mirror of
https://github.com/Team4388/RiseOfRidgebotics2020.git
synced 2026-06-09 08:48:01 -06:00
some changes for kid mode
This commit is contained in:
aarav18
@@ -165,7 +165,7 @@ public class RobotContainer {
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public void setControls(Mode mode) {
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switch (mode) {
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case COMPETITIVE:
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System.out.println("COMP CONTROLS");
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System.out.println("COMP CONTROLS");
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/* Passing Drive and Pneumatics Subsystems */
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m_robotPneumatics.passRequiredSubsystem(m_robotDrive);
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m_robotDrive.passRequiredSubsystem(m_robotPneumatics, m_robotShooter);
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@@ -206,7 +206,38 @@ public class RobotContainer {
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m_robotLime.setDefaultCommand(new RunCommand(() -> m_robotLime.limeOff(), m_robotLime));
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break;
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case CASUAL:
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System.out.println("CAS CONTROLS");
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System.out.println("CASUAL CONTROLS");
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/* Passing Casual Mode Subsystems */
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m_robotPneumatics.passRequiredSubsystem(m_robotDrive);
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m_robotDrive.passRequiredSubsystem(m_robotPneumatics, m_robotShooter);
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m_robotShooter.passRequiredSubsystem(m_robotShooterHood, m_robotShooterAim);
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m_robotShooterHood.passRequiredSubsystem(m_robotShooter);
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m_robotShooterAim.passRequiredSubsystem(m_robotShooter, m_robotDrive);
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m_robotLeveler.passRequiredSubsystem(m_robotClimber);
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configureButtonBindingsCasual();
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/* Default Commands */
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// drives the robot with a two-axis input from the driver controller
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m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, m_robotPneumatics, getDriverController()));
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//m_robotDrive.setDefaultCommand(new DriveWithJoystickUsingDeadAssistPID(m_robotDrive, m_robotPneumatics, getDriverController()));
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// drives intake with input from triggers on the opperator controller
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m_robotIntake.setDefaultCommand(new RunIntakeWithTriggers(m_robotIntake, getOperatorController()));
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// runs the turret with joystick
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m_robotShooterAim.setDefaultCommand(new RunCommand(() -> m_robotShooterAim.runShooterWithInput(-m_operatorXbox.getLeftXAxis()), m_robotShooterAim));
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// runs the hood with joystick
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m_robotShooterHood.setDefaultCommand(new RunHoodWithJoystick(m_robotShooterHood, getOperatorController()));
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// moves the drum not
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m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(0), m_robotShooter));
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// continually sends updates to the Blinkin LED controller to keep the lights on
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m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
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// runs the storage not
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m_robotStorage.setDefaultCommand(new ManageStorage(m_robotStorage));
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m_robotLime.setDefaultCommand(new RunCommand(() -> m_robotLime.limeOff(), m_robotLime));
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break;
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}
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}
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@@ -254,9 +285,6 @@ public class RobotContainer {
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new JoystickButton(getDriverJoystick(), XboxController.BACK_BUTTON)
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.whileHeld(new DisengageRachet(m_robotClimber));
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/* Operator Buttons */
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// shoots until released
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new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
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@@ -324,7 +352,141 @@ public class RobotContainer {
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/* Button Fox */
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/* Button Box */
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// Storage Manual
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new JoystickButton(getButtonFox(), ButtonFox.LEFT_SWITCH)
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.whenPressed(new InstantCommand(() -> m_robotStorage.changeStorageMode(StorageMode.MANUAL)))
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.whenReleased(new InstantCommand(() -> m_robotStorage.changeStorageMode(StorageMode.RESET)));
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// Meg
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new JoystickButton(getButtonFox(), ButtonFox.MIDDLE_SWITCH)
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.whileHeld(new PlaySongDrive(m_robotDrive, m_robotShooter))
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.whenReleased(new InterruptSubystem(m_robotDrive));
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// Shooter Manual
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new JoystickButton(getButtonFox(), ButtonFox.RIGHT_SWITCH)
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.whileHeld(new ShooterManual(true))
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.whenReleased(new ShooterManual(false));
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// Goal Shooter Position
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new JoystickButton(getButtonFox(), ButtonFox.RIGHT_BUTTON)
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.whileHeld(new PlaySongDrive(m_robotDrive, m_robotShooter))
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.whenReleased(new InterruptSubystem(m_robotDrive));
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// Trench Shooter Position
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new JoystickButton(getButtonFox(), ButtonFox.LEFT_BUTTON)
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.whileHeld(new ShooterTrenchPosition(m_robotShooter, m_robotShooterHood, m_robotShooterAim))
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.whenReleased(new InterruptSubystem(m_robotShooter))
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.whenReleased(new InterruptSubystem(m_robotShooterHood))
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.whenReleased(new InterruptSubystem(m_robotShooterAim));
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//.whenPressed(new SkipSong(m_robotDrive, 1));
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}
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private void configureButtonBindingsCasual() {
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/* Test Buttons */
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// A driver test button
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new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
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.whileHeld(new ShooterTrenchPosition(m_robotShooter, m_robotShooterHood, m_robotShooterAim))
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.whenReleased(new InterruptSubystem(m_robotShooter))
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.whenReleased(new InterruptSubystem(m_robotShooterHood));
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// B driver test button
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new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
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.whileHeld(new RunCommand(() -> m_robotDrive.runDriveVelocityPID(2000, 45), m_robotDrive));
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// Y driver test button
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new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
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.whenPressed(new InstantCommand(() -> m_robotDrive.runTurningPID(1000), m_robotDrive));
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// X driver test button
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new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
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.whenPressed(new InstantCommand());
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new JoystickButton(getDriverJoystick(), XboxController.START_BUTTON)
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.whenPressed(new InstantCommand(Mode::toggle));
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/* Driver Buttons */
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// sets solenoids into high gear
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new JoystickButton(getDriverJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
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.whenPressed(new InstantCommand(() -> m_robotPneumatics.setShiftState(true), m_robotDrive));
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// sets solenoids into low gear
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new JoystickButton(getDriverJoystick(), XboxController.LEFT_BUMPER_BUTTON)
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.whenPressed(new InstantCommand(() -> m_robotPneumatics.setShiftState(false), m_robotDrive));
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// Disengages the rachet to allow for a climb
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new JoystickButton(getDriverJoystick(), XboxController.BACK_BUTTON)
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.whileHeld(new DisengageRachet(m_robotClimber));
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/* Operator Buttons */
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// shoots until released
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new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
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//.whileHeld(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false);
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//.whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET));
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//.whenReleased(new RunCommand(() -> m_robotLime.limeOff()));
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.whenPressed(new RunCommand(() -> m_robotStorage.runStorage(-1), m_robotStorage))
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.whenReleased(new InterruptSubystem(m_robotStorage));
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// shoots one ball
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new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON)
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//.whenPressed(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false);
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//.whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET));
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//.whenReleased(new RunCommand(() -> m_robotLime.limeOff()));
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.whenPressed(new RunCommand(() -> m_robotStorage.runStorage(1.0), m_robotStorage))
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.whenReleased(new InterruptSubystem(m_robotStorage));
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// extends or retracts the extender
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new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
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.whileHeld(new RunCommand(() -> m_robotIntake.runExtender(0.5)))
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.whenReleased(new InstantCommand(() -> m_robotIntake.runExtender(0)));
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//.whileHeld(new RunCommand(() -> m_robotShooterHood.runHood(0.2), m_robotShooterHood));
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new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON)
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.whileHeld(new RunCommand(() -> m_robotIntake.runExtender(-0.5)))
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.whenReleased(new InstantCommand(() -> m_robotIntake.runExtender(0)));
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//.whileHeld(new RunCommand(() -> m_robotShooterHood.runHood(-0.2), m_robotShooterHood));
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// safety for climber and leveler
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new JoystickButton(getOperatorJoystick(), XboxController.BACK_BUTTON)
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.whenPressed(new InstantCommand(() -> m_robotClimber.setSafetyPressed(), m_robotClimber))
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.whenReleased(new InstantCommand(() -> m_robotClimber.setSafetyNotPressed(), m_robotClimber));
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// starts tracking target
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new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
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.whileHeld(new TrackTarget(m_robotShooterAim))
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.whileHeld(new RunCommand(() -> m_robotShooterHood.runAngleAdjustPID(m_robotShooterHood.addFireAngle())))
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.whenReleased(new InstantCommand(() -> m_robotLime.limeOff()));
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//.whileHeld(new RunCommand(() -> m_robotShooterAim.runshooterRotatePID()));
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//.whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(11000)));
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//.whileHeld(new HoldTarget(m_robotShooter, m_robotShooterAim))
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//.whileHeld(new RunCommand(() -> m_robotShooter.runAngleAdjustPID(30)));
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//Trims shooter
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new JoystickButton(getOperatorJoystick(), XboxController.TOP_BOTTOM_DPAD_AXIS)
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.whenPressed(new TrimShooter(m_robotShooter));
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//Calibrates turret and hood
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new JoystickButton(getOperatorJoystick(), XboxController.START_BUTTON)
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.whileHeld(new CalibrateShooter(m_robotShooter, m_robotShooterAim, m_robotShooterHood));
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//Run drum
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new JoystickManualButton(getOperatorJoystick(), XboxController.B_BUTTON, false)
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.whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false)
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//.whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET))
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.whenReleased(new InstantCommand(() -> m_robotLime.limeOff()));
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//Run drum manual
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new JoystickManualButton(getOperatorJoystick(), XboxController.B_BUTTON, true)
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.whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(10000)))
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.whenReleased(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(0)));
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/* Button Box */
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// Storage Manual
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new JoystickButton(getButtonFox(), ButtonFox.LEFT_SWITCH)
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.whenPressed(new InstantCommand(() -> m_robotStorage.changeStorageMode(StorageMode.MANUAL)))
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