Team4388/2026KPopRobotHunters
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This commit is contained in:
mimigamin
2026-04-07 20:37:26 -06:00
parent 1636a054ed
commit 118dcee1c7
41 changed files with 96 additions and 64 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+9 -6
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@@ -139,7 +139,8 @@ public class RobotContainer {
private Command RobotRev = new SequentialCommandGroup(
new InstantCommand(() -> m_robotShooter.spinUpShooting(), m_robotShooter),
IntakeExtended,
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Idle), m_robotIntake)
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.ExpelBalls), m_robotIntake)
// new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Idle), m_robotIntake)
);
private Command WaitIntakeReference =
@@ -161,10 +162,11 @@ public class RobotContainer {
// TEST NEW AUTO ALIGN
//new AutoAlign(m_robotSwerveDrive, m_vision, new Pose2d(FieldPositions.HUB_POSITION, new Rotation2d(0)), false),
new WaitUntilCommand(m_robotShooter::isShooterUpToSpeed),
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Idle), m_robotIntake),
new InstantCommand(()-> m_robotShooter.allowShooting(), m_robotShooter),
new WaitCommand(4),
new WaitCommand(3),
IntakeRetracted,
new WaitCommand(7),
new WaitCommand(4.5),
new InstantCommand(() -> m_robotShooter.denyShooting(), m_robotShooter),
new InstantCommand(()->m_robotShooter.spinUpIdle(), m_robotShooter)
);
@@ -183,7 +185,8 @@ public class RobotContainer {
DeferredBlock.addBlock(() -> {
TimesNegativeOne.update();
FieldPositions.update();
m_robotIntake.setMode(IntakeMode.Idle);
m_robotShooter.spinUpIdle();
m_robotIntake.io.updateGains();
m_robotShooter.io.updateGains();
}, true);
@@ -339,7 +342,6 @@ public class RobotContainer {
new Trigger(() -> getDeadbandedOperatorController().getRightTriggerAxis() >= 0.5)
.onTrue(new InstantCommand(() -> {
m_robotShooter.allowShooting();
m_robotIntake.rollerStop();
})).onFalse(new InstantCommand(() -> {
m_robotShooter.denyShooting();
}));
@@ -380,6 +382,7 @@ public class RobotContainer {
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.ExtendingRolling);
}));
new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.LabubuGrowl);
@@ -392,7 +395,7 @@ public class RobotContainer {
m_robotIntake.setMode(IntakeMode.Retracting);
}))
.onFalse(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Idle);
m_robotIntake.setMode(IntakeMode.ArmIdleRollingNot);
}));