Team4388/2026KPopRobotHunters
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This commit is contained in:
Shikhar
2026-01-29 18:07:19 -07:00
parent 8bda61b983
commit 5d38173168
7 changed files with 76 additions and 14 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+20 -3
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@@ -19,18 +19,25 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
// Commands
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.ConditionalCommand;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.WaitCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import edu.wpi.first.wpilibj2.command.button.Trigger;
import frc4388.robot.commands.MoveForTimeCommand;
import frc4388.robot.commands.MoveUntilSuply;
import frc4388.robot.constants.Constants;
import frc4388.robot.constants.Constants.AutoConstants;
import frc4388.robot.constants.Constants.OIConstants;
import frc4388.robot.constants.Constants.SimConstants.Mode;
import frc4388.robot.constants.FieldConstants;
// Subsystems
import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.shooter.Shooter;
import frc4388.robot.subsystems.swerve.SwerveDrive;
import frc4388.robot.subsystems.vision.Vision;
import frc4388.utility.DeferredBlock;
@@ -39,6 +46,7 @@ import frc4388.utility.controller.DeadbandedXboxController;
// Autos
import frc4388.utility.controller.VirtualController;
import frc4388.utility.controller.XboxController;
import frc4388.utility.structs.LEDPatterns;
/**
* This class is where the bulk of the robot should be declared. Since
@@ -55,8 +63,8 @@ public class RobotContainer {
/* Subsystems */
public final LED m_robotLED = new LED();
public final Vision m_vision = new Vision(m_robotMap.rightCamera, m_robotMap.leftCamera);
// public final Elevator m_robotElevator = new Elevator(m_robotMap.elevatorIO, m_robotLED);
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
private Boolean operatorManualMode = false;
// public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain);
// public final LiDAR reefLidar = new LiDAR(m_robotMap.reefLidar, "Reef");
@@ -81,6 +89,10 @@ public class RobotContainer {
private SendableChooser<String> autoChooser;
private Command autoCommand;
private Command RobotShoot = new SequentialCommandGroup(
new InstantCommand(() -> m_robotLED.setMode(LEDPatterns.PARTY_TWINKLES), m_robotLED)
);
public RobotContainer() {
configureButtonBindings();
@@ -138,6 +150,8 @@ public class RobotContainer {
// new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
// .onTrue(new RotTo45(m_robotSwerveDrive));
new Trigger(() -> getDeadbandedDriverController().getRightTriggerAxis() >= 0.8 && !operatorManualMode)
.onTrue(RobotShoot);
new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> {m_robotSwerveDrive.softStop();}, m_robotSwerveDrive));
@@ -152,8 +166,11 @@ public class RobotContainer {
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.activateLuigiMode()));
new JoystickButton(getDeadbandedDriverController(), XboxController.BACK_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.deactivateLuigiMode()));
}
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.activateLuigiMode()));
}
//.onTrue(new InstantCommand(() -> m_robotLED.setMode(LEDPatterns.SOLID_PINK_HOT)));
/**
* Use this to pass the autonomous command to the main {@link Robot} class.