Team4388/2026KPopRobotHunters
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Merge branch 'shoot-button' into Leds_idk

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This commit is contained in:
Michael Mikovsky
2026-02-11 16:34:12 -07:00
committed by GitHub
parent 0cc2d423fe f2415195ce
commit de0876293b
35 changed files with 1597 additions and 370 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+42 -19
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@@ -9,19 +9,15 @@ package frc4388.robot;
import java.io.File;
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.DriverStation;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.RobotBase;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import frc4388.utility.DeferredBlock;
import frc4388.utility.compute.TimesNegativeOne;
import frc4388.utility.controller.ButtonBox;
import frc4388.utility.controller.DeadbandedXboxController;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import edu.wpi.first.wpilibj2.command.button.Trigger;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
// Commands
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
@@ -32,25 +28,28 @@ import frc4388.utility.controller.VirtualController;
import frc4388.utility.controller.XboxController;
import frc4388.utility.structs.LEDPatterns;
import frc4388.robot.commands.MoveForTimeCommand;
import frc4388.robot.commands.alignment.RotTo45;
import frc4388.robot.commands.MoveUntilSuply;
// import frc4388.robot.commands.alignment.DriveToReef;
// import frc4388.robot.commands.wait.waitElevatorRefrence;
// import frc4388.robot.commands.wait.waitEndefectorRefrence;
// import frc4388.robot.commands.wait.waitFeedCoral;
import frc4388.robot.commands.wait.waitSupplier;
import frc4388.robot.constants.Constants;
import frc4388.robot.constants.Constants.AutoConstants;
import frc4388.robot.constants.Constants.LEDConstants;
import frc4388.robot.constants.Constants.OIConstants;
import frc4388.robot.constants.Constants.SimConstants.Mode;
import com.pathplanner.lib.commands.PathPlannerAuto;
import frc4388.robot.constants.FieldConstants;
// Subsystems
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;
import frc4388.utility.compute.FieldPositions;
import frc4388.utility.compute.TimesNegativeOne;
import frc4388.utility.controller.DeadbandedXboxController;
// Autos
import frc4388.utility.controller.VirtualController;
import frc4388.utility.controller.XboxController;
import frc4388.utility.structs.LEDPatterns;
/**
* This class is where the bulk of the robot should be declared. Since
@@ -93,6 +92,22 @@ public class RobotContainer {
private SendableChooser<String> autoChooser;
private Command autoCommand;
// private Command RobotShoot = new SequentialCommandGroup(
// new InstantCommand(() -> System.out.println(m_robotLED.getMode())),
// new InstantCommand(() -> m_robotLED.setMode(LEDPatterns.PARTY_TWINKLES), m_robotLED),
// new InstantCommand(() -> System.out.println(m_robotLED.getMode())),
// new WaitCommand(5),
// new InstantCommand(() -> m_robotLED.setMode(LEDPatterns.SOLID_RED), m_robotLED),
// new InstantCommand(() -> System.out.println(m_robotLED.getMode()))
// );
// private Command RobotShoot = new SequentialCommandGroup(
// new InstantCommand(() -> m_robotShooter.setMode(Shooter.ShooterMode.Active), m_robotShooter)
// );
// private Command RobotIntake = new SequentialCommandGroup(
// new InstantCommand(() -> m_robotIntake.setMode(Intake.IntakeMode.Down), m_robotIntake)
// );
public RobotContainer() {
@@ -103,6 +118,7 @@ public class RobotContainer {
// }, false);
DeferredBlock.addBlock(() -> { // Called on every robot enable
TimesNegativeOne.update();
FieldPositions.update();
}, true);
@@ -160,6 +176,13 @@ public class RobotContainer {
new JoystickButton(getDeadbandedDriverController(), XboxController.BACK_BUTTON)
.onTrue(new InstantCommand(() -> m_robotLED.setTo5V()));
// new Trigger(() -> getDeadbandedDriverController().getRightTriggerAxis() >= 0.8 && !operatorManualMode)
// .onTrue(RobotShoot)
// .onFalse(new InstantCommand(() -> m_robotShooter.setMode(Shooter.ShooterMode.Resting), m_robotShooter));
// new Trigger(() -> getDeadbandedDriverController().getLeftTriggerAxis() >= 0.8 && !operatorManualMode)
// .onTrue(RobotIntake)
// .onFalse(new InstantCommand(() -> m_robotIntake.setMode(Intake.IntakeMode.Up), m_robotShooter));
// new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
// .onTrue(new InstantCommand(() -> {m_robotSwerveDrive.softStop();}, m_robotSwerveDrive));
@@ -212,7 +235,7 @@ public class RobotContainer {
dir = new File("/home/lvuser/deploy/pathplanner/autos/");
} else {
// dir = new File("C:\\Users\\Ridgebotics\\Documents\\GitHub\\2025RidgeScape\\src\\main\\deploy\\pathplanner\\autos\\");
dir = new File("/home/astatin3/Documents/GitHub/2025RidgeScape/src/main/deploy/pathplanner/autos");
dir = new File("C:\\Users\\Ridgebotics\\Documents\\GitHub\\2026KPopRobotHunters\\src\\main\\deploy\\pathplanner\\autos\\");
}
String[] autos = dir.list();
@@ -238,7 +261,7 @@ public class RobotContainer {
// }
// System.out.println("Robot Auto Changed " + filename);
});
// SmartDashboard.putData(autoChooser);
SmartDashboard.putData(autoChooser);
}