mirror of
https://github.com/Team4388/2025RidgeScape.git
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C4llSiqn
488 lines
23 KiB
Java
488 lines
23 KiB
Java
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package frc4388.robot;
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// Drive Systems
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import edu.wpi.first.wpilibj.DriverStation;
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import java.io.File;
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import java.util.ArrayList;
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import java.util.List;
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import edu.wpi.first.cameraserver.CameraServer;
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import edu.wpi.first.math.geometry.Translation2d;
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import edu.wpi.first.math.util.Units;
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import edu.wpi.first.wpilibj.GenericHID;
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import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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import frc4388.utility.controller.XboxController;
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import frc4388.utility.controller.DeadbandedXboxController;
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import frc4388.robot.Constants.FieldConstants;
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import frc4388.robot.Constants.OIConstants;
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import frc4388.robot.Constants.SwerveDriveConstants;
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import frc4388.robot.Constants.SwerveDriveConstants.AutoConstants;
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import edu.wpi.first.wpilibj2.command.button.JoystickButton;
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import edu.wpi.first.wpilibj2.command.button.Trigger;
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// Commands
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.InstantCommand;
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import edu.wpi.first.wpilibj2.command.RunCommand;
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import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
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import edu.wpi.first.wpilibj2.command.WaitCommand;
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import edu.wpi.first.wpilibj2.command.Commands;
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// Autos
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import frc4388.utility.controller.VirtualController;
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import frc4388.robot.commands.GotoLastApril;
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import frc4388.robot.commands.LidarAlign;
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import frc4388.robot.commands.MoveForTimeCommand;
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import frc4388.robot.commands.waitElevatorRefrence;
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import frc4388.robot.commands.waitEndefectorRefrence;
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import frc4388.robot.commands.Swerve.neoJoystickPlayback;
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import frc4388.robot.commands.Swerve.neoJoystickRecorder;
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import com.pathplanner.lib.auto.AutoBuilder;
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import com.pathplanner.lib.auto.NamedCommands;
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import com.pathplanner.lib.commands.PathPlannerAuto;
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// Subsystems
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// import frc4388.robot.subsystems.LED;
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import frc4388.robot.subsystems.Vision;
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import frc4388.robot.subsystems.Elevator.CoordinationState;
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import frc4388.robot.subsystems.Lidar;
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import frc4388.robot.subsystems.Elevator;
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// import frc4388.robot.subsystems.Endeffector;
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import frc4388.robot.subsystems.SwerveDrive;
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// Utilites
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import frc4388.utility.DeferredBlock;
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import frc4388.utility.ReefPositionHelper;
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import frc4388.utility.Subsystem;
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import frc4388.utility.ReefPositionHelper.Side;
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import frc4388.utility.configurable.ConfigurableString;
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/**
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* This class is where the bulk of the robot should be declared. Since
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* Command-based is a "declarative" paradigm, very little robot logic should
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* actually be handled in the {@link Robot} periodic methods (other than the
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* scheduler calls). Instead, the structure of the robot (including subsystems,
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* commands, and button mappings) should be declared here.
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*/
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public class RobotContainer {
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/* RobotMap */
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public final RobotMap m_robotMap = new RobotMap();
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/* Subsystems */
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// private final LED m_robotLED = new LED();
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public final Vision m_vision = new Vision(m_robotMap.leftCamera, m_robotMap.rightCamera);
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public final Lidar m_lidar = new Lidar();
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public final Elevator m_robotElevator= new Elevator(m_robotMap.elevator, m_robotMap.endeffector, m_robotMap.basinLimitSwitch, m_robotMap.endefectorLimitSwitch);
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public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
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// public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain);
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/* Controllers */
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private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
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private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
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private final DeadbandedXboxController m_autoRecorderXbox = new DeadbandedXboxController(OIConstants.XBOX_PROGRAMMER_ID);
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/* Virtual Controllers */
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private final VirtualController m_virtualDriver = new VirtualController(0);
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private final VirtualController m_virtualOperator = new VirtualController(1);
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// public List<Subsystem> subsystems = new ArrayList<>();
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// ! Teleop Commands
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public void stop() {
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new InstantCommand(()->{}, m_robotSwerveDrive).schedule();;;;;
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m_robotSwerveDrive.stopModules();
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}
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// ! /* Autos */
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private String lastAutoName = "defualt.auto";
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private SendableChooser<String> autoChooser;
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private Command autoCommand;
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// private ConfigurableString autoplaybackName = new ConfigurableString("Auto Playback Name", lastAutoName);
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// private neoJoystickPlayback autoPlayback = new neoJoystickPlayback(m_robotSwerveDrive,
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// () -> autoplaybackName.get(), // lastAutoName
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// new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
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// true, false);
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// private Command AutoGotoPosition = new GotoLastApril(m_robotSwerveDrive, m_vision);
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private Command AprilLidarAlign = new SequentialCommandGroup(
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new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
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new GotoLastApril(m_robotSwerveDrive, m_vision, FieldConstants.L4_DISTANCE_2, Side.RIGHT),
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// new InstantCommand(() -> System.out.println("Soup")),
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// new WaitCommand(1),
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new waitEndefectorRefrence(m_robotElevator),
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new waitElevatorRefrence(m_robotElevator),
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new GotoLastApril(m_robotSwerveDrive, m_vision, FieldConstants.L4_DISTANCE_1 - Units.inchesToMeters(0), Side.RIGHT),
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new LidarAlign(m_robotSwerveDrive, m_lidar),
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new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.ScoringFour), m_robotElevator),
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new waitEndefectorRefrence(m_robotElevator),
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new MoveForTimeCommand(m_robotSwerveDrive,
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new Translation2d(0,1), new Translation2d(), 500, true),
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new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Waiting), m_robotElevator)
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);
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private Command AprilLidarAlignLeft = new SequentialCommandGroup(
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new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
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new GotoLastApril(m_robotSwerveDrive, m_vision, FieldConstants.L4_DISTANCE_2, Side.LEFT),
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// new InstantCommand(() -> System.out.println("Soup")),
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// new WaitCommand(1),
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new waitEndefectorRefrence(m_robotElevator),
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new waitElevatorRefrence(m_robotElevator),
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new GotoLastApril(m_robotSwerveDrive, m_vision, FieldConstants.L4_DISTANCE_1 - Units.inchesToMeters(0), Side.LEFT),
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new LidarAlign(m_robotSwerveDrive, m_lidar),
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new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.ScoringFour), m_robotElevator),
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new waitEndefectorRefrence(m_robotElevator),
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new MoveForTimeCommand(m_robotSwerveDrive,
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new Translation2d(0,1), new Translation2d(), 500, true),
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new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Waiting), m_robotElevator)
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);
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private Command AprilLidarAlignL3Left = new SequentialCommandGroup(
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new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedThree), m_robotElevator),
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new GotoLastApril(m_robotSwerveDrive, m_vision, FieldConstants.L3_DISTANCE_2, Side.LEFT),
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// new InstantCommand(() -> System.out.println("Soup")),
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// new WaitCommand(1),
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new waitEndefectorRefrence(m_robotElevator),
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new waitElevatorRefrence(m_robotElevator),
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new GotoLastApril(m_robotSwerveDrive, m_vision, FieldConstants.L3_DISTANCE_1 - Units.inchesToMeters(0), Side.LEFT),
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new LidarAlign(m_robotSwerveDrive, m_lidar),
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// new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.ScoringThree), m_robotElevator),
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new waitEndefectorRefrence(m_robotElevator),
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new waitElevatorRefrence(m_robotElevator),
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// new MoveForTimeCommand(m_robotSwerveDrive,
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// new Translation2d(0,1), new Translation2d(), 500, true),
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new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Waiting), m_robotElevator)
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);
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private Command AprilLidarAlignL3 = new SequentialCommandGroup(
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new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedThree), m_robotElevator),
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new GotoLastApril(m_robotSwerveDrive, m_vision, FieldConstants.L3_DISTANCE_2, Side.RIGHT),
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new waitEndefectorRefrence(m_robotElevator),
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new waitElevatorRefrence(m_robotElevator),
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new GotoLastApril(m_robotSwerveDrive, m_vision, FieldConstants.L3_DISTANCE_1 - Units.inchesToMeters(0), Side.RIGHT),
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new LidarAlign(m_robotSwerveDrive, m_lidar),
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// new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.ScoringThree), m_robotElevator),
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new waitEndefectorRefrence(m_robotElevator),
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new waitElevatorRefrence(m_robotElevator),
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// new MoveForTimeCommand(m_robotSwerveDrive,
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// new Translation2d(0,1), new Translation2d(), 500, true),
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new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Waiting), m_robotElevator)
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);
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private Command AprilLidarLeft = new SequentialCommandGroup(
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AprilLidarAlign.asProxy(),
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new LidarAlign(m_robotSwerveDrive, m_lidar)
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);
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private Command AprilLidarRight = new SequentialCommandGroup(
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AprilLidarAlign.asProxy(),
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new InstantCommand(() -> System.out.println("Soup")),
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new WaitCommand(1),
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new LidarAlign(m_robotSwerveDrive, m_lidar)//,
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// new MoveForTimeCommand(m_robotSwerveDrive,
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// new Translation2d(0, 0.5), new Translation2d(), 1000, true)
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);
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private Command placeCoral = new SequentialCommandGroup(
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new InstantCommand(() -> m_robotSwerveDrive.stopModules()),
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new InstantCommand(() -> System.out.println("Placing Some Coral")),
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new WaitCommand(3),
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new InstantCommand(() -> System.out.println("Done placing Some Coral"))
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);
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private Command aprilAlign = new SequentialCommandGroup(
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new InstantCommand(() -> System.out.println("Aligning...")),
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new WaitCommand(1)
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);
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private Command grabCoral = new SequentialCommandGroup(
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new InstantCommand(() -> System.out.println("Yoinking some coral...")),
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new WaitCommand(2),
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new InstantCommand(() -> System.out.println("Done yoinking some coral..."))
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);
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/**
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* The container for the robot. Contains subsystems, OI devices, and commands.
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*/
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public RobotContainer() {
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NamedCommands.registerCommand("AutoGotoPosition", AprilLidarAlign);
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NamedCommands.registerCommand("april-allign", AprilLidarAlign);
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NamedCommands.registerCommand("place-coral", placeCoral);
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NamedCommands.registerCommand("grab-coral", grabCoral);
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configureButtonBindings();
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configureVirtualButtonBindings();
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new DeferredBlock(() -> m_robotSwerveDrive.resetGyro());
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DriverStation.silenceJoystickConnectionWarning(true);
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// CameraServer.startAutomaticCapture();
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/* Default Commands */
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// ! Swerve Drive Default Command (Regular Rotation)
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// drives the robot with a two-axis input from the driver controller
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m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
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m_robotSwerveDrive.driveWithInput(getDeadbandedDriverController().getLeft(),
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// m_robotSwerveDrive.driveWithInput(new Translation2d(.4, 0),
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getDeadbandedDriverController().getRight(),
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true);
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}, m_robotSwerveDrive)
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.withName("SwerveDrive DefaultCommand"));
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m_robotSwerveDrive.setToSlow();
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// m_robotElevator.setDefaultCommand(new RunCommand(() -> {
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// m_robotElevator.driveElevatorStick(m_operatorXbox.getRight());
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// }, m_robotElevator)
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// .withName("Elevator"));
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makeAutoChooser();
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SmartDashboard.putData("Auto Chooser", autoChooser);
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// this.subsystems.add(m_robotSwerveDrive);
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// this.subsystems.add(m_robotMap.leftFront);
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// this.subsystems.add(m_robotMap.rightFront);
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// this.subsystems.add(m_robotMap.rightBack);
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// this.subsystems.add(m_robotMap.leftBack);
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// ! Swerve Drive One Module Test
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// m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
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// m_robotMap.rightFront.go(getDeadbandedDriverController().getLeft());
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// }
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// ! Swerve Drive Default Command (Orientation Rotation)
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// m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
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// m_robotSwerveDrive.driveWithInputOrientation(getDeadbandedDriverController().getLeft(),
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// getDeadbandedDriverController().getRightX(),
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// getDeadbandedDriverController().getRightY(),
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// true);
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// }, m_robotSwerveDrive))
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// .withName("SwerveDrive OrientationCommand"));
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// continually sends updates to the Blinkin LED controller to keep the lights on
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// m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
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// m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
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// m_robotSwerveDrive.driveWithInput(
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// getDeadbandedDriverController().getLeft(),
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// getDeadbandedDriverController().getRight(),
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// true);
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// }, m_robotSwerveDrive));
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}
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/**
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* Use this method to define your button->command mappings. Buttons can be
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* created by instantiating a {@link GenericHID} or one of its subclasses
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* ({@link edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then
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* passing it to a {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
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*/
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private void configureButtonBindings() {
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// ? /* Driver Buttons */
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DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.A_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
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// ! /* Speed */
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new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
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new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
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new JoystickButton(getDeadbandedDriverController(), XboxController.START_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.activateLuigiMode()));
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new JoystickButton(getDeadbandedDriverController(), XboxController.BACK_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.deactivateLuigiMode()));
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new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
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new Trigger(() -> getDeadbandedDriverController().getPOV() == 270)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDownRot()));
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new Trigger(() -> getDeadbandedDriverController().getPOV() == 90)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUpRot()));
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new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
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.onTrue(AprilLidarAlignLeft);
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new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
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.onTrue(AprilLidarAlign);
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new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
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.onTrue(new InstantCommand(() -> {}, m_robotSwerveDrive));
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new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
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.onTrue(AprilLidarAlign);
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new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
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.onTrue(AprilLidarAlign);
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// ? /* Operator Buttons */
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new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
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// .onTrue(AutoGotoPosition);
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.onTrue(AprilLidarRight);
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new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
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.onTrue(new InstantCommand(() -> {}, m_robotSwerveDrive, m_lidar));
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DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.B_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Waiting), m_robotElevator));
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DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.A_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Ready), m_robotElevator));
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new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
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.onTrue(AprilLidarAlignL3Left);
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new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
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.onTrue(AprilLidarAlignL3);
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DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.LEFT_JOYSTICK_BUTTON)
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.onTrue(new SequentialCommandGroup(
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new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.BallRemoverL2Primed);}, m_robotElevator),
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new waitEndefectorRefrence(m_robotElevator),
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new waitElevatorRefrence(m_robotElevator),
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new GotoLastApril(m_robotSwerveDrive, m_vision, FieldConstants.L2_ALGAE_REMOVAL - Units.inchesToMeters(1), Side.LEFT),
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new LidarAlign(m_robotSwerveDrive, m_lidar),
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new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.BallRemoverL2Go);}, m_robotElevator),
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new MoveForTimeCommand(m_robotSwerveDrive,
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new Translation2d(0,1), new Translation2d(), 500, true)
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));
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// ? /* Programer Buttons (Controller 3)*/
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// * /* Auto Recording */
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// new JoystickButton(m_autoRecorderXbox, XboxController.LEFT_BUMPER_BUTTON)
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// .whileTrue(new neoJoystickRecorder(m_robotSwerveDrive,
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// new DeadbandedXboxController[]{getDeadbandedDriverController(), getDeadbandedOperatorController()},
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// () -> autoplaybackName.get()))
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// .onFalse(new InstantCommand());
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// new JoystickButton(m_autoRecorderXbox, XboxController.RIGHT_BUMPER_BUTTON)
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// .onTrue(new neoJoystickPlayback(m_robotSwerveDrive,
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// () -> autoplaybackName.get(),
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// new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
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// true, false))
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// .onFalse(new InstantCommand());
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}
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/**
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* This method is used to replcate {@link Trigger Triggers} for {@link VirtualController Virtual Controllers}. <p/>
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* Please use {@link RobotContainer#DualJoystickButton} in {@link RobotContainer#configureButtonBindings} for standard buttons.
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*/
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private void configureVirtualButtonBindings() {
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|
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// ? /* Driver Buttons */
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|
|
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/* Notice: the following buttons have not been replicated
|
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* Swerve Drive Slow and Fast mode Gear Shifts : Fast mode is known to cause drift, so we disable that feature in Autoplayback
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* Swerve Drive Rotation Gear Shifts : Same reason as Slow and Fast mode.
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* Auto Recording controls : We don't want an Null Ouroboros for an auto.
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*/
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|
|
|
// ? /* Operator Buttons */
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|
|
|
/* Notice: the following buttons have not been replicated
|
|
* Override Intake Position Encoder : It's an emergancy overide, for when the position of intake when the robot boots, the intake is not inside the robot.
|
|
* We don't need it in an auto.
|
|
* Climbing controls : We don't need to climb in auto.
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|
*/
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|
|
|
// ? Notice: the Programer Buttons are not to be replicated because they are designed for debuging the robot, and do not need to be replicated in auto.
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|
|
|
}
|
|
|
|
/**
|
|
* Use this to pass the autonomous command to the main {@link Robot} class.
|
|
*
|
|
* @return the command to run in autonomous
|
|
*/
|
|
public Command getAutonomousCommand() {
|
|
|
|
//return autoPlayback;
|
|
//return new GotoPositionCommand(m_robotSwerveDrive, m_vision)
|
|
//return autoChooser.getSelected();
|
|
// try{
|
|
// // Load the path you want to follow using its name in the GUI
|
|
return autoCommand;
|
|
// } catch (Exception e) {
|
|
// DriverStation.reportError("Path planner error: " + e.getMessage(), e.getStackTrace());
|
|
// return Commands.none();
|
|
// }
|
|
// zach told me to do the below comment
|
|
//return new GotoPositionCommand(m_robotSwerveDrive, m_vision);
|
|
// return new GotoPositionCommand(m_robotSwerveDrive, m_vision, AutoConstants.targetpos);
|
|
}
|
|
|
|
public void makeAutoChooser() {
|
|
autoChooser = new SendableChooser<String>();
|
|
|
|
File dir = new File("/home/lvuser/deploy/pathplanner/autos/");
|
|
// File dir = new File("C:\\Users\\Ridgebotics\\Documents\\GitHub\\2025RidgeScape\\src\\main\\deploy\\pathplanner\\autos\\");
|
|
String[] autos = dir.list();
|
|
|
|
for (String auto : autos) {
|
|
if (auto.endsWith(".auto"))
|
|
autoChooser.addOption(auto.replaceAll(".auto", ""), auto);
|
|
}
|
|
|
|
autoChooser.onChange((filename) -> {
|
|
autoCommand = new PathPlannerAuto(filename);
|
|
System.out.println("Robot Auto Changed");
|
|
});
|
|
SmartDashboard.putData(autoChooser);
|
|
|
|
}
|
|
|
|
/**
|
|
* A button binding for two controllers, preferably an {@link DeadbandedXboxController Xbox Controller} and {@link VirtualController Virtual Xbox Controller}
|
|
* @param joystickA A controller
|
|
* @param joystickB A controller
|
|
* @param buttonNumber The button to bind to
|
|
*/
|
|
public Trigger DualJoystickButton(GenericHID joystickA, GenericHID joystickB, int buttonNumber) {
|
|
return new Trigger(() -> (joystickA.getRawButton(buttonNumber) || joystickB.getRawButton(buttonNumber)));
|
|
}
|
|
|
|
public DeadbandedXboxController getDeadbandedDriverController() {
|
|
return this.m_driverXbox;
|
|
}
|
|
|
|
public DeadbandedXboxController getDeadbandedOperatorController() {
|
|
return this.m_operatorXbox;
|
|
}
|
|
|
|
public VirtualController getVirtualDriverController() {
|
|
return m_virtualDriver;
|
|
}
|
|
|
|
public VirtualController getVirtualOperatorController() {
|
|
return m_virtualOperator;
|
|
}
|
|
}
|