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lidar align works

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This commit is contained in:
Michael Mikovsky
2025-01-30 19:28:46 -07:00
parent 4afbf1656f
commit e379794da1
5 changed files with 22 additions and 9 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+12 -1
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@@ -37,6 +37,7 @@ import edu.wpi.first.wpilibj2.command.Commands;
// Autos
import frc4388.utility.controller.VirtualController;
import frc4388.robot.commands.GotoPositionCommand;
import frc4388.robot.commands.LidarAlign;
import frc4388.robot.commands.Swerve.neoJoystickPlayback;
import frc4388.robot.commands.Swerve.neoJoystickRecorder;
@@ -106,6 +107,15 @@ public class RobotContainer {
new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
true, false);
private Command AutoGotoPosition = new GotoPositionCommand(m_robotSwerveDrive, m_vision);
private Command AprilLidarLeft = new SequentialCommandGroup(
AutoGotoPosition.asProxy(),
new LidarAlign(m_robotSwerveDrive, m_lidar, false)
);
private Command AprilLidarRight = new SequentialCommandGroup(
AutoGotoPosition.asProxy(),
new LidarAlign(m_robotSwerveDrive, m_lidar, true)
);
private Command placeCoral = new SequentialCommandGroup(
new InstantCommand(() -> m_robotSwerveDrive.stopModules()),
@@ -217,7 +227,8 @@ public class RobotContainer {
// ? /* Operator Buttons */
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
.onTrue(AutoGotoPosition);
// .onTrue(AutoGotoPosition);
.onTrue(AprilLidarRight);
new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> {}, m_robotSwerveDrive));