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

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This commit is contained in:
Michael Mikovsky
2026-04-04 11:16:38 -06:00
committed by GitHub
parent d40cf208e8 0a2559bb4b
commit 6d55c96f6a
38 changed files with 2003 additions and 40 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+29 -16
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@@ -81,7 +81,7 @@ public class RobotContainer {
//Testing of Colors
public final Vision m_vision = new Vision(m_robotMap.rightCamera, m_robotMap.leftCamera);
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
public final Intake m_robotIntake = new Intake(m_robotMap.intakeIO);
public final Intake m_robotIntake = new Intake(m_robotMap.intakeIO, m_robotSwerveDrive);
public final Shooter m_robotShooter = new Shooter(m_robotMap.shooterIO, m_robotSwerveDrive, m_robotIntake, m_robotLED);
@@ -109,7 +109,7 @@ public class RobotContainer {
private Command IntakeExtended = new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.ExtendedREMOVEME), m_robotIntake)
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.ExtendingRolling), m_robotIntake)
);
// private Command LidarIntake = new SequentialCommandGroup(
@@ -146,7 +146,7 @@ public class RobotContainer {
);
private Command IntakeRetracted = new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.RetractedREMOVEME), m_robotIntake)
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.RectractTorque), m_robotIntake)
);
private Command RobotShoot = new SequentialCommandGroup(
@@ -195,17 +195,17 @@ public class RobotContainer {
NamedCommands.registerCommand("BumpOffsetForward", new InstantCommand(() -> {
if (TimesNegativeOne.isRed) {
m_robotSwerveDrive.offsetOdoPosition(FieldConstants.BUMP_OFFSET_RED);
m_robotSwerveDrive.offsetOdoPosition(FieldConstants.BUMP_OFFSET_RED_FRONT);
} else {
m_robotSwerveDrive.offsetOdoPosition(FieldConstants.BUMP_OFFSET_BLUE);
m_robotSwerveDrive.offsetOdoPosition(FieldConstants.BUMP_OFFSET_BLUE_FRONT);
}
}));
NamedCommands.registerCommand("BumpOffsetReverse", new InstantCommand(() -> {
if (!TimesNegativeOne.isRed) {
m_robotSwerveDrive.offsetOdoPosition(FieldConstants.BUMP_OFFSET_RED);
NamedCommands.registerCommand("BumpOffsetBackward", new InstantCommand(() -> {
if (TimesNegativeOne.isRed) {
m_robotSwerveDrive.offsetOdoPosition(FieldConstants.BUMP_OFFSET_RED_BACK);
} else {
m_robotSwerveDrive.offsetOdoPosition(FieldConstants.BUMP_OFFSET_BLUE);
m_robotSwerveDrive.offsetOdoPosition(FieldConstants.BUMP_OFFSET_BLUE_BACK);
}
}));
@@ -304,8 +304,8 @@ public class RobotContainer {
FieldPositions.HUB_POSITION,
ShooterConstants.AIM_LEAD_TIME.get()
);
}, m_robotSwerveDrive)
);
}, m_robotSwerveDrive))
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive));
// D-PAD fine alignment
new Trigger(() -> getDeadbandedDriverController().getPOV() != -1)
@@ -423,6 +423,18 @@ public class RobotContainer {
// m_robotIntake.setMode(IntakeMode.Idle);
// }));
// new JoystickButton(getDeadbandedOperatorController(), XboxController.START_BUTTON)
// .whileTrue(
// new PathPlannerAuto("Right_AutoClimb")
// )
// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive));
// new JoystickButton(getDeadbandedOperatorController(), XboxController.BACK_BUTTON)
// .whileTrue(
// new PathPlannerAuto("Left_AutoClimb")
// )
// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive));
// new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
// .onTrue(new InstantCommand(() -> {
// m_robotClimber.toggleDeployed();
@@ -435,11 +447,11 @@ public class RobotContainer {
private void configureSINGLEBindings() {
//Driver controls
// new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.offsetOdoPosition(FieldConstants.BUMP_OFFSET_RED)));
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
// new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.offsetOdoPosition(FieldConstants.BUMP_OFFSET_RED)));
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
@@ -596,7 +608,8 @@ public class RobotContainer {
for (String auto : autos) {
if (auto.endsWith(".auto"))
autoChooser.addOption(auto.replaceAll(".auto", ""), auto.replaceAll(".auto", ""));
if (auto.startsWith("X. "))
autoChooser.addOption(auto.replaceAll(".auto", ""), auto.replaceAll(".auto", ""));
// System.out.println(auto);
}