Team4388/2026KPopRobotHunters
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Tweaked shooter offset model and new progress with X position
This commit is contained in:
mimigamin
2026-03-14 18:29:15 -06:00
parent 07ec609b01
commit ebab028818
11 changed files with 87 additions and 35 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+17 -8
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@@ -231,18 +231,27 @@ public class RobotContainer {
m_robotSwerveDrive.shiftDownRot();
}));
//TEST - > Swerve drive pid on position
//TEST - > Defense: X position on wheels and swerve drive pid on position
new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> {
currentPose = m_robotSwerveDrive.getCurrentPose();
}))
.whileTrue(new RunCommand(() -> {
m_stayInPosition.goToTargetPose(currentPose);
.whileTrue(new RunCommand(() -> {
m_robotSwerveDrive.defenseXPosition();
}, m_robotSwerveDrive))
.onFalse(new InstantCommand(() -> {
m_robotSwerveDrive.softStop();
.onFalse(new InstantCommand(() -> {
m_robotSwerveDrive.stopDefenseXPosition();
// .onTrue(new InstantCommand(() -> {
// currentPose = m_robotSwerveDrive.getCurrentPose();
// }))
// .whileTrue(new RunCommand(() -> {
// m_stayInPosition.goToTargetPose(currentPose);
// }, m_robotSwerveDrive))
// .onFalse(new InstantCommand(() -> {
// m_robotSwerveDrive.softStop();
// }));
}));
// 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(