Team4388/2026KPopRobotHunters
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Merge branch 'New-Intake' into DenverAutos

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This commit is contained in:
mimigamin
2026-03-31 16:45:32 -06:00
parent 149227892f 058866fc91
commit 4baf362639
17 changed files with 782 additions and 218 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+60 -28
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@@ -109,7 +109,7 @@ public class RobotContainer {
private Command IntakeExtended = new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Extended), m_robotIntake)
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.ExtendedREMOVEME), m_robotIntake)
);
// private Command LidarIntake = new SequentialCommandGroup(
@@ -134,7 +134,7 @@ public class RobotContainer {
private Command RobotRev = new SequentialCommandGroup(
new InstantCommand(() -> m_robotShooter.spinUpShooting(), m_robotShooter),
IntakeExtended,
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.RollerStop), m_robotIntake)
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Idle), m_robotIntake)
);
private Command RobotShootDriving = new SequentialCommandGroup(
@@ -146,7 +146,7 @@ public class RobotContainer {
);
private Command IntakeRetracted = new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Retracted), m_robotIntake)
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.RetractedREMOVEME), m_robotIntake)
);
private Command RobotShoot = new SequentialCommandGroup(
@@ -164,7 +164,7 @@ public class RobotContainer {
public RobotContainer() {
configureSINGLEBindings();
configureButtonBindings();
// Called on first robot enable
DeferredBlock.addBlock(() -> {
@@ -357,22 +357,22 @@ public class RobotContainer {
m_robotShooter.spinUpIdle();
}));
new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Retracted);
}));
// new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
// .onTrue(new InstantCommand(() -> {
// m_robotIntake.setMode(IntakeMode.RetractedREMOVEME);
// }));
new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Extended);
}));
// new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
// .onTrue(new InstantCommand(() -> {
// m_robotIntake.setMode(IntakeMode.ExtendedREMOVEME);
// }));
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Extending);
m_robotIntake.setMode(IntakeMode.ExtendingRolling);
}))
.onFalse(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Idle);
m_robotIntake.setMode(IntakeMode.ExtendingIdle);
}));
new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
@@ -383,6 +383,38 @@ public class RobotContainer {
m_robotIntake.setMode(IntakeMode.Idle);
}));
new Trigger(() -> getDeadbandedOperatorController().getPOV() == 90)
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.ExtendingIdle);
}))
.onFalse(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Idle);
}));
new Trigger(() -> getDeadbandedOperatorController().getPOV() == 270)
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Retracting);
}))
.onFalse(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Idle);
}));
new Trigger(() -> getDeadbandedOperatorController().getPOV() == 0)
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Bouncing);
}))
.onFalse(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Idle);
}));
// .onFalse(new InstantCommand(() -> {
// m_robotIntake.setMode(IntakeMode.Idle);
// }));
new JoystickButton(getDeadbandedOperatorController(), XboxController.START_BUTTON)
.whileTrue(
new PathPlannerAuto("Right_AutoClimb")
@@ -505,21 +537,21 @@ public class RobotContainer {
m_robotShooter.spinUpIdle();
}));
new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Extending);
}))
.onFalse(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Idle);
}));
// new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
// .onTrue(new InstantCommand(() -> {
// m_robotIntake.setMode(IntakeMode.ExtendedIdle);
// }))
// .onFalse(new InstantCommand(() -> {
// m_robotIntake.setMode(IntakeMode.Idle);
// }));
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Retracting);
}))
.onFalse(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Idle);
}));
// new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
// .onTrue(new InstantCommand(() -> {
// m_robotIntake.setMode(IntakeMode.Retracting);
// }))
// .onFalse(new InstantCommand(() -> {
// m_robotIntake.setMode(IntakeMode.Idle);
// }));
}