Team4388/2025RidgeScape
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Merge branch 'master' into 2024x2025

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This commit is contained in:
C4llSiqn
2025-01-17 20:39:20 -07:00
parent 9db9d25f5b e8fe7a1d52
commit a8c91b3ce1
7 changed files with 394 additions and 223 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+15 -22
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@@ -28,13 +28,14 @@ import edu.wpi.first.wpilibj2.command.button.Trigger;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.Commands;
// Autos
import frc4388.utility.controller.VirtualController;
import frc4388.robot.commands.GotoPositionCommand;
import frc4388.robot.commands.Swerve.neoJoystickPlayback;
import frc4388.robot.commands.Swerve.neoJoystickRecorder;
import com.pathplanner.lib.commands.PathPlannerAuto;
// Subsystems
// import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.Vision;
@@ -155,26 +156,6 @@ public class RobotContainer {
DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
// @ /* Trim Test Buttons */
// new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
// .onTrue(new InstantCommand(() -> SwerveDriveConstants.POINTLESS_TRIM.stepUp()));
// new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
// .onTrue(new InstantCommand(() -> SwerveDriveConstants.POINTLESS_TRIM.stepDown()));
// 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
@@ -248,9 +229,21 @@ public class RobotContainer {
*/
public Command getAutonomousCommand() {
//return autoPlayback;
return new GotoPositionCommand(m_robotSwerveDrive, m_vision);
//return new GotoPositionCommand(m_robotSwerveDrive, m_vision);
try{
// Load the path you want to follow using its name in the GUI
return new PathPlannerAuto("New Auto");
} catch (Exception e) {
DriverStation.reportError("Path planner error: " + e.getMessage(), e.getStackTrace());
return Commands.none();
}
// zach told me to do the below comment
//return new GotoPositionCommand(m_robotSwerveDrive, m_vision);
// return new GotoPositionCommand(m_robotSwerveDrive, m_vision, AutoConstants.targetpos);
}
/**
* A button binding for two controllers, preferably an {@link DeadbandedXboxController Xbox Controller} and {@link VirtualController Virtual Xbox Controller}
* @param joystickA A controller