Team4388/2026KPopRobotHunters
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Robot should be ready

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This commit is contained in:
Michael Mikovsky
2026-02-09 17:18:54 -08:00
parent d90bddac0f
commit 51d2b80ea0
14 changed files with 183 additions and 95 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+35 -18
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@@ -34,7 +34,9 @@ import frc4388.robot.constants.FieldConstants;
// Subsystems
import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.intake.Intake;
import frc4388.robot.subsystems.intake.Intake.IntakeMode;
import frc4388.robot.subsystems.shooter.Shooter;
import frc4388.robot.subsystems.shooter.Shooter.ShooterMode;
import frc4388.robot.subsystems.swerve.SwerveDrive;
import frc4388.robot.subsystems.vision.Vision;
import frc4388.utility.DeferredBlock;
@@ -98,13 +100,13 @@ public class RobotContainer {
// new InstantCommand(() -> System.out.println(m_robotLED.getMode()))
// );
private Command RobotShoot = new SequentialCommandGroup(
new InstantCommand(() -> m_robotShooter.setMode(Shooter.ShooterMode.Active), m_robotShooter)
);
// private Command RobotShoot = new SequentialCommandGroup(
// new InstantCommand(() -> m_robotShooter.setMode(Shooter.ShooterMode.Active), m_robotShooter)
// );
private Command RobotIntake = new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.setMode(Intake.IntakeMode.Down), m_robotIntake)
);
// private Command RobotIntake = new SequentialCommandGroup(
// new InstantCommand(() -> m_robotIntake.setMode(Intake.IntakeMode.Down), m_robotIntake)
// );
public RobotContainer() {
@@ -147,23 +149,23 @@ public class RobotContainer {
private void configureButtonBindings() {
new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
// new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
// new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
// .onTrue(new RotTo45(m_robotSwerveDrive));
new Trigger(() -> getDeadbandedDriverController().getRightTriggerAxis() >= 0.8 && !operatorManualMode)
.onTrue(RobotShoot)
.onFalse(new InstantCommand(() -> m_robotShooter.setMode(Shooter.ShooterMode.Resting), m_robotShooter));
// new Trigger(() -> getDeadbandedDriverController().getRightTriggerAxis() >= 0.8 && !operatorManualMode)
// .onTrue(RobotShoot)
// .onFalse(new InstantCommand(() -> m_robotShooter.setMode(Shooter.ShooterMode.Resting), m_robotShooter));
new Trigger(() -> getDeadbandedDriverController().getLeftTriggerAxis() >= 0.8 && !operatorManualMode)
.onTrue(RobotIntake)
.onFalse(new InstantCommand(() -> m_robotIntake.setMode(Intake.IntakeMode.Up), m_robotShooter));
// new Trigger(() -> getDeadbandedDriverController().getLeftTriggerAxis() >= 0.8 && !operatorManualMode)
// .onTrue(RobotIntake)
// .onFalse(new InstantCommand(() -> m_robotIntake.setMode(Intake.IntakeMode.Up), m_robotShooter));
new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> {m_robotSwerveDrive.softStop();}, m_robotSwerveDrive));
// new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
// .onTrue(new InstantCommand(() -> {m_robotSwerveDrive.softStop();}, m_robotSwerveDrive));
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
@@ -172,12 +174,27 @@ public class RobotContainer {
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> {m_robotShooter.setMode(ShooterMode.Active);}, m_robotShooter));
new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> {m_robotShooter.setMode(ShooterMode.Inactive);}, m_robotShooter));
new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> {m_robotIntake.setMode(IntakeMode.Extended);}, m_robotIntake));
new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> {m_robotIntake.setMode(IntakeMode.Retracted);}, m_robotIntake));
// new JoystickButton(getDeadbandedDriverController(), XboxController.START_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.activateLuigiMode()));
// new JoystickButton(getDeadbandedDriverController(), XboxController.BACK_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.activateLuigiMode()));
new JoystickButton(getDeadbandedDriverController(), XboxController.BACK_BUTTON)
.onTrue(new InstantCommand(() -> {
m_robotIntake.io.updateGains();
m_robotShooter.io.updateGains();
}));
// IF the driver is holding the aim button, aim the robot towards the hub
new Trigger(() -> getDeadbandedDriverController().getRightTriggerAxis() >= 0.5)