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Preferred operator controls

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Added preferred operator controls
Added manual controls
Renamed misspelled items
This commit is contained in:
McGrathMaggie
2025-02-25 19:47:57 -07:00
parent ddbae68851
commit b341acaa3d
6 changed files with 69 additions and 50 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+15 -4
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@@ -18,6 +18,7 @@ import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import frc4388.utility.controller.XboxController;
@@ -83,7 +84,7 @@ public class RobotContainer {
// private final LED m_robotLED = new LED();
public final Vision m_vision = new Vision(m_robotMap.leftCamera, m_robotMap.rightCamera);
public final Lidar m_lidar = new Lidar();
public final Elevator m_robotElevator= new Elevator(m_robotMap.elevator, m_robotMap.endeffector, m_robotMap.basinLimitSwitch, m_robotMap.endefectorLimitSwitch);
public final Elevator m_robotElevator= new Elevator(m_robotMap.elevator, m_robotMap.endeffector, m_robotMap.basinLimitSwitch, m_robotMap.endeffectorLimitSwitch);
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
// public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain);
@@ -452,7 +453,7 @@ public class RobotContainer {
// Cancel button
new JoystickButton(getButtonBox(), ButtonBox.White)
.onTrue(new InstantCommand(() -> {m_robotElevator.elevatorStop(); m_robotElevator.endefectorStop();}, m_robotElevator));
.onTrue(new InstantCommand(() -> {m_robotElevator.elevatorStop(); m_robotElevator.endeffectorStop();}, m_robotElevator));
// Score prep
// Prime 4
@@ -508,9 +509,12 @@ public class RobotContainer {
.onTrue(AprilLidarAlignL2Right);
//Controller Lower Algae Removal
new Trigger(() -> getDeadbandedOperatorController().getPOV() == 0)
.onTrue(leftAlgaeRemove);
//Controller Upper Algae Removal
new Trigger(() -> getDeadbandedOperatorController().getPOV() == 180)
.onTrue(rightAlgaeRemove);
//Button Box Coral Scoring
new JoystickButton(getButtonBox(), ButtonBox.Five)
@@ -541,7 +545,14 @@ public class RobotContainer {
// Cancel button
new JoystickButton(getButtonBox(), ButtonBox.White)
.onTrue(new InstantCommand(() -> {m_robotElevator.elevatorStop(); m_robotElevator.endefectorStop();}, m_robotElevator));
.onTrue(new InstantCommand(() -> {m_robotElevator.elevatorStop(); m_robotElevator.endeffectorStop();}, m_robotElevator));
//Manual Controls
m_robotElevator.setDefaultCommand(new RunCommand(() -> {
m_robotElevator.manualEndeffectorVel(getDeadbandedOperatorController().getLeftY());
m_robotElevator.manualElevatorVel(getDeadbandedOperatorController().getRightY());
}, m_robotElevator)
.withName("Default Manual Controls"));
}