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
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@@ -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);
}