Team4388/2026KPopRobotHunters
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This commit is contained in:
mimigamin
2026-03-21 15:49:44 -06:00
parent 75cab187e2
commit d639b3076d
7 changed files with 234 additions and 13 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+28 -2
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@@ -39,6 +39,7 @@ import edu.wpi.first.wpilibj2.command.button.Trigger;
import frc4388.robot.commands.Swerve.StayInPosition;
import frc4388.robot.commands.alignment.AutoAlign;
import frc4388.robot.constants.Constants;
import frc4388.robot.constants.FieldConstants;
import frc4388.robot.constants.Constants.OIConstants;
import frc4388.robot.constants.Constants.SimConstants.Mode;
import frc4388.robot.subsystems.intake.Intake;
@@ -155,7 +156,7 @@ public class RobotContainer {
new InstantCommand(()-> m_robotShooter.allowShooting(), m_robotShooter),
new WaitCommand(5),
IntakeRetracted,
new WaitCommand(5),
new WaitCommand(10),
new InstantCommand(() -> m_robotShooter.denyShooting(), m_robotShooter),
new InstantCommand(()->m_robotShooter.spinUpIdle(), m_robotShooter)
);
@@ -185,7 +186,29 @@ public class RobotContainer {
// NamedCommands.registerCommand("Lidar Intake", LidarIntake);
NamedCommands.registerCommand("Intake Extended", IntakeExtended);
NamedCommands.registerCommand("Robot Shoot Driving", RobotShootDriving);
NamedCommands.registerCommand("WaitShooter", new WaitUntilCommand(m_robotShooter::isShooterUpToSpeed));
NamedCommands.registerCommand("AllowShooting", new InstantCommand(() -> m_robotShooter.allowShooting(), m_robotShooter));
NamedCommands.registerCommand("DenyShooting", new InstantCommand(() -> m_robotShooter.denyShooting(), m_robotShooter));
NamedCommands.registerCommand("SpinUpShooting", new InstantCommand(() -> m_robotShooter.spinUpShooting(), m_robotShooter));
NamedCommands.registerCommand("SpinUpIdle", new InstantCommand(() -> m_robotShooter.spinUpIdle(), m_robotShooter));
NamedCommands.registerCommand("BumpOffsetForward", new InstantCommand(() -> {
if (TimesNegativeOne.isRed) {
m_robotSwerveDrive.offsetOdoPosition(FieldConstants.BUMP_OFFSET_RED);
} else {
m_robotSwerveDrive.offsetOdoPosition(FieldConstants.BUMP_OFFSET_BLUE);
}
}));
NamedCommands.registerCommand("BumpOffsetReverse", new InstantCommand(() -> {
if (!TimesNegativeOne.isRed) {
m_robotSwerveDrive.offsetOdoPosition(FieldConstants.BUMP_OFFSET_RED);
} else {
m_robotSwerveDrive.offsetOdoPosition(FieldConstants.BUMP_OFFSET_BLUE);
}
}));
DriverStation.silenceJoystickConnectionWarning(true);
@@ -372,8 +395,11 @@ public class RobotContainer {
private void configureSINGLEBindings() {
//Driver controls
// new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.offsetOdoPosition(FieldConstants.BUMP_OFFSET_RED)));
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));