Team4388/2026KPopRobotHunters
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instant commands for testing

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This commit is contained in:
Shikhar
2026-02-07 14:51:05 -07:00
parent f39bd20b9f
commit 2d9ed527be
6 changed files with 61 additions and 41 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+28 -12
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@@ -33,6 +33,8 @@ import frc4388.robot.constants.Constants.SimConstants.Mode;
import frc4388.robot.constants.FieldConstants;
// Subsystems
import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.intake.Intake;
import frc4388.robot.subsystems.shooter.Shooter;
import frc4388.robot.subsystems.swerve.SwerveDrive;
import frc4388.robot.subsystems.vision.Vision;
import frc4388.utility.DeferredBlock;
@@ -58,9 +60,10 @@ public class RobotContainer {
/* Subsystems */
public final LED m_robotLED = new LED();
//Testing of Colors
public final Vision m_vision = new Vision();
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
public final Intake m_robotIntake = new Intake(m_robotMap.intakeIO);
public final Shooter m_robotShooter = new Shooter(m_robotMap.shooterIO);
private Boolean operatorManualMode = false;
// public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain);
@@ -86,13 +89,21 @@ public class RobotContainer {
private SendableChooser<String> autoChooser;
private Command autoCommand;
// private Command RobotShoot = new SequentialCommandGroup(
// new InstantCommand(() -> System.out.println(m_robotLED.getMode())),
// new InstantCommand(() -> m_robotLED.setMode(LEDPatterns.PARTY_TWINKLES), m_robotLED),
// new InstantCommand(() -> System.out.println(m_robotLED.getMode())),
// new WaitCommand(5),
// new InstantCommand(() -> m_robotLED.setMode(LEDPatterns.SOLID_RED), m_robotLED),
// new InstantCommand(() -> System.out.println(m_robotLED.getMode()))
// );
private Command RobotShoot = new SequentialCommandGroup(
new InstantCommand(() -> System.out.println(m_robotLED.getMode())),
new InstantCommand(() -> m_robotLED.setMode(LEDPatterns.PARTY_TWINKLES), m_robotLED),
new InstantCommand(() -> System.out.println(m_robotLED.getMode())),
new WaitCommand(5),
new InstantCommand(() -> m_robotLED.setMode(LEDPatterns.SOLID_RED), m_robotLED),
new InstantCommand(() -> System.out.println(m_robotLED.getMode()))
new InstantCommand(() -> m_robotShooter.setMode(Shooter.ShooterMode.Active), m_robotShooter)
);
private Command RobotIntake = new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.setMode(Intake.IntakeMode.Down), m_robotIntake)
);
public RobotContainer() {
@@ -144,7 +155,12 @@ public class RobotContainer {
// .onTrue(new RotTo45(m_robotSwerveDrive));
new Trigger(() -> getDeadbandedDriverController().getRightTriggerAxis() >= 0.8 && !operatorManualMode)
.onTrue(RobotShoot);
.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));
@@ -157,11 +173,11 @@ public class RobotContainer {
new JoystickButton(getDeadbandedDriverController(), XboxController.START_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.activateLuigiMode()));
// new JoystickButton(getDeadbandedDriverController(), XboxController.START_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.activateLuigiMode()));
new JoystickButton(getDeadbandedDriverController(), XboxController.BACK_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.activateLuigiMode()));
// new JoystickButton(getDeadbandedDriverController(), XboxController.BACK_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.activateLuigiMode()));
// IF the driver is holding the aim button, aim the robot towards the hub
new Trigger(() -> getDeadbandedDriverController().getRightTriggerAxis() >= 0.5)