Team4388/2026KPopRobotHunters
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VIsion and Roller

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vision constants and implementation
roller percent output
operator controls update
This commit is contained in:
Michael Mikovsky
2026-02-17 18:53:26 -08:00
parent 7ec022bc7a
commit 3a5057fc41
11 changed files with 69 additions and 87 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+9 -9
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@@ -62,7 +62,7 @@ public class RobotContainer {
/* Subsystems */
public final LED m_robotLED = new LED(Constants.LEDConstants.LED_SPARK_ID);
//Testing of Colors
public final Vision m_vision = new Vision();
public final Vision m_vision = new Vision(m_robotMap.rightCamera);
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, m_robotSwerveDrive, m_robotIntake, m_robotLED);
@@ -248,25 +248,25 @@ public class RobotContainer {
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive));
//Operator Controls
new Trigger(() -> getDeadbandedOperatorController().getLeftTriggerAxis() >= 0.5)
new Trigger(() -> getDeadbandedOperatorController().getRightTriggerAxis() >= 0.5)
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Extended);
}));
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
.onTrue(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)
new Trigger(() -> getDeadbandedOperatorController().getLeftTriggerAxis() >= 0.5)
.onTrue(new InstantCommand(() -> {
m_robotShooter.setShooterNotReady();
}));
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> {
m_robotShooter.setShooterReady();
}));
new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> {