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Add Loop Command

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This commit is contained in:
Michael Mikovsky
2025-03-05 13:07:28 -07:00
parent 357b054c86
commit aeedebd095
2 changed files with 118 additions and 6 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+15 -6
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@@ -46,6 +46,7 @@ import frc4388.utility.controller.VirtualController;
import frc4388.robot.commands.GotoLastApril;
import frc4388.robot.commands.LidarAlign;
import frc4388.robot.commands.MoveForTimeCommand;
import frc4388.robot.commands.WhileTrueCommand;
import frc4388.robot.commands.waitElevatorRefrence;
import frc4388.robot.commands.waitEndefectorRefrence;
import frc4388.robot.commands.waitFeedCoral;
@@ -316,6 +317,12 @@ public class RobotContainer {
private Boolean operatorManualMode = false;
public Command LoopAprilLidarAlignL4Left = new WhileTrueCommand(AprilLidarAlignL4Left, () -> !m_robotElevator.hasCoral());
public Command LoopAprilLidarAlignL4Right = new WhileTrueCommand(AprilLidarAlignL4Right, () -> !m_robotElevator.hasCoral());
public Command LoopAprilLidarAlignL3Left = new WhileTrueCommand(AprilLidarAlignL3Left, () -> !m_robotElevator.hasCoral());
public Command LoopAprilLidarAlignL3Right = new WhileTrueCommand(AprilLidarAlignL3Right, () -> !m_robotElevator.hasCoral());
public Command LoopAprilLidarAlignL2Left = new WhileTrueCommand(AprilLidarAlignL2Left, () -> !m_robotElevator.hasCoral());
public Command LoopAprilLidarAlignL2Right = new WhileTrueCommand(AprilLidarAlignL2Right, () -> !m_robotElevator.hasCoral());
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
*/
@@ -330,12 +337,12 @@ public class RobotContainer {
new Translation2d(), 400, true
), new InstantCommand(()-> {m_robotSwerveDrive.softStop();} , m_robotSwerveDrive)));
NamedCommands.registerCommand("place-coral-left-l4", AprilLidarAlignL4Left);
NamedCommands.registerCommand("place-coral-right-l4", AprilLidarAlignL4Right);
NamedCommands.registerCommand("place-coral-left-l3", AprilLidarAlignL3Left);
NamedCommands.registerCommand("place-coral-right-l3", AprilLidarAlignL3Right);
NamedCommands.registerCommand("place-coral-left-l2", AprilLidarAlignL2Left);
NamedCommands.registerCommand("place-coral-right-l2", AprilLidarAlignL2Right);
NamedCommands.registerCommand("place-coral-left-l4", LoopAprilLidarAlignL4Left);
NamedCommands.registerCommand("place-coral-right-l4", LoopAprilLidarAlignL4Right);
NamedCommands.registerCommand("place-coral-left-l3", LoopAprilLidarAlignL3Left);
NamedCommands.registerCommand("place-coral-right-l3", LoopAprilLidarAlignL3Right);
NamedCommands.registerCommand("place-coral-left-l2", LoopAprilLidarAlignL2Left);
NamedCommands.registerCommand("place-coral-right-l2", LoopAprilLidarAlignL2Right);
NamedCommands.registerCommand("prepare-l4", new InstantCommand(() -> {
m_robotElevator.transitionState(CoordinationState.PrimedFour);
@@ -639,6 +646,8 @@ public class RobotContainer {
// File dir = new File("C:\\Users\\Ridgebotics\\Documents\\GitHub\\2025RidgeScape\\src\\main\\deploy\\pathplanner\\autos\\");
String[] autos = dir.list();
if(autos == null) return;
for (String auto : autos) {
if (auto.endsWith(".auto"))
autoChooser.addOption(auto.replaceAll(".auto", ""), auto.replaceAll(".auto", ""));