Team4388/2026KPopRobotHunters
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Add Climber stuff

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This commit is contained in:
Michael Mikovsky
2026-02-22 14:02:31 -07:00
parent 77ca57d678
commit 119451e29e
6 changed files with 110 additions and 160 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+13 -51
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@@ -179,43 +179,13 @@ public class RobotContainer {
new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
// new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
// .onTrue(new RotTo45(m_robotSwerveDrive));
// new Trigger(() -> getDeadbandedDriverController().getRightTriggerAxis() >= 0.8 && !operatorManualMode)
// .onTrue(RobotShoot)
// .onFalse(new InstantCommand(() -> m_robotShooter.setMode(Shooter.ShooterMode.Resting), m_robotShooter));
// new Trigger(() -> getDeadbandedDriverController().getLeftTriggerAxis() >= 0.8 && !operatorManualMode)
// .onTrue(RobotIntake)
// .onFalse(new InstantCommand(() -> m_robotIntake.setMode(Intake.IntakeMode.Up), m_robotShooter));
// 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.Y_BUTTON)
// .onTrue(new InstantCommand(() -> {m_robotShooter.setMode(ShooterMode.Active);}, m_robotShooter));
// new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
// .onTrue(new InstantCommand(() -> {m_robotShooter.setMode(ShooterMode.Inactive);}, m_robotShooter));
// new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
// .onTrue(new InstantCommand(() -> {;}, m_robotIntake));
// new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
// .onTrue(new InstantCommand(() -> {m_robotIntake.setMode(IntakeMode.Retracted);}, m_robotIntake));
// new JoystickButton(getDeadbandedDriverController(), XboxController.START_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.activateLuigiMode()));
new JoystickButton(getDeadbandedDriverController(), XboxController.BACK_BUTTON)
.onTrue(new InstantCommand(() -> {
@@ -237,9 +207,6 @@ public class RobotContainer {
.onFalse(new InstantCommand(() -> {
m_robotSwerveDrive.softStop();
}));
// .onTrue(new InstantCommand(() -> {
// m_robotIntake.setMode(IntakeMode.Extended);
// }))
// IF the driver is holding the aim button, aim the robot towards the hub and shooter ready
new Trigger(() -> getDeadbandedDriverController().getRightTriggerAxis() >= 0.5)
@@ -252,15 +219,6 @@ public class RobotContainer {
);
}, m_robotSwerveDrive)
);
// .onTrue(new InstantCommand(() -> {
// // When Right trigger is pressed,
// m_robotShooter.setShooterReady();
// }))
// .onFalse(new InstantCommand(() -> {
// m_robotIntake.setMode(IntakeMode.Retracted);
// m_robotShooter.setShooterNotReady();
// }));
// D-PAD fine alignment
new Trigger(() -> getDeadbandedDriverController().getPOV() != -1)
@@ -302,7 +260,14 @@ public class RobotContainer {
})).onFalse(new InstantCommand(() -> {
m_robotShooter.setShooterNOTShoot();
}));
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Extending);
}))
.onFalse(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Idle);
}));
new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> {
@@ -312,13 +277,10 @@ public class RobotContainer {
m_robotIntake.setMode(IntakeMode.Idle);
}));
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Extending);
}))
.onFalse(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Idle);
}));
// new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
// .onTrue(new InstantCommand(() -> {
// m_robotClimber.toggleDeployed();
// }));
}