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Attempt to calibrate

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This commit is contained in:
Zach Wilke
2025-09-30 17:51:59 -06:00
parent 141a9eebc1
commit d437461ec4
6 changed files with 30 additions and 29 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+15 -15
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@@ -79,12 +79,12 @@ 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 Vision m_vision = new Vision(m_robotMap.leftCamera, m_robotMap.rightCamera);
public final Elevator m_robotElevator = new Elevator(m_robotMap.elevatorIO, m_robotLED);
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
// public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain);
public final LiDAR reefLidar = new LiDAR(m_robotMap.reefLidar, "Reef");
// public final LiDAR reefLidar = new LiDAR(m_robotMap.reefLidar, "Reef");
public final LiDAR reverseLidar = new LiDAR(m_robotMap.reverseLidar, "Reverse");
@@ -347,7 +347,7 @@ public class RobotContainer {
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_SCORE, Side.LEFT, true),
waitDebuger.asProxy(),
new LidarAlign(m_robotSwerveDrive, reefLidar),
// new LidarAlign(m_robotSwerveDrive, reefLidar),
// waitDebuger.asProxy(),
// new ParallelRaceGroup(
// new WaitCommand(1),
@@ -388,8 +388,8 @@ public class RobotContainer {
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L3_DISTANCE_SCORE-Units.inchesToMeters(1), Side.LEFT, true),
waitDebuger.asProxy(),
new LidarAlign(m_robotSwerveDrive, reefLidar),
waitDebuger.asProxy(),
// new LidarAlign(m_robotSwerveDrive, reefLidar),
// waitDebuger.asProxy(),
// new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.ScoringThree), m_robotElevator),
new waitEndefectorRefrence(m_robotElevator),
new waitElevatorRefrence(m_robotElevator),
@@ -417,8 +417,8 @@ public class RobotContainer {
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L3_DISTANCE_SCORE, Side.RIGHT, true),
waitDebuger.asProxy(),
new LidarAlign(m_robotSwerveDrive, reefLidar),
waitDebuger.asProxy(),
// new LidarAlign(m_robotSwerveDrive, reefLidar),
// waitDebuger.asProxy(),
// new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.ScoringThree), m_robotElevator),
@@ -437,8 +437,8 @@ public class RobotContainer {
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L2_SCORE_DISTANCE, Side.LEFT, true),
waitDebuger.asProxy(),
new LidarAlign(m_robotSwerveDrive, reefLidar),
waitDebuger.asProxy(),
// new LidarAlign(m_robotSwerveDrive, reefLidar),
// waitDebuger.asProxy(),
new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.L2Score);}, m_robotElevator),
new waitEndefectorRefrence(m_robotElevator),
new waitElevatorRefrence(m_robotElevator),
@@ -458,8 +458,8 @@ public class RobotContainer {
new DriveToReef(m_robotSwerveDrive, m_vision, AutoConstants.L2_SCORE_DISTANCE, Side.RIGHT, true),
waitDebuger.asProxy(),
new LidarAlign(m_robotSwerveDrive, reefLidar),
waitDebuger.asProxy(),
// new LidarAlign(m_robotSwerveDrive, reefLidar),
// waitDebuger.asProxy(),
new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.L2Score);}, m_robotElevator),
new waitEndefectorRefrence(m_robotElevator),
new waitElevatorRefrence(m_robotElevator),
@@ -735,7 +735,7 @@ public class RobotContainer {
.onTrue(thrustIntake.asProxy());
new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> {m_robotSwerveDrive.softStop();}, m_robotSwerveDrive, reefLidar));
.onTrue(new InstantCommand(() -> {m_robotSwerveDrive.softStop();}, m_robotSwerveDrive));
// ? /* Operator Buttons */
@@ -748,10 +748,10 @@ public class RobotContainer {
// Button box
new JoystickButton(getButtonBox(), ButtonBox.Five)
.onTrue(AprilLidarAlignL4LeftSemiAuto);
.onTrue(AprilLidarAlignL4LeftFullAuto);
new JoystickButton(getButtonBox(), ButtonBox.One)
.onTrue(AprilLidarAlignL4RightSemiAuto);
.onTrue(AprilLidarAlignL4RightFullAuto);
new JoystickButton(getButtonBox(), ButtonBox.Six)
.onTrue(AprilLidarAlignL3Left);
@@ -813,7 +813,7 @@ public class RobotContainer {
.onTrue(AprilLidarAlignL4LeftFullAuto);
new Trigger(() -> getDeadbandedOperatorController().getRightTriggerAxis() >= 0.8 && !operatorManualMode)
.onTrue(AprilLidarAlignL4RightSemiAuto);
.onTrue(AprilLidarAlignL4RightFullAuto);
new Trigger(() -> getDeadbandedOperatorController().getLeftBumperButton() && !operatorManualMode)
.onTrue(AprilLidarAlignL3Left);