Team4388/2026KPopRobotHunters
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- shooting while moving corrected (vertical movements)
- reverse indexer before shooting
- defensive positions fixed values
- stalling motors led fixed (except shooter)
This commit is contained in:
mimigamin
2026-03-20 15:40:07 -06:00
parent 4ffbe3f595
commit 69677d5ae9
7 changed files with 268 additions and 132 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+115 -6
View File
@@ -125,7 +125,7 @@ public class RobotContainer {
// );
private Command RobotRev = new SequentialCommandGroup(
new InstantCommand(() -> m_robotShooter.spinUpShooting(m_robotSwerveDrive.chassisXSpeeds()), m_robotShooter),
new InstantCommand(() -> m_robotShooter.spinUpShooting(), m_robotShooter),
IntakeExtended,
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.RollerStop), m_robotIntake)
);
@@ -149,7 +149,7 @@ public class RobotContainer {
public RobotContainer() {
configureButtonBindings();
configureSINGLEBindings();
// Called on first robot enable
DeferredBlock.addBlock(() -> {
@@ -313,7 +313,7 @@ public class RobotContainer {
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Idle);
m_robotIntake.rollerStop();
m_robotShooter.spinUpShooting(m_robotSwerveDrive.chassisXSpeeds());
m_robotShooter.spinUpShooting();
}))
.onFalse(new InstantCommand(() -> {
m_robotShooter.spinUpIdle();
@@ -350,16 +350,125 @@ public class RobotContainer {
// m_robotClimber.toggleDeployed();
// }));
new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
}
private void configureSINGLEBindings() {
//Driver controls
new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
// TEST-> the driver is holding the left trigger, drive slow and rotation up
// new Trigger(() -> getDeadbandedDriverController().getLeftTriggerAxis() >= 0.5)
// .onTrue(new InstantCommand(() -> {
// m_robotSwerveDrive.setToSlow();
// m_robotSwerveDrive.shiftUpRot();
// }))
// .onFalse(new InstantCommand(() -> {
// m_robotSwerveDrive.setToFast();
// m_robotSwerveDrive.shiftDownRot();
// }));
//TEST - > X positino on wheels
new JoystickButton(getDeadbandedDriverController(), XboxController.BACK_BUTTON)
.whileTrue(new RunCommand(() -> {
m_robotSwerveDrive.defenseXPosition();
}, m_robotSwerveDrive))
.onFalse(new InstantCommand(() -> {
m_robotSwerveDrive.stopDefenseXPosition();
}));
//TEST - > PID positinon
new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> {
m_robotShooter.indexerStalled();
currentPose = m_robotSwerveDrive.getCurrentPose();
}))
.whileTrue(new RunCommand(() -> {
m_stayInPosition.goToTargetPose(currentPose);
}, m_robotSwerveDrive))
.onFalse(new InstantCommand(() -> {
m_robotSwerveDrive.softStop();
}));
// IF the driver is holding the aim button, aim the robot towards the hub and shooter ready
new Trigger(() -> getDeadbandedDriverController().getLeftTriggerAxis() >= 0.5)
.onTrue(new InstantCommand(() -> {
m_robotSwerveDrive.setToSlow();
}))
.whileTrue(new RunCommand(() -> {
m_robotSwerveDrive.driveFacingPosition(
getDeadbandedDriverController().getLeft(),
FieldPositions.HUB_POSITION,
ShooterConstants.AIM_LEAD_TIME.get()
);
}, m_robotSwerveDrive)
);
// D-PAD fine alignment
new Trigger(() -> getDeadbandedDriverController().getPOV() != -1)
.whileTrue(new RunCommand(
() -> m_robotSwerveDrive.driveFine(
new Translation2d(
1,
Rotation2d.fromDegrees(getDeadbandedDriverController().getPOV())
),
getDeadbandedDriverController().getRight(), 0.15
), m_robotSwerveDrive))
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive));
//allow shooting with right trigger
new Trigger(() -> getDeadbandedDriverController().getRightTriggerAxis() >= 0.5)
.onTrue(new InstantCommand(() -> {
m_robotShooter.allowShooting();
})).onFalse(new InstantCommand(() -> {
m_robotShooter.denyShooting();
}));
//set shooter ready (rev) with left trigger hold
new Trigger(() -> getDeadbandedDriverController().getLeftTriggerAxis() >= 0.5)
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Idle);
m_robotIntake.rollerStop();
m_robotShooter.spinUpShooting();
}))
.onFalse(new InstantCommand(() -> {
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.Y_BUTTON)
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Retracting);
}))
.onFalse(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Idle);
}));
}
//.onTrue(new InstantCommand(() -> m_robotLED.setMode(LEDPatterns.SOLID_PINK_HOT)));