Team4388/2026KPopRobotHunters
1
0
Fork 0
mirror of https://github.com/Team4388/2026KPopRobotHunters.git synced 2026-06-09 00:38:03 -06:00
Code Issues Packages Projects Releases Wiki Activity

add testing changes

Browse Source
This commit is contained in:
mimigamin
2026-03-19 18:32:02 -06:00
parent 917aaa7746
commit 4ffbe3f595
7 changed files with 90 additions and 74 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/RobotContainer.java
+21 -23
View File
@@ -125,7 +125,7 @@ public class RobotContainer {
// );
private Command RobotRev = new SequentialCommandGroup(
new InstantCommand(() -> m_robotShooter.spinUpShooting(), m_robotShooter),
new InstantCommand(() -> m_robotShooter.spinUpShooting(m_robotSwerveDrive.chassisXSpeeds()), m_robotShooter),
IntakeExtended,
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.RollerStop), m_robotIntake)
);
@@ -231,22 +231,25 @@ public class RobotContainer {
m_robotSwerveDrive.shiftDownRot();
}));
//TEST - > Defense: X position on wheels and swerve drive pid on position
//TEST - > X positino on wheels
new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
.whileTrue(new RunCommand(() -> {
m_robotSwerveDrive.defenseXPosition();
}, m_robotSwerveDrive))
.onFalse(new InstantCommand(() -> {
m_robotSwerveDrive.stopDefenseXPosition();
}));
// .onTrue(new InstantCommand(() -> {
// currentPose = m_robotSwerveDrive.getCurrentPose();
// }))
// .whileTrue(new RunCommand(() -> {
// m_stayInPosition.goToTargetPose(currentPose);
// }, m_robotSwerveDrive))
// .onFalse(new InstantCommand(() -> {
// m_robotSwerveDrive.softStop();
//TEST - > PID positinon
new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> {
currentPose = m_robotSwerveDrive.getCurrentPose();
}))
.whileTrue(new RunCommand(() -> {
m_stayInPosition.goToTargetPose(currentPose);
}, m_robotSwerveDrive))
.onFalse(new InstantCommand(() -> {
m_robotSwerveDrive.softStop();
}));
@@ -254,19 +257,14 @@ 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(
// () -> m_robotSwerveDrive.driveFacingPosition(
// getDeadbandedDriverController().getLeft(),
// FieldPositions.HUB_POSITION,
// ShooterConstants.AIM_LEAD_TIME.get()
// ), m_robotSwerveDrive)
() -> {
m_robotSwerveDrive.driveFacingVelocity(
.onTrue(new InstantCommand(() -> {
m_robotSwerveDrive.setToSlow();
}))
.whileTrue(new RunCommand(() -> {
m_robotSwerveDrive.driveFacingPosition(
getDeadbandedDriverController().getLeft(),
FieldPositions.HUB_POSITION,
ShooterConstants.AIM_LEAD_TIME.get(),
m_robotShooter.getBallVelocity(),
m_robotShooter.getDistanceToHub()
ShooterConstants.AIM_LEAD_TIME.get()
);
}, m_robotSwerveDrive)
);
@@ -315,7 +313,7 @@ public class RobotContainer {
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Idle);
m_robotIntake.rollerStop();
m_robotShooter.spinUpShooting();
m_robotShooter.spinUpShooting(m_robotSwerveDrive.chassisXSpeeds());
}))
.onFalse(new InstantCommand(() -> {
m_robotShooter.spinUpIdle();
@@ -352,7 +350,7 @@ public class RobotContainer {
// m_robotClimber.toggleDeployed();
// }));
new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> {
m_robotShooter.indexerStalled();
}))