Team4388/2026KPopRobotHunters
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LEDs

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This commit is contained in:
Michael Mikovsky
2026-01-29 18:02:04 -07:00
parent fe412d0981
commit 0cc2d423fe
6 changed files with 128 additions and 94 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+68 -56
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@@ -30,6 +30,7 @@ import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
// Autos
import frc4388.utility.controller.VirtualController;
import frc4388.utility.controller.XboxController;
import frc4388.utility.structs.LEDPatterns;
import frc4388.robot.commands.MoveForTimeCommand;
import frc4388.robot.commands.alignment.RotTo45;
import frc4388.robot.commands.MoveUntilSuply;
@@ -40,6 +41,7 @@ import frc4388.robot.commands.MoveUntilSuply;
import frc4388.robot.commands.wait.waitSupplier;
import frc4388.robot.constants.Constants;
import frc4388.robot.constants.Constants.AutoConstants;
import frc4388.robot.constants.Constants.LEDConstants;
import frc4388.robot.constants.Constants.OIConstants;
import frc4388.robot.constants.Constants.SimConstants.Mode;
@@ -63,10 +65,10 @@ public class RobotContainer {
public final RobotMap m_robotMap = new RobotMap(Mode.REAL);
/* Subsystems */
public final LED m_robotLED = new LED();
public final LED m_robotLED = new LED(LEDConstants.LED_SPARK_ID);
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, m_vision);
// public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain);
// public final LiDAR reefLidar = new LiDAR(m_robotMap.reefLidar, "Reef");
@@ -81,11 +83,11 @@ public class RobotContainer {
// 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);
}
// public void stop() {
// new InstantCommand(()->{}, m_robotSwerveDrive).schedule();
// m_robotSwerveDrive.stopModules();
// Constants.AutoConstants.Y_OFFSET_TRIM.set(0);
// }
// ! /* Autos */
private SendableChooser<String> autoChooser;
@@ -96,9 +98,9 @@ public class RobotContainer {
configureButtonBindings();
DeferredBlock.addBlock(() -> { // Called on first robot enable
m_robotSwerveDrive.resetGyro();
}, false);
// DeferredBlock.addBlock(() -> { // Called on first robot enable
// m_robotSwerveDrive.resetGyro();
// }, false);
DeferredBlock.addBlock(() -> { // Called on every robot enable
TimesNegativeOne.update();
}, true);
@@ -106,27 +108,27 @@ public class RobotContainer {
DriverStation.silenceJoystickConnectionWarning(true);
m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
// m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
// IF the driver is holding the aim button, aim the robot towards the hub
if(m_driverXbox.getRightTriggerAxis() > 0.5) {
// Aim
Translation2d shootTarget = new Translation2d();
// new Rotation2()
Rotation2d ang = m_robotSwerveDrive.getPose2d().getTranslation().minus(shootTarget).getAngle();
m_robotSwerveDrive.driveFieldAngle(
getDeadbandedDriverController().getLeft(),
ang);
} else {
// Drive normally
m_robotSwerveDrive.driveWithInput(
getDeadbandedDriverController().getLeft(),
getDeadbandedDriverController().getRight(),true);
}
// // IF the driver is holding the aim button, aim the robot towards the hub
// if(m_driverXbox.getRightTriggerAxis() > 0.5) {
// // Aim
// Translation2d shootTarget = new Translation2d();
// // new Rotation2()
// Rotation2d ang = m_robotSwerveDrive.getPose2d().getTranslation().minus(shootTarget).getAngle();
// m_robotSwerveDrive.driveFieldAngle(
// getDeadbandedDriverController().getLeft(),
// ang);
// } else {
// // Drive normally
// m_robotSwerveDrive.driveWithInput(
// getDeadbandedDriverController().getLeft(),
// getDeadbandedDriverController().getRight(),true);
// }
}, m_robotSwerveDrive)
.withName("SwerveDrive DefaultCommand"));
m_robotSwerveDrive.setToSlow();
// }, m_robotSwerveDrive)
// .withName("SwerveDrive DefaultCommand"));
// m_robotSwerveDrive.setToSlow();
}
@@ -142,28 +144,38 @@ public class RobotContainer {
private void configureButtonBindings() {
// new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
.onTrue(new InstantCommand(() -> m_robotLED.setMode(LEDPatterns.C1C2_GRADIENT)));
// new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
// .onTrue(new RotTo45(m_robotSwerveDrive));
new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> {m_robotSwerveDrive.softStop();}, m_robotSwerveDrive));
.onTrue(new InstantCommand(() -> m_robotLED.setMode(LEDPatterns.OCEAN_RAINBOW)));
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> m_robotLED.setMode(LEDPatterns.RAINBOW_RAINBOW)));
new JoystickButton(getDeadbandedDriverController(), XboxController.START_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.activateLuigiMode()));
new JoystickButton(getDeadbandedDriverController(), XboxController.BACK_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.deactivateLuigiMode()));
.onTrue(new InstantCommand(() -> m_robotLED.setTo5V()));
// new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
// .onTrue(new InstantCommand(() -> {m_robotSwerveDrive.softStop();}, m_robotSwerveDrive));
// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
// new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
// new JoystickButton(getDeadbandedDriverController(), XboxController.START_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.activateLuigiMode()));
// new JoystickButton(getDeadbandedDriverController(), XboxController.BACK_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.deactivateLuigiMode()));
}
/**
@@ -214,17 +226,17 @@ public class RobotContainer {
}
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);
// 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);