Team4388/2026KPopRobotHunters
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This commit is contained in:
Michael Mikovsky
2026-02-10 18:42:47 -08:00
parent 539c1bd8eb
commit 983b95fdc7
6 changed files with 118 additions and 103 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+39 -22
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@@ -65,7 +65,7 @@ public class RobotContainer {
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 Shooter m_robotShooter = new Shooter(m_robotMap.shooterIO);
public final Shooter m_robotShooter = new Shooter(m_robotMap.shooterIO, m_robotSwerveDrive, m_robotIntake, m_robotLED);
private Boolean operatorManualMode = false;
// public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain);
@@ -175,15 +175,15 @@ public class RobotContainer {
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> {m_robotShooter.setMode(ShooterMode.Active);}, m_robotShooter));
new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> {m_robotShooter.setMode(ShooterMode.Inactive);}, m_robotShooter));
// new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
// .onTrue(new InstantCommand(() -> {m_robotShooter.setMode(ShooterMode.Active);}, m_robotShooter));
// new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
// .onTrue(new InstantCommand(() -> {m_robotShooter.setMode(ShooterMode.Inactive);}, m_robotShooter));
new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> {m_robotIntake.setMode(IntakeMode.Extended);}, m_robotIntake));
new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> {m_robotIntake.setMode(IntakeMode.Retracted);}, m_robotIntake));
// new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
// .onTrue(new InstantCommand(() -> {;}, m_robotIntake));
// new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
// .onTrue(new InstantCommand(() -> {m_robotIntake.setMode(IntakeMode.Retracted);}, m_robotIntake));
@@ -196,18 +196,7 @@ public class RobotContainer {
m_robotShooter.io.updateGains();
}));
// IF the driver is holding the aim button, aim the robot towards the hub
new Trigger(() -> getDeadbandedDriverController().getRightTriggerAxis() >= 0.5)
.whileTrue(new RunCommand(
() -> {
m_robotSwerveDrive.driveFacingPosition(
getDeadbandedDriverController().getLeft(),
FieldConstants.BLUE_HUB_POS);
}, m_robotSwerveDrive))
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive));
// IF the driver is holding the aim button, aim the robot towards the hub
// IF the driver is holding the left trigger, intake driving
new Trigger(() -> getDeadbandedDriverController().getLeftTriggerAxis() >= 0.5)
.whileTrue(new RunCommand(
() -> {
@@ -216,7 +205,35 @@ public class RobotContainer {
false
);
}, m_robotSwerveDrive))
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive));
// .onFalse(new InstantCommand(() -> , m_robotSwerveDrive));
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Extended);
}))
.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(),
FieldConstants.BLUE_HUB_POS);
}, m_robotSwerveDrive)
)
.onTrue(new InstantCommand(() -> {
// When Right trigger is pressed,
m_robotIntake.setMode(IntakeMode.Extended);
}))
.onFalse(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Retracted);
m_robotSwerveDrive.softStop();
}, m_robotSwerveDrive));
// D-PAD fine alignment
new Trigger(() -> getDeadbandedDriverController().getPOV() != -1)