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Robot Reveal

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This commit is contained in:
C4llSiqn
2025-02-21 16:54:18 -07:00
parent c5c6dd2eed
commit c9a947d3b8
6 changed files with 47 additions and 8 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+12 -2
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@@ -334,6 +334,7 @@ public class RobotContainer {
new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
.onTrue(AprilLidarAlign);
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
.onTrue(AprilLidarAlign);
@@ -359,8 +360,17 @@ public class RobotContainer {
new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
.onTrue(AprilLidarAlignL3);
DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.RIGHT_JOYSTICK_BUTTON)
.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.ScoringFour), m_robotElevator));
DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.LEFT_JOYSTICK_BUTTON)
.onTrue(new SequentialCommandGroup(
new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.BallRemoverL2Primed);}, m_robotElevator),
new waitEndefectorRefrence(m_robotElevator),
new waitElevatorRefrence(m_robotElevator),
new GotoLastApril(m_robotSwerveDrive, m_vision, FieldConstants.L2_ALGAE_REMOVAL - Units.inchesToMeters(1), Side.LEFT),
new LidarAlign(m_robotSwerveDrive, m_lidar),
new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.BallRemoverL2Go);}, m_robotElevator),
new MoveForTimeCommand(m_robotSwerveDrive,
new Translation2d(0,1), new Translation2d(), 500, true)
));
// ? /* Programer Buttons (Controller 3)*/