2026KPopRobotHunters/src/main/java/frc4388/robot/RobotContainer.java

/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

package frc4388.robot;

// Drive Systems
import edu.wpi.first.wpilibj.DriverStation;

import java.io.File;
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.RobotBase;
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 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.ParallelRaceGroup;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.WaitCommand;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.ConditionalCommand;
// Autos
import frc4388.utility.controller.VirtualController;
import frc4388.robot.commands.MoveForTimeCommand;
import frc4388.robot.commands.MoveUntilSuply;
// 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 frc4388.robot.constants.Constants.SimConstants.Mode;

import com.pathplanner.lib.auto.NamedCommands;
import com.pathplanner.lib.commands.PathPlannerAuto;

// Subsystems
import frc4388.robot.subsystems.LED;
// import frc4388.robot.subsystems.elevator.Elevator;
// import frc4388.robot.subsystems.elevator.Elevator.CoordinationState;
import frc4388.robot.subsystems.lidar.LiDAR;
import frc4388.robot.subsystems.swerve.SwerveDrive;
import frc4388.robot.subsystems.vision.Vision;
// Utilites
import frc4388.utility.DeferredBlock;
import frc4388.utility.compute.TimesNegativeOne;
// import frc4388.utility.compute.ReefPositionHelper.Side;

/**
 * This class is where the bulk of the robot should be declared. Since
 * Command-based is a "declarative" paradigm, very little robot logic should
 * actually be handled in the {@link Robot} periodic methods (other than the
 * scheduler calls). Instead, the structure of the robot (2including subsystems,
 * commands, and button mappings) should be declared here.
 */
public class RobotContainer {
    /* RobotMap */
    
    public final RobotMap m_robotMap = new RobotMap(Mode.REAL);
    
    /* Subsystems */
    public final LED m_robotLED = new LED();
    public final Vision m_vision = new Vision();
    // 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 reverseLidar = new LiDAR(m_robotMap.reverseLidar, "Reverse");


    /* Controllers */
    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);

    // public List<Subsystem> subsystems = new ArrayList<>();

    // ! Teleop Commands
    public void stop() {
        new InstantCommand(()->{}, m_robotSwerveDrive).schedule();
        m_robotSwerveDrive.stopModules();
        Constants.AutoConstants.Y_OFFSET_TRIM.set(0);
    }

    // ! /*  Autos */
    private SendableChooser<String> autoChooser;
    private Command autoCommand;

    
    /**
     * This method is used to replcate {@link Trigger Triggers} for {@link VirtualController Virtual Controllers}. <p/>
     * Please use {@link RobotContainer#DualJoystickButton} in {@link RobotContainer#configureButtonBindings} for standard buttons.
     */
    private void configureVirtualButtonBindings() {

        // ? /* Driver Buttons */
        
        /* Notice: the following buttons have not been replicated
         * Swerve Drive Slow and Fast mode Gear Shifts : Fast mode is known to cause drift, so we disable that feature in Autoplayback
         * Swerve Drive Rotation Gear Shifts           : Same reason as Slow and Fast mode.
         * Auto Recording controls                     : We don't want an Null Ouroboros for an auto.
         */

        // ? /* Operator Buttons */

        /* 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.
         */
        
         // ? 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.

    }

    /**
     * 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 autoCommand;
	// }
    // return new PathPlannerAuto("Line-up-no-arm");
	// 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 boolean autoChooserUpdated = false;
    public void makeAutoChooser() {
        autoChooser = new SendableChooser<String>();
        
        File dir;

        if(RobotBase.isReal()) {
            dir = new File("/home/lvuser/deploy/pathplanner/autos/");
        } else {
            // dir = new File("C:\\Users\\Ridgebotics\\Documents\\GitHub\\2025RidgeScape\\src\\main\\deploy\\pathplanner\\autos\\");
            dir = new File("/home/astatin3/Documents/GitHub/2025RidgeScape/src/main/deploy/pathplanner/autos");
        }

        String[] autos = dir.list();

        if(autos == null) return;

        for (String auto : autos) {
            if (auto.endsWith(".auto"))
                autoChooser.addOption(auto.replaceAll(".auto", ""), auto.replaceAll(".auto", ""));
            // System.out.println(auto);
        }

        autoChooser.onChange((filename) -> {
            autoChooserUpdated = true;
            if (filename.equals("Taxi")) {
                autoCommand = new SequentialCommandGroup(
                    new MoveForTimeCommand(m_robotSwerveDrive, 
                        new Translation2d(0, -1), 
                        new Translation2d(), 1000, true
                ), new InstantCommand(()-> {m_robotSwerveDrive.softStop();} , m_robotSwerveDrive));
            } else {
                autoCommand = new PathPlannerAuto(filename);
            }
            System.out.println("Robot Auto Changed " + filename);
        });
        // 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 ButtonBox getButtonBox() {
        return this.m_buttonBox;
    }
}