Team4388/2026KPopRobotHunters
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Disable LiDAR, it uses resources that aren't needed.

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This commit is contained in:
Michael Mikovsky
2026-02-26 15:21:14 -07:00
parent 9f87c0a925
commit 73b7160205
1 changed files with 19 additions and 19 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+19 -19
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@@ -65,7 +65,7 @@ public class RobotContainer {
// public final DigitalInput m_armLimitSwitch = new DigitalInput(9); // public final DigitalInput m_armLimitSwitch = new DigitalInput(9);
/* Subsystems */ /* Subsystems */
public final Lidar m_lidar = new Lidar(); // public final Lidar m_lidar = new Lidar();
public final LED m_robotLED = new LED(Constants.LEDConstants.LED_SPARK_ID); public final LED m_robotLED = new LED(Constants.LEDConstants.LED_SPARK_ID);
//Testing of Colors //Testing of Colors
public final Vision m_vision = new Vision(m_robotMap.rightCamera, m_robotMap.leftCamera); public final Vision m_vision = new Vision(m_robotMap.rightCamera, m_robotMap.leftCamera);
@@ -99,24 +99,24 @@ public class RobotContainer {
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Extended), m_robotIntake) new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Extended), m_robotIntake)
); );
private Command LidarIntake = new SequentialCommandGroup( // private Command LidarIntake = new SequentialCommandGroup(
// Right now this will just go to the closest ball constantly updating - need to make it so it locks on one ball // // Right now this will just go to the closest ball constantly updating - need to make it so it locks on one ball
// RobotIntakeDown, // // RobotIntakeDown,
// new WaitCommand(1), // // new WaitCommand(1),
// new InstantCommand(() -> System.out.println("Closest Ball: " + m_lidar.getClosestBall())), // // new InstantCommand(() -> System.out.println("Closest Ball: " + m_lidar.getClosestBall())),
new AutoAlign(m_robotSwerveDrive, m_vision, m_lidar, true) // new AutoAlign(m_robotSwerveDrive, m_vision, m_lidar, true)
// new RunCommand( // // new RunCommand(
// () -> m_robotSwerveDrive.driveWithInput( // // () -> m_robotSwerveDrive.driveWithInput(
// m_lidar.getClosestBall(), // // m_lidar.getClosestBall(),
// new Translation2d(m_lidar.getLatestBallAngle().getCos() * 0.1, 0), // // new Translation2d(m_lidar.getLatestBallAngle().getCos() * 0.1, 0),
// false // // false
// ), // // ),
// m_robotSwerveDrive // // m_robotSwerveDrive
// ) // // )
// .withTimeout(5.0) // // .withTimeout(5.0)
// .andThen(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive)) // // .andThen(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive))
); // );
private Command RobotReadyToShoot = new SequentialCommandGroup( private Command RobotReadyToShoot = new SequentialCommandGroup(
new InstantCommand(()-> m_robotIntake.setMode(IntakeMode.Idle), m_robotIntake), new InstantCommand(()-> m_robotIntake.setMode(IntakeMode.Idle), m_robotIntake),
@@ -161,7 +161,7 @@ public class RobotContainer {
NamedCommands.registerCommand("Robot Rev Up", RobotReadyToShoot); NamedCommands.registerCommand("Robot Rev Up", RobotReadyToShoot);
NamedCommands.registerCommand("Intake Retracted", IntakeRetracted); NamedCommands.registerCommand("Intake Retracted", IntakeRetracted);
NamedCommands.registerCommand("Robot Shoot", RobotShoot); NamedCommands.registerCommand("Robot Shoot", RobotShoot);
NamedCommands.registerCommand("Lidar Intake", LidarIntake); // NamedCommands.registerCommand("Lidar Intake", LidarIntake);
NamedCommands.registerCommand("Robot Intake Down", RobotIntakeDown); NamedCommands.registerCommand("Robot Intake Down", RobotIntakeDown);