Team4388/2026KPopRobotHunters
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This commit is contained in:
Shikhar
2026-02-02 19:41:24 -07:00
parent dc33af165d
commit de0952c14a
5 changed files with 72 additions and 51 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+40 -21
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@@ -11,6 +11,7 @@ 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;
@@ -19,30 +20,23 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
// Commands
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.ConditionalCommand;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.WaitCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import edu.wpi.first.wpilibj2.command.button.Trigger;
import frc4388.robot.commands.MoveForTimeCommand;
import frc4388.robot.commands.MoveUntilSuply;
import frc4388.robot.constants.Constants;
import frc4388.robot.constants.Constants.AutoConstants;
import frc4388.robot.constants.Constants.OIConstants;
import frc4388.robot.constants.Constants.SimConstants.Mode;
import frc4388.robot.constants.FieldConstants;
// Subsystems
import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.shooter.Shooter;
import frc4388.robot.subsystems.swerve.SwerveDrive;
import frc4388.robot.subsystems.vision.Vision;
import frc4388.utility.DeferredBlock;
import frc4388.utility.compute.TimesNegativeOne;
import frc4388.utility.configurable.ConfigurableString;
import frc4388.utility.controller.DeadbandedXboxController;
// Autos
import frc4388.utility.controller.VirtualController;
@@ -65,7 +59,7 @@ public class RobotContainer {
public final LED m_robotLED = new LED();
//Testing of Colors
public final Vision m_vision = new Vision(m_robotMap.rightCamera, m_robotMap.leftCamera);
public final Vision m_vision = new Vision();
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
private Boolean operatorManualMode = false;
// public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain);
@@ -116,19 +110,10 @@ public class RobotContainer {
DriverStation.silenceJoystickConnectionWarning(true);
m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
// IF the driver is holding the aim button, aim the robot towards the hub
if(m_driverXbox.getRightTriggerAxis() > 0.5) {
// Aim
m_robotSwerveDrive.driveFacingPosition(
getDeadbandedDriverController().getLeft(),
FieldConstants.BLUE_HUB_POS);
} else {
// Drive normally
m_robotSwerveDrive.driveWithInput(
getDeadbandedDriverController().getLeft(),
getDeadbandedDriverController().getRight(),true);
}
// Drive normally
m_robotSwerveDrive.driveWithInput(
getDeadbandedDriverController().getLeft(),
getDeadbandedDriverController().getRight(),true);
}, m_robotSwerveDrive)
.withName("SwerveDrive DefaultCommand"));
@@ -170,12 +155,46 @@ public class RobotContainer {
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
new JoystickButton(getDeadbandedDriverController(), XboxController.START_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.activateLuigiMode()));
new JoystickButton(getDeadbandedDriverController(), XboxController.BACK_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.activateLuigiMode()));
// 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
new Trigger(() -> getDeadbandedDriverController().getLeftTriggerAxis() >= 0.5)
.whileTrue(new RunCommand(
() -> {
m_robotSwerveDrive.driveIntake(
getDeadbandedDriverController().getLeft()
);
}, m_robotSwerveDrive))
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive));
// D-PAD fine alignment
new Trigger(() -> getDeadbandedDriverController().getPOV() != -1)
.whileTrue(new RunCommand(
() -> m_robotSwerveDrive.driveFine(
new Translation2d(
1,
Rotation2d.fromDegrees(getDeadbandedDriverController().getPOV())
),
getDeadbandedDriverController().getRight(), 0.15
), m_robotSwerveDrive))
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive));
}
//.onTrue(new InstantCommand(() -> m_robotLED.setMode(LEDPatterns.SOLID_PINK_HOT)));