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Add trims and get reef position

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This commit is contained in:
Michael Mikovsky
2025-01-16 19:41:05 -07:00
parent 56f3ccf0c5
commit 9db9d25f5b
6 changed files with 64 additions and 28 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+13 -2
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@@ -42,7 +42,9 @@ import frc4388.robot.subsystems.SwerveDrive;
// Utilites
import frc4388.utility.DeferredBlock;
import frc4388.utility.ReefPositionHelper;
import frc4388.utility.Subsystem;
import frc4388.utility.ReefPositionHelper.Side;
import frc4388.utility.configurable.ConfigurableString;
/**
@@ -165,6 +167,15 @@ public class RobotContainer {
// new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
// .onTrue(new InstantCommand(() -> SwerveDriveConstants.POINTLESS_TRIM.load()));
new Trigger(() -> getDeadbandedDriverController().getPOV() == 0)
.onTrue(new InstantCommand(() -> AutoConstants.X_OFFSET_TRIM.stepUp()));
new Trigger(() -> getDeadbandedDriverController().getPOV() == 180)
.onTrue(new InstantCommand(() -> AutoConstants.X_OFFSET_TRIM.stepDown()));
// ! /* Speed */
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
@@ -181,7 +192,7 @@ public class RobotContainer {
// ? /* Operator Buttons */
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
.onTrue(new GotoPositionCommand(m_robotSwerveDrive, m_vision, AutoConstants.targetpos));
.onTrue(new GotoPositionCommand(m_robotSwerveDrive, m_vision));
new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> {}, m_robotSwerveDrive));
@@ -237,7 +248,7 @@ public class RobotContainer {
*/
public Command getAutonomousCommand() {
//return autoPlayback;
return new GotoPositionCommand(m_robotSwerveDrive, m_vision, AutoConstants.targetpos);
return new GotoPositionCommand(m_robotSwerveDrive, m_vision);
}
/**