Team4388/2026KPopRobotHunters
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New Ramp autos

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This commit is contained in:
mimigamin
2026-03-31 16:43:44 -06:00
parent a774f156c6
commit 149227892f
27 changed files with 1558 additions and 24 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+26 -13
View File
@@ -195,17 +195,17 @@ public class RobotContainer {
NamedCommands.registerCommand("BumpOffsetForward", new InstantCommand(() -> {
if (TimesNegativeOne.isRed) {
m_robotSwerveDrive.offsetOdoPosition(FieldConstants.BUMP_OFFSET_RED);
m_robotSwerveDrive.offsetOdoPosition(FieldConstants.BUMP_OFFSET_RED_FRONT);
} else {
m_robotSwerveDrive.offsetOdoPosition(FieldConstants.BUMP_OFFSET_BLUE);
m_robotSwerveDrive.offsetOdoPosition(FieldConstants.BUMP_OFFSET_BLUE_FRONT);
}
}));
NamedCommands.registerCommand("BumpOffsetReverse", new InstantCommand(() -> {
if (!TimesNegativeOne.isRed) {
m_robotSwerveDrive.offsetOdoPosition(FieldConstants.BUMP_OFFSET_RED);
NamedCommands.registerCommand("BumpOffsetBackward", new InstantCommand(() -> {
if (TimesNegativeOne.isRed) {
m_robotSwerveDrive.offsetOdoPosition(FieldConstants.BUMP_OFFSET_RED_BACK);
} else {
m_robotSwerveDrive.offsetOdoPosition(FieldConstants.BUMP_OFFSET_BLUE);
m_robotSwerveDrive.offsetOdoPosition(FieldConstants.BUMP_OFFSET_BLUE_BACK);
}
}));
@@ -304,8 +304,8 @@ public class RobotContainer {
FieldPositions.HUB_POSITION,
ShooterConstants.AIM_LEAD_TIME.get()
);
}, m_robotSwerveDrive)
);
}, m_robotSwerveDrive))
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive));
// D-PAD fine alignment
new Trigger(() -> getDeadbandedDriverController().getPOV() != -1)
@@ -383,6 +383,18 @@ public class RobotContainer {
m_robotIntake.setMode(IntakeMode.Idle);
}));
new JoystickButton(getDeadbandedOperatorController(), XboxController.START_BUTTON)
.whileTrue(
new PathPlannerAuto("Right_AutoClimb")
)
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive));
new JoystickButton(getDeadbandedOperatorController(), XboxController.BACK_BUTTON)
.whileTrue(
new PathPlannerAuto("Left_AutoClimb")
)
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive));
// new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
// .onTrue(new InstantCommand(() -> {
// m_robotClimber.toggleDeployed();
@@ -395,11 +407,11 @@ public class RobotContainer {
private void configureSINGLEBindings() {
//Driver controls
// new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.offsetOdoPosition(FieldConstants.BUMP_OFFSET_RED)));
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
// new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.offsetOdoPosition(FieldConstants.BUMP_OFFSET_RED)));
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
@@ -556,7 +568,8 @@ public class RobotContainer {
for (String auto : autos) {
if (auto.endsWith(".auto"))
autoChooser.addOption(auto.replaceAll(".auto", ""), auto.replaceAll(".auto", ""));
if (auto.startsWith("X. "))
autoChooser.addOption(auto.replaceAll(".auto", ""), auto.replaceAll(".auto", ""));
// System.out.println(auto);
}
src/main/java/frc4388/robot/constants/BuildConstants.java
+6 -6
View File
@@ -7,12 +7,12 @@ public final class BuildConstants {
public static final String MAVEN_GROUP = "";
public static final String MAVEN_NAME = "2026KPopRobotHunters";
public static final String VERSION = "unspecified";
public static final int GIT_REVISION = 182;
public static final String GIT_SHA = "75cab187e2225e51259336e5569f15c41f9169d5";
public static final String GIT_DATE = "2026-03-21 13:38:34 MDT";
public static final String GIT_BRANCH = "MiraOrg";
public static final String BUILD_DATE = "2026-03-21 15:45:59 MDT";
public static final long BUILD_UNIX_TIME = 1774129559544L;
public static final int GIT_REVISION = 186;
public static final String GIT_SHA = "a774f156c681df6426dc5d344b84692080bb8a06";
public static final String GIT_DATE = "2026-03-26 18:40:37 MDT";
public static final String GIT_BRANCH = "DenverAutos";
public static final String BUILD_DATE = "2026-03-30 19:07:09 MDT";
public static final long BUILD_UNIX_TIME = 1774919229417L;
public static final int DIRTY = 1;
private BuildConstants(){}
src/main/java/frc4388/robot/constants/FieldConstants.java
+13 -2
View File
@@ -11,17 +11,28 @@ public final class FieldConstants {
public static final AprilTagFieldLayout kTagLayout = AprilTagFieldLayout.loadField(AprilTagFields.k2026RebuiltAndymark);
public static final double BUMP_OFFSET = 0.4;
public static final Transform2d BUMP_OFFSET_RED = new Transform2d(
public static final Transform2d BUMP_OFFSET_RED_FRONT = new Transform2d(
Meters.of(BUMP_OFFSET),
Meters.of(0),
new Rotation2d()
);
public static final Transform2d BUMP_OFFSET_BLUE = new Transform2d(
public static final Transform2d BUMP_OFFSET_BLUE_FRONT = new Transform2d(
Meters.of(-BUMP_OFFSET),
Meters.of(0),
new Rotation2d()
);
public static final Transform2d BUMP_OFFSET_RED_BACK = new Transform2d(
Meters.of(-BUMP_OFFSET),
Meters.of(0),
new Rotation2d()
);
public static final Transform2d BUMP_OFFSET_BLUE_BACK = new Transform2d(
Meters.of(BUMP_OFFSET),
Meters.of(0),
new Rotation2d()
);
// Test april tag field layout
// public static final AprilTagFieldLayout kTagLayout = new AprilTagFieldLayout(
// Arrays.asList(new AprilTag[] {