Team4388/2026KPopRobotHunters
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Fixing the shooter command and adding alignment

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This commit is contained in:
Michael Mikovsky
2026-02-24 18:43:16 -08:00
parent 34a7ed050d
commit 0af963284a
7 changed files with 174 additions and 103 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+18 -26
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@@ -30,6 +30,7 @@ import edu.wpi.first.wpilibj2.command.WaitCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import edu.wpi.first.wpilibj2.command.button.Trigger;
import frc4388.robot.commands.MoveForTimeCommand;
import frc4388.robot.commands.alignment.AutoAlign;
import frc4388.robot.constants.Constants;
import frc4388.robot.constants.Constants.OIConstants;
import frc4388.robot.constants.Constants.SimConstants.Mode;
@@ -98,7 +99,7 @@ public class RobotContainer {
private Command RobotIntakeDown = new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Extended))
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Extended), m_robotIntake)
);
private Command LidarIntake = new SequentialCommandGroup(
@@ -117,34 +118,24 @@ public class RobotContainer {
.andThen(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive))
);
private Command RobotShoot = new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Retracted)),
new InstantCommand(() -> m_robotShooter.setShooterReady()),
new InstantCommand(()->m_robotIntake.setMode(IntakeMode.Idle)),
new WaitCommand(3),
new InstantCommand(()->m_robotShooter.setShooterShoot()),
new WaitCommand(5),
new InstantCommand(()->m_robotShooter.setShooterNOTShoot()),
new InstantCommand(() -> m_robotShooter.setShooterNotReady())
private Command RobotReadyToShoot = new SequentialCommandGroup(
new InstantCommand(()-> m_robotIntake.setMode(IntakeMode.Idle), m_robotIntake),
new InstantCommand(() -> m_robotShooter.setShooterReady(), m_robotShooter)
);
// private Command RobotShoot = new SequentialCommandGroup(
// new InstantCommand(() -> System.out.println(m_robotLED.getMode())),
// new InstantCommand(() -> m_robotLED.setMode(LEDPatterns.PARTY_TWINKLES), m_robotLED),
// new InstantCommand(() -> System.out.println(m_robotLED.getMode())),
// new WaitCommand(5),
// new InstantCommand(() -> m_robotLED.setMode(LEDPatterns.SOLID_RED), m_robotLED),
// new InstantCommand(() -> System.out.println(m_robotLED.getMode()))
// );
// private Command RobotShoot = new SequentialCommandGroup(
// new InstantCommand(() -> m_robotShooter.setMode(Shooter.ShooterMode.Active), m_robotShooter)
// );
// private Command RobotIntake = new SequentialCommandGroup(
// new InstantCommand(() -> m_robotIntake.setMode(Intake.IntakeMode.Down), m_robotIntake)
// );
private Command RobotShoot = new SequentialCommandGroup(
new InstantCommand(() ->
new AutoAlign(m_robotSwerveDrive, m_vision, true)),
new InstantCommand(()-> m_robotShooter.setShooterShoot(), m_robotShooter),
new InstantCommand(()-> m_robotShooter.setShooterReady(), m_robotShooter),
new WaitCommand(3),
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Retracted), m_robotIntake),
new WaitCommand(2),
new InstantCommand(()->m_robotShooter.setShooterNOTShoot(), m_robotShooter),
new InstantCommand(() -> m_robotShooter.setShooterNotReady(), m_robotShooter)
);
public RobotContainer() {
configureButtonBindings();
@@ -163,6 +154,7 @@ public class RobotContainer {
m_robotShooter.io.updateGains();
}, true);
NamedCommands.registerCommand("Robot Rev Up", RobotReadyToShoot);
NamedCommands.registerCommand("Robot Shoot", RobotShoot);
NamedCommands.registerCommand("Lidar Intake", LidarIntake);
NamedCommands.registerCommand("Robot Intake Down", RobotIntakeDown);