_vision = new Vision(m_robotMap.leftCamera);// m_robotMap.rightCamera);
public final Elevator m_robotElevator = new Elevator(m_robotMap.elevatorIO, m_robotLED);
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
// public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain);
@@ -107,9 +107,9 @@ public class RobotContainer {
private Command autoCommand;
private Command waitFeedStation = new waitSupplier(m_robotElevator::readyToMove);
// private Command waitDebuger = new waitSupplier(m_driverXbox::getYButtonPressed);
private Command waitDebuger = new waitSupplier(m_driverXbox::getXButtonPressed);
// private Command waitDebugerManual = new waitSupplier(m_driverXbox::getYButtonPressed);
private Command waitDebuger = new waitSupplier(() -> true);
// private Command waitDebuger = new waitSupplier(() -> true);
// private ConfigurableString autoplaybackName = new ConfigurableString("Auto Playback Name", lastAutoName);
// private neoJoystickPlayback autoPlayback = new neoJoystickPlayback(m_robotSwerveDrive,
@@ -120,10 +120,10 @@ public class RobotContainer {
private Command AprilLidarAlignL4RightFullAuto = new SequentialCommandGroup(
new InstantCommand(() -> {m_robotSwerveDrive.startSlowPeriod();}),
new ConditionalCommand(Commands.none(), new SequentialCommandGroup(
new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_PREP, Side.RIGHT, true)
), () -> m_robotElevator.isL4Primed()),
// new ConditionalCommand(Commands.none(), new SequentialCommandGroup(
new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_PREP, Side.RIGHT, true),
// ), () -> m_robotElevator.isL4Primed()),
// new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
// new GotoLastApril(m_robotSwerveDrive, m_vision, FieldConstants.L4_DISTANCE_2, Side.RIGHT),
@@ -133,7 +133,7 @@ public class RobotContainer {
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_SCORE, Side.RIGHT, true),
waitDebuger.asProxy(),
new LidarAlign(m_robotSwerveDrive, reefLidar),
// new LidarAlign(m_robotSwerveDrive, reefLidar),
waitDebuger.asProxy(),
new ParallelRaceGroup(
new WaitCommand(1),
@@ -205,6 +205,15 @@ public class RobotContainer {
new InstantCommand(m_robotSwerveDrive::startSlowPeriod, m_robotSwerveDrive)
);
private Command TempGoToReef = new SequentialCommandGroup(
new InstantCommand(m_robotSwerveDrive::startSlowPeriod, m_robotSwerveDrive),
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L2_PREP_DISTANCE, Side.LEFT, true),
new InstantCommand(m_robotSwerveDrive::startSlowPeriod, m_robotSwerveDrive)
);
/* private Command AprilLidarAlignL4Right = new SequentialCommandGroup(
new InstantCommand(() -> {m_robotSwerveDrive.startSlowPeriod();}),
@@ -283,41 +292,52 @@ public class RobotContainer {
// new IfCommand(() -> m_robotElevator.isL4Primed(), new SequentialCommandGroup(
new ConditionalCommand(Commands.none(), new SequentialCommandGroup(
new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_PREP, Side.LEFT, true)
), () -> m_robotElevator.isL4Primed()),
// new ConditionalCommand(Commands.none(), new SequentialCommandGroup(
new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
// new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_PREP, Side.LEFT, true),
// ), () -> m_robotElevator.isL4Primed()),
waitDebuger.asProxy(),
// new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
// new GotoLastApril(m_robotSwerveDrive, m_vision, FieldConstants.L4_DISTANCE_2, Side.LEFT),
new waitEndefectorRefrence(m_robotElevator),
new waitElevatorRefrence(m_robotElevator),
waitDebuger.asProxy(),
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_SCORE, Side.LEFT, true),
waitDebuger.asProxy(),
new LidarAlign(m_robotSwerveDrive, reefLidar),
waitDebuger.asProxy(),
new ParallelRaceGroup(
new WaitCommand(1),
new MoveUntilSuply(
m_robotSwerveDrive,
new Translation2d(0,-0.5),
new Translation2d(), m_robotElevator::getEndeffectorLimit, true)
),
new InstantCommand(m_robotSwerveDrive::softStop, m_robotSwerveDrive),
// new LidarAlign(m_robotSwerveDrive, reefLidar),
// waitDebuger.asProxy(),
// new ParallelRaceGroup(
// new WaitCommand(1),
// new MoveUntilSuply(
// m_robotSwerveDrive,
// new Translation2d(0,-0.5),
// new Translation2d(), m_robotElevator::getEndeffectorLimit, true)
// ),
// new InstantCommand(m_robotSwerveDrive::softStop, m_robotSwerveDrive),
new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.ScoringFour), m_robotElevator),
waitDebuger.asProxy(),
new waitEndefectorRefrence(m_robotElevator),
new MoveForTimeCommand(m_robotSwerveDrive,
new Translation2d(0,1), new Translation2d(), AutoConstants.L4_DRIVE_TIME, true),
waitDebuger.asProxy(),
// // new ConditionalCommand(
// // new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Waiting), m_robotElevator),
// new MoveForTimeCommand(m_robotSwerveDrive,
// new Translation2d(0,1), new Translation2d(), AutoConstants.L4_DRIVE_TIME, true),
// // // new ConditionalCommand(
// // // new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
// new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Waiting), m_robotElevator),
// () -> m_robotElevator.hasCoral()),
@@ -671,6 +691,11 @@ public class RobotContainer {
new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
.onTrue(AprilLidarAlignL4LeftFullAuto);
// ! /* Speed */
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
@@ -717,10 +742,10 @@ 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_robotMap.reverseLidar, LiDARConstants.HUMAN_PLAYER_STATION_DISTANCE, true));
.onTrue(WannaSeeMeDunk.asProxy());
// new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
// // .onTrue( new DriveUntilLiDAR(m_robotSwerveDrive,
// // new Translation2d(-1,0), new Translation2d(), m_robotMap.reverseLidar, LiDARConstants.HUMAN_PLAYER_STATION_DISTANCE, true));
// .onTrue(WannaSeeMeDunk.asProxy());
new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
.onTrue(thrustIntake.asProxy());