Team4388/2026KPopRobotHunters
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not working

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mimigamin
2026-03-12 18:05:14 -06:00
parent c4b8e2972e
commit 3ef0a876f6
12 changed files with 28 additions and 63 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+14 -7
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@@ -40,6 +40,7 @@ import frc4388.robot.subsystems.intake.Intake.IntakeMode;
import frc4388.robot.subsystems.led.LED;
import frc4388.robot.subsystems.shooter.Shooter;
import frc4388.robot.subsystems.shooter.ShooterConstants;
import frc4388.robot.subsystems.swerve.SimpleSwerveSim;
import frc4388.robot.subsystems.swerve.SwerveDrive;
import frc4388.robot.subsystems.vision.Lidar;
import frc4388.robot.subsystems.vision.Vision;
@@ -69,6 +70,7 @@ public class RobotContainer {
/* Subsystems */
// public final Lidar m_lidar = new Lidar();
public final LED m_robotLED = new LED(Constants.LEDConstants.LED_SPARK_ID);
public final SimpleSwerveSim m_robotSwerveSIM = new SimpleSwerveSim();
//Testing of Colors
public final Vision m_vision = new Vision(m_robotMap.rightCamera, m_robotMap.leftCamera);
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
@@ -243,14 +245,19 @@ public class RobotContainer {
// 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(
.onTrue(new InstantCommand(
() -> {
m_robotSwerveDrive.driveFacingPosition(
getDeadbandedDriverController().getLeft(),
FieldPositions.HUB_POSITION,
ShooterConstants.AIM_LEAD_TIME.get()
);
}, m_robotSwerveDrive)
m_robotSwerveSIM.driveFacingPosition(
FieldPositions.HUB_POSITION
);
})
// () -> {
// m_robotSwerveDrive.driveFacingPosition(
// getDeadbandedDriverController().getLeft(),
// FieldPositions.HUB_POSITION,
// ShooterConstants.AIM_LEAD_TIME.get()
// );
// }, m_robotSwerveDrive)
// () -> {
// m_robotSwerveDrive.driveFacingVelocity(
// getDeadbandedDriverController().getLeft(),