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The great code restructuring

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This commit is contained in:
Michael Mikovsky
2025-07-11 14:07:53 -06:00
parent 06d525ade1
commit bf4da44338
52 changed files with 1142 additions and 970 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+51 -85
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@@ -11,34 +11,21 @@ package frc4388.robot;
import edu.wpi.first.wpilibj.DriverStation;
import java.io.File;
import java.util.ArrayList;
import java.util.List;
import java.util.function.BooleanSupplier;
import java.util.function.Supplier;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.math.geometry.Rotation2d;
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;
import frc4388.utility.controller.ButtonBox;
import frc4388.utility.controller.DeadbandedXboxController;
import frc4388.robot.Constants.FieldConstants;
import frc4388.robot.Constants.LiDARConstants;
import frc4388.robot.Constants.OIConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.robot.Constants.AutoConstants;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import edu.wpi.first.wpilibj2.command.button.Trigger;
// Commands
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup;
import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
@@ -47,20 +34,19 @@ import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.ConditionalCommand;
// Autos
import frc4388.utility.controller.VirtualController;
import frc4388.robot.commands.DriveUntilLiDAR;
import frc4388.robot.commands.GotoLastApril;
import frc4388.robot.commands.LidarAlign;
import frc4388.robot.commands.MoveForTimeCommand;
import frc4388.robot.commands.MoveUntilSuply;
import frc4388.robot.commands.WhileTrueCommand;
import frc4388.robot.commands.waitElevatorRefrence;
import frc4388.robot.commands.waitEndefectorRefrence;
import frc4388.robot.commands.waitFeedCoral;
import frc4388.robot.commands.waitSupplier;
import frc4388.robot.commands.Swerve.neoJoystickPlayback;
import frc4388.robot.commands.Swerve.neoJoystickRecorder;
import com.pathplanner.lib.auto.AutoBuilder;
import frc4388.robot.commands.alignment.DriveToReef;
import frc4388.robot.commands.alignment.DriveUntilLiDAR;
import frc4388.robot.commands.alignment.LidarAlign;
import frc4388.robot.commands.wait.waitElevatorRefrence;
import frc4388.robot.commands.wait.waitEndefectorRefrence;
import frc4388.robot.commands.wait.waitFeedCoral;
import frc4388.robot.commands.wait.waitSupplier;
import frc4388.robot.constants.Constants;
import frc4388.robot.constants.Constants.AutoConstants;
import frc4388.robot.constants.Constants.LiDARConstants;
import frc4388.robot.constants.Constants.OIConstants;
import com.pathplanner.lib.auto.NamedCommands;
import com.pathplanner.lib.commands.PathPlannerAuto;
@@ -68,7 +54,6 @@ import com.pathplanner.lib.commands.PathPlannerAuto;
import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.Vision;
import frc4388.robot.subsystems.Elevator.CoordinationState;
import frc4388.robot.subsystems.Lidar;
import frc4388.robot.subsystems.Elevator;
// import frc4388.robot.subsystems.Endeffector;
import frc4388.robot.subsystems.SwerveDrive;
@@ -76,11 +61,8 @@ import frc4388.robot.subsystems.SwerveDrive;
// Utilites
import frc4388.utility.DeferredBlock;
import frc4388.utility.DeferredBlockMulti;
import frc4388.utility.ReefPositionHelper;
import frc4388.utility.Subsystem;
import frc4388.utility.TimesNegativeOne;
import frc4388.utility.ReefPositionHelper.Side;
import frc4388.utility.configurable.ConfigurableString;
import frc4388.utility.compute.TimesNegativeOne;
import frc4388.utility.compute.ReefPositionHelper.Side;
/**
* This class is where the bulk of the robot should be declared. Since
@@ -97,8 +79,6 @@ public class RobotContainer {
/* Subsystems */
public final LED m_robotLED = new LED();
public final Vision m_vision = new Vision(m_robotMap.leftCamera, m_robotMap.rightCamera);
public final Lidar m_reefLidar = new Lidar(LiDARConstants.REEF_LIDAR_DIO_CHANNEL, "Reef");
public final Lidar m_reverseLidar = new Lidar(LiDARConstants.REVERSE_LIDAR_DIO_CHANNEL, "Reverse");
public final Elevator m_robotElevator = new Elevator(m_robotMap.elevator, m_robotMap.endeffector, m_robotMap.basinLimitSwitch, m_robotMap.endeffectorLimitSwitch, m_robotMap.IRIntakeBeam, m_robotLED);
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
// public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain);
@@ -108,11 +88,6 @@ public class RobotContainer {
private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
private final ButtonBox m_buttonBox = new ButtonBox(OIConstants.BUTTONBOX_ID);
private final DeadbandedXboxController m_autoRecorderXbox = new DeadbandedXboxController(OIConstants.XBOX_PROGRAMMER_ID);
/* Virtual Controllers */
private final VirtualController m_virtualDriver = new VirtualController(0);
private final VirtualController m_virtualOperator = new VirtualController(1);
// public List<Subsystem> subsystems = new ArrayList<>();
@@ -124,7 +99,6 @@ public class RobotContainer {
}
// ! /* Autos */
private String lastAutoName = "defualt.auto";
private SendableChooser<String> autoChooser;
private Command autoCommand;
@@ -144,7 +118,7 @@ public class RobotContainer {
new ConditionalCommand(Commands.none(), new SequentialCommandGroup(
new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_PREP, Side.RIGHT, true)
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_PREP, Side.RIGHT, true)
), () -> m_robotElevator.isL4Primed()),
// new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
@@ -153,9 +127,9 @@ public class RobotContainer {
new waitEndefectorRefrence(m_robotElevator),
new waitElevatorRefrence(m_robotElevator),
new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_SCORE, Side.RIGHT, true),
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_SCORE, Side.RIGHT, true),
waitDebuger.asProxy(),
new LidarAlign(m_robotSwerveDrive, m_reefLidar),
new LidarAlign(m_robotSwerveDrive, m_robotMap.reefLidar),
waitDebuger.asProxy(),
new ParallelRaceGroup(
new WaitCommand(1),
@@ -186,7 +160,7 @@ public class RobotContainer {
new ConditionalCommand(Commands.none(), new SequentialCommandGroup(
new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_PREP, Side.RIGHT, true)
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_PREP, Side.RIGHT, true)
), () -> m_robotElevator.isL4Primed()),
// new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
@@ -195,9 +169,9 @@ public class RobotContainer {
new waitEndefectorRefrence(m_robotElevator),
new waitElevatorRefrence(m_robotElevator),
new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_SCORE, Side.RIGHT, true),
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_SCORE, Side.RIGHT, true),
waitDebuger.asProxy(),
// new LidarAlign(m_robotSwerveDrive, m_reefLidar),
// new LidarAlign(m_robotSwerveDrive, m_robotMap.reefLidar),
// waitDebuger.asProxy(),
// new ParallelRaceGroup(
// new WaitCommand(1),
@@ -243,7 +217,7 @@ public class RobotContainer {
new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_SCORE, Side.RIGHT, true),
waitDebuger.asProxy(),
new LidarAlign(m_robotSwerveDrive, m_reefLidar),
new LidarAlign(m_robotSwerveDrive, m_robotMap.reefLidar),
waitDebuger.asProxy(),
new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.ScoringFour), m_robotElevator),
@@ -279,7 +253,7 @@ public class RobotContainer {
new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_SCORE, Side.LEFT, true),
waitDebuger.asProxy(),
new LidarAlign(m_robotSwerveDrive, m_reefLidar),
new LidarAlign(m_robotSwerveDrive, m_robotMap.reefLidar),
waitDebuger.asProxy(),
new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.ScoringFour), m_robotElevator),
@@ -307,7 +281,7 @@ public class RobotContainer {
new ConditionalCommand(Commands.none(), new SequentialCommandGroup(
new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_PREP, Side.LEFT, true)
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_PREP, Side.LEFT, true)
), () -> m_robotElevator.isL4Primed()),
// new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
@@ -316,9 +290,9 @@ public class RobotContainer {
new waitEndefectorRefrence(m_robotElevator),
new waitElevatorRefrence(m_robotElevator),
new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_SCORE, Side.LEFT, true),
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_SCORE, Side.LEFT, true),
waitDebuger.asProxy(),
new LidarAlign(m_robotSwerveDrive, m_reefLidar),
new LidarAlign(m_robotSwerveDrive, m_robotMap.reefLidar),
waitDebuger.asProxy(),
new ParallelRaceGroup(
new WaitCommand(1),
@@ -354,7 +328,7 @@ public class RobotContainer {
new ConditionalCommand(Commands.none(), new SequentialCommandGroup(
new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_PREP, Side.LEFT, true)
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_PREP, Side.LEFT, true)
), () -> m_robotElevator.isL4Primed()),
// new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
@@ -363,9 +337,9 @@ public class RobotContainer {
new waitEndefectorRefrence(m_robotElevator),
new waitElevatorRefrence(m_robotElevator),
new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_SCORE, Side.LEFT, true),
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_SCORE, Side.LEFT, true),
waitDebuger.asProxy(),
new LidarAlign(m_robotSwerveDrive, m_reefLidar),
new LidarAlign(m_robotSwerveDrive, m_robotMap.reefLidar),
// waitDebuger.asProxy(),
// new ParallelRaceGroup(
// new WaitCommand(1),
@@ -398,15 +372,15 @@ public class RobotContainer {
new ConditionalCommand(Commands.none(), new SequentialCommandGroup(
// new IfCommand(() -> m_robotElevator.isL3Primed(), new SequentialCommandGroup(
new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedThree), m_robotElevator),
new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L3_DISTANCE_PREP, Side.LEFT, true)
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L3_DISTANCE_PREP, Side.LEFT, true)
), () -> m_robotElevator.isL3Primed()),
new waitEndefectorRefrence(m_robotElevator),
new waitElevatorRefrence(m_robotElevator),
new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L3_DISTANCE_SCORE-Units.inchesToMeters(1), Side.LEFT, true),
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L3_DISTANCE_SCORE-Units.inchesToMeters(1), Side.LEFT, true),
waitDebuger.asProxy(),
new LidarAlign(m_robotSwerveDrive, m_reefLidar),
new LidarAlign(m_robotSwerveDrive, m_robotMap.reefLidar),
waitDebuger.asProxy(),
// new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.ScoringThree), m_robotElevator),
new waitEndefectorRefrence(m_robotElevator),
@@ -423,7 +397,7 @@ public class RobotContainer {
new ConditionalCommand(Commands.none(), new SequentialCommandGroup(
// new IfCommand(() -> m_robotElevator.isL3Primed(), new SequentialCommandGroup(
new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedThree), m_robotElevator),
new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L3_DISTANCE_PREP, Side.RIGHT, true)
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L3_DISTANCE_PREP, Side.RIGHT, true)
),() -> m_robotElevator.isL3Primed()),
// new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedThree), m_robotElevator),
@@ -432,10 +406,10 @@ public class RobotContainer {
new waitEndefectorRefrence(m_robotElevator),
new waitElevatorRefrence(m_robotElevator),
new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L3_DISTANCE_SCORE, Side.RIGHT, true),
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L3_DISTANCE_SCORE, Side.RIGHT, true),
waitDebuger.asProxy(),
new LidarAlign(m_robotSwerveDrive, m_reefLidar),
new LidarAlign(m_robotSwerveDrive, m_robotMap.reefLidar),
waitDebuger.asProxy(),
// new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.ScoringThree), m_robotElevator),
@@ -450,12 +424,12 @@ public class RobotContainer {
private Command AprilLidarAlignL2Left = new SequentialCommandGroup(
new InstantCommand(() -> {m_robotSwerveDrive.startSlowPeriod();}),
new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L2_PREP_DISTANCE, Side.LEFT, true),
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L2_PREP_DISTANCE, Side.LEFT, true),
waitDebuger.asProxy(),
new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L2_SCORE_DISTANCE, Side.LEFT, true),
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L2_SCORE_DISTANCE, Side.LEFT, true),
waitDebuger.asProxy(),
new LidarAlign(m_robotSwerveDrive, m_reefLidar),
new LidarAlign(m_robotSwerveDrive, m_robotMap.reefLidar),
waitDebuger.asProxy(),
new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.L2Score);}, m_robotElevator),
new waitEndefectorRefrence(m_robotElevator),
@@ -471,12 +445,12 @@ public class RobotContainer {
private Command AprilLidarAlignL2Right = new SequentialCommandGroup(
new InstantCommand(() -> {m_robotSwerveDrive.startSlowPeriod();}),
new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L2_PREP_DISTANCE, Side.RIGHT, true),
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L2_PREP_DISTANCE, Side.RIGHT, true),
waitDebuger.asProxy(),
new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L2_SCORE_DISTANCE, Side.RIGHT, true),
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L2_SCORE_DISTANCE, Side.RIGHT, true),
waitDebuger.asProxy(),
new LidarAlign(m_robotSwerveDrive, m_reefLidar),
new LidarAlign(m_robotSwerveDrive, m_robotMap.reefLidar),
waitDebuger.asProxy(),
new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.L2Score);}, m_robotElevator),
new waitEndefectorRefrence(m_robotElevator),
@@ -495,7 +469,7 @@ public class RobotContainer {
// new waitEndefectorRefrence(m_robotElevator),
// new waitElevatorRefrence(m_robotElevator),
// new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.ALGAE_REMOVAL_DISTANCE, Side.LEFT, false),
// new LidarAlign(m_robotSwerveDrive, m_reefLidar),
// new LidarAlign(m_robotSwerveDrive, m_robotMap.reefLidar),
// new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.BallRemoverL2Go);}, m_robotElevator),
// new MoveForTimeCommand(m_robotSwerveDrive,
// new Translation2d(0,1), new Translation2d(), AutoConstants.ALGAE_DRIVE_TIME, true),
@@ -506,10 +480,10 @@ public class RobotContainer {
private Command lowerAlgaeRemove = new SequentialCommandGroup(
new InstantCommand(() -> {m_robotSwerveDrive.startSlowPeriod();}),
new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.BallRemoverL2Primed);}, m_robotElevator),
new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.ALGAE_REMOVAL_DISTANCE + Units.inchesToMeters(8), Side.FAR_LEFT, true),
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.ALGAE_REMOVAL_DISTANCE + Units.inchesToMeters(8), Side.FAR_LEFT, true),
new waitEndefectorRefrence(m_robotElevator),
new waitElevatorRefrence(m_robotElevator),
new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.ALGAE_REMOVAL_DISTANCE, Side.FAR_LEFT, true),
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.ALGAE_REMOVAL_DISTANCE, Side.FAR_LEFT, true),
waitDebuger.asProxy(),
// new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.BallRemoverL2Go);}, m_robotElevator),
new MoveForTimeCommand(m_robotSwerveDrive,
@@ -526,7 +500,7 @@ public class RobotContainer {
// new waitEndefectorRefrence(m_robotElevator),
// new waitElevatorRefrence(m_robotElevator),
// new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.ALGAE_REMOVAL_DISTANCE, Side.LEFT, false),
// new LidarAlign(m_robotSwerveDrive, m_reefLidar),
// new LidarAlign(m_robotSwerveDrive, m_robotMap.reefLidar),
// new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.BallRemoverL3Go);}, m_robotElevator),
// new MoveForTimeCommand(m_robotSwerveDrive,
// new Translation2d(1,1), new Translation2d(), AutoConstants.ALGAE_DRIVE_TIME, true),
@@ -536,10 +510,10 @@ public class RobotContainer {
private Command upperAlgaeRemove = new SequentialCommandGroup(
new InstantCommand(() -> {m_robotSwerveDrive.startSlowPeriod();}),
new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.BallRemoverL3Primed);}, m_robotElevator),
new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.ALGAE_REMOVAL_DISTANCE + Units.inchesToMeters(8), Side.FAR_LEFT, true),
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.ALGAE_REMOVAL_DISTANCE + Units.inchesToMeters(8), Side.FAR_LEFT, true),
new waitEndefectorRefrence(m_robotElevator),
new waitElevatorRefrence(m_robotElevator),
new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.ALGAE_REMOVAL_DISTANCE, Side.FAR_LEFT, true),
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.ALGAE_REMOVAL_DISTANCE, Side.FAR_LEFT, true),
waitDebuger.asProxy(),
// new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.BallRemoverL2Go);}, m_robotElevator),
new MoveForTimeCommand(m_robotSwerveDrive,
@@ -584,7 +558,7 @@ public class RobotContainer {
NamedCommands.registerCommand("await-coral", new waitFeedCoral(m_robotElevator));
NamedCommands.registerCommand("feed-driveback", new DriveUntilLiDAR(m_robotSwerveDrive,
new Translation2d(-1,0), new Translation2d(), m_reverseLidar, LiDARConstants.HUMAN_PLAYER_STATION_DISTANCE, true));
new Translation2d(-1,0), new Translation2d(), m_robotMap.reverseLidar, LiDARConstants.HUMAN_PLAYER_STATION_DISTANCE));
// NamedCommands.registerCommand("feed-driveback", Commands.none());
NamedCommands.registerCommand("stop", new waitSupplier(() -> m_robotSwerveDrive.lastOdomSpeed < AutoConstants.STOP_VELOCITY));
@@ -688,7 +662,7 @@ public class RobotContainer {
private void configureButtonBindings() {
// ? /* Driver Buttons */
DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.A_BUTTON)
new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
// ! /* Speed */
@@ -739,21 +713,21 @@ public class RobotContainer {
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 Translation2d(-1,0), new Translation2d(), m_robotMap.reverseLidar, LiDARConstants.HUMAN_PLAYER_STATION_DISTANCE, true));
.onTrue(WannaSeeMeDunk.asProxy());
new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
.onTrue(thrustIntake.asProxy());
new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> {m_robotSwerveDrive.softStop();}, m_robotSwerveDrive, m_reefLidar));
.onTrue(new InstantCommand(() -> {m_robotSwerveDrive.softStop();}, m_robotSwerveDrive, m_robotMap.reefLidar));
// ? /* Operator Buttons */
DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.B_BUTTON)
new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Waiting), m_robotElevator));
DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.A_BUTTON)
new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Ready), m_robotElevator));
// Button box
@@ -966,12 +940,4 @@ public class RobotContainer {
public ButtonBox getButtonBox() {
return this.m_buttonBox;
}
public VirtualController getVirtualDriverController() {
return m_virtualDriver;
}
public VirtualController getVirtualOperatorController() {
return m_virtualOperator;
}
}