Team4388/2026KPopRobotHunters
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This commit is contained in:
Michael Mikovsky
2026-02-23 17:50:20 -08:00
parent ff0cff819c
commit bd91fc5141
6 changed files with 804 additions and 7 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+16 -1
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@@ -35,6 +35,7 @@ import frc4388.robot.constants.Constants.OIConstants;
import frc4388.robot.constants.Constants.SimConstants.Mode;
// Subsystems
import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.Lidar;
import frc4388.robot.subsystems.intake.Intake;
import frc4388.robot.subsystems.intake.Intake.IntakeMode;
import frc4388.robot.subsystems.shooter.Shooter;
@@ -65,6 +66,7 @@ public class RobotContainer {
// public final DigitalInput m_armLimitSwitch = new DigitalInput(9);
/* Subsystems */
public final Lidar m_lidar = new Lidar();
public final LED m_robotLED = new LED(Constants.LEDConstants.LED_SPARK_ID);
//Testing of Colors
public final Vision m_vision = new Vision(m_robotMap.rightCamera, m_robotMap.leftCamera);
@@ -97,7 +99,19 @@ public class RobotContainer {
private Command RobotIntakeDown = new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Extended))
);
private Command LidarIntake = new SequentialCommandGroup(
new RunCommand(
() -> m_robotSwerveDrive.driveWithInputRotation(
m_lidar.getClosestBall(),
m_lidar.getLatestBallAngle()
),
m_robotSwerveDrive
)
.withTimeout(10.0)
.andThen(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive))
);
private Command RobotShoot = new SequentialCommandGroup(
new InstantCommand(() -> m_robotShooter.setShooterReady()),
new InstantCommand(()->m_robotIntake.setMode(IntakeMode.Idle)),
@@ -143,6 +157,7 @@ public class RobotContainer {
}, true);
NamedCommands.registerCommand("Robot Shoot", RobotShoot);
NamedCommands.registerCommand("Lidar Intake", LidarIntake);
NamedCommands.registerCommand("Robot Intake Down", RobotIntakeDown);