Team4388/2026KPopRobotHunters
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This commit is contained in:
Shikhar
2026-02-21 15:55:29 -07:00
parent 4907e0c8a0
commit 77ca57d678
7 changed files with 143 additions and 8 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+19
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@@ -9,6 +9,7 @@ package frc4388.robot;
import java.io.File;
import com.pathplanner.lib.auto.NamedCommands;
import com.pathplanner.lib.commands.PathPlannerAuto;
import com.pathplanner.lib.trajectory.PathPlannerTrajectory;
@@ -25,6 +26,7 @@ import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
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;
@@ -91,6 +93,20 @@ public class RobotContainer {
private SendableChooser<String> autoChooser;
private Command autoCommand;
private Command RobotIntakeDown = new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Extended))
);
private Command RobotShoot = new SequentialCommandGroup(
new InstantCommand(() -> m_robotShooter.setShooterReady()),
new InstantCommand(()->m_robotIntake.setMode(IntakeMode.Idle)),
new WaitCommand(5),
new InstantCommand(()->m_robotShooter.setShooterShoot()),
new WaitCommand(10),
new InstantCommand(()->m_robotShooter.setShooterNOTShoot())
);
// private Command RobotShoot = new SequentialCommandGroup(
// new InstantCommand(() -> System.out.println(m_robotLED.getMode())),
// new InstantCommand(() -> m_robotLED.setMode(LEDPatterns.PARTY_TWINKLES), m_robotLED),
@@ -126,6 +142,9 @@ public class RobotContainer {
m_robotShooter.io.updateGains();
}, true);
NamedCommands.registerCommand("Robot Shoot", RobotShoot);
NamedCommands.registerCommand("Robot Intake Down", RobotIntakeDown);
DriverStation.silenceJoystickConnectionWarning(true);