Team4388/2026KPopRobotHunters
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Limit Switch

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This commit is contained in:
Michael Mikovsky
2026-02-14 10:55:51 -08:00
parent 0425cdd0a1
commit 8381ac4607
8 changed files with 89 additions and 66 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+17 -10
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@@ -13,6 +13,7 @@ import com.pathplanner.lib.commands.PathPlannerAuto;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.RobotBase;
@@ -34,6 +35,7 @@ import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.intake.Intake;
import frc4388.robot.subsystems.intake.Intake.IntakeMode;
import frc4388.robot.subsystems.shooter.Shooter;
import frc4388.robot.subsystems.shooter.Shooter.ShooterMode;
import frc4388.robot.subsystems.swerve.SwerveDrive;
import frc4388.robot.subsystems.vision.Vision;
import frc4388.utility.DeferredBlock;
@@ -56,18 +58,23 @@ public class RobotContainer {
public final RobotMap m_robotMap = new RobotMap(Mode.REAL);
/*Limit Switch */
public final DigitalInput m_armLimitSwitch = new DigitalInput(9);
/* Subsystems */
public final LED m_robotLED = new LED(Constants.LEDConstants.LED_SPARK_ID);
//Testing of Colors
public final Vision m_vision = new Vision();
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_armLimitSwitch);
public final Shooter m_robotShooter = new Shooter(m_robotMap.shooterIO, m_robotSwerveDrive, m_robotIntake, m_robotLED);
/* Controllers */
private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
// private final ButtonBox m_buttonBox = new ButtonBox(OIConstants.BUTTONBOX_ID);
// public List<Subsystem> subsystems = new ArrayList<>();
@@ -146,8 +153,8 @@ public class RobotContainer {
private void configureButtonBindings() {
// new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
// new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
@@ -209,25 +216,25 @@ public class RobotContainer {
.onFalse(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Retracted);
m_robotSwerveDrive.softStop();
}, m_robotSwerveDrive));
}));
// IF the driver is holding the aim button, aim the robot towards the hub and shooter ready
new Trigger(() -> getDeadbandedDriverController().getRightTriggerAxis() >= 0.5)
.whileTrue(new RunCommand(
() -> {
m_robotSwerveDrive.driveFacingPosition(
getDeadbandedDriverController().getLeft(),
FieldPositions.HUB_POSITION);
// m_robotSwerveDrive.driveFacingPosition(
// getDeadbandedDriverController().getLeft(),
// FieldPositions.HUB_POSITION);
}, m_robotSwerveDrive)
)
.onTrue(new InstantCommand(() -> {
// When Right trigger is pressed,
m_robotIntake.setMode(IntakeMode.Extended);
m_robotShooter.setShooterReady();
}))
.onFalse(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Retracted);
m_robotSwerveDrive.softStop();
}, m_robotSwerveDrive));
m_robotShooter.setShooterNotReady();
}));
// D-PAD fine alignment