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End of practice day, autos are completely function

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This commit is contained in:
Zach Wilke
2025-03-13 20:17:11 -06:00
parent 274249b485
commit 9a159fae29
5 changed files with 10 additions and 8 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+5 -3
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@@ -398,7 +398,8 @@ public class RobotContainer {
NamedCommands.registerCommand("await-coral", new waitFeedCoral(m_robotElevator));
NamedCommands.registerCommand("feed-driveback", new DriveUntilLiDAR(m_robotSwerveDrive,
new Translation2d(0,1), new Translation2d(), m_reverseLidar, LiDARConstants.HUMAN_PLAYER_STATION_DISTANCE, false));
new Translation2d(-1,0), new Translation2d(), m_reverseLidar, LiDARConstants.HUMAN_PLAYER_STATION_DISTANCE, true));
// NamedCommands.registerCommand("feed-driveback", Commands.none());
NamedCommands.registerCommand("stop", new waitSupplier(() -> m_robotSwerveDrive.lastOdomSpeed < AutoConstants.STOP_VELOCITY));
NamedCommands.registerCommand("align-feed", new SequentialCommandGroup(
@@ -537,8 +538,9 @@ public class RobotContainer {
), m_robotSwerveDrive))
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive));
// new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
// .onTrue(new LidarAlign(m_robotSwerveDrive, m_reefLidar));
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));
new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
.onTrue(thrustIntake.asProxy());