Team4388/2026KPopRobotHunters
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Implement field positions, tolerance, LED states

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This commit is contained in:
Michael Mikovsky
2026-02-11 15:18:12 -07:00
parent 983b95fdc7
commit f2415195ce
7 changed files with 125 additions and 59 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+11 -7
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@@ -40,6 +40,7 @@ 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
@@ -112,24 +113,29 @@ public class RobotContainer {
configureButtonBindings();
DeferredBlock.addBlock(() -> { // Called on first robot enable
// Called on first robot enable
DeferredBlock.addBlock(() -> {
m_robotSwerveDrive.resetGyro();
}, false);
DeferredBlock.addBlock(() -> { // Called on every robot enable
// Called on every robot enable
DeferredBlock.addBlock(() -> {
TimesNegativeOne.update();
FieldPositions.update();
}, true);
DriverStation.silenceJoystickConnectionWarning(true);
// Drive normally
m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
// Drive normally
m_robotSwerveDrive.driveWithInput(
getDeadbandedDriverController().getLeft(),
getDeadbandedDriverController().getRight(),true);
}, m_robotSwerveDrive)
.withName("SwerveDrive DefaultCommand"));
m_robotSwerveDrive.setToSlow();
makeAutoChooser();
@@ -196,6 +202,7 @@ public class RobotContainer {
m_robotShooter.io.updateGains();
}));
// IF the driver is holding the left trigger, intake driving
new Trigger(() -> getDeadbandedDriverController().getLeftTriggerAxis() >= 0.5)
.whileTrue(new RunCommand(
@@ -205,9 +212,6 @@ public class RobotContainer {
false
);
}, m_robotSwerveDrive))
// .onFalse(new InstantCommand(() -> , m_robotSwerveDrive));
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Extended);
}))
@@ -222,7 +226,7 @@ public class RobotContainer {
() -> {
m_robotSwerveDrive.driveFacingPosition(
getDeadbandedDriverController().getLeft(),
FieldConstants.BLUE_HUB_POS);
FieldPositions.HUB_POSITION);
}, m_robotSwerveDrive)
)
.onTrue(new InstantCommand(() -> {