Team4388/2026KPopRobotHunters
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operator intake and shooting

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added operator controls
This commit is contained in:
Michael Mikovsky
2026-02-14 12:33:03 -07:00
parent 8381ac4607
commit 2f6a5d56fd
2 changed files with 46 additions and 23 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+40 -17
View File
@@ -152,7 +152,7 @@ public class RobotContainer {
*/
private void configureButtonBindings() {
//Driver controls
new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
@@ -210,31 +210,30 @@ public class RobotContainer {
false
);
}, m_robotSwerveDrive))
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Extended);
}))
.onFalse(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Retracted);
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)
.whileTrue(new RunCommand(
() -> {
// m_robotSwerveDrive.driveFacingPosition(
// getDeadbandedDriverController().getLeft(),
// FieldPositions.HUB_POSITION);
m_robotSwerveDrive.driveFacingPosition(
getDeadbandedDriverController().getLeft(),
FieldPositions.HUB_POSITION);
}, m_robotSwerveDrive)
)
.onTrue(new InstantCommand(() -> {
// When Right trigger is pressed,
m_robotShooter.setShooterReady();
}))
.onFalse(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Retracted);
m_robotShooter.setShooterNotReady();
}));
);
// .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
@@ -248,6 +247,30 @@ public class RobotContainer {
getDeadbandedDriverController().getRight(), 0.15
), m_robotSwerveDrive))
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive));
//Operator Controls
new Trigger(() -> getDeadbandedOperatorController().getLeftTriggerAxis() >= 0.5)
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Extended);
}));
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
.onFalse(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Retracted);
}));
new Trigger(() -> getDeadbandedOperatorController().getRightTriggerAxis() >= 0.5)
.onTrue(new InstantCommand(() -> {
m_robotShooter.setShooterReady();
}));
new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
.onFalse(new InstantCommand(() -> {
m_robotShooter.setShooterNotReady();
}));
}
//.onTrue(new InstantCommand(() -> m_robotLED.setMode(LEDPatterns.SOLID_PINK_HOT)));