Shirt-Cannon/src/main/java/frc4388/robot/RobotContainer.java

package frc4388.robot;

import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.GenericHID.RumbleType;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandGroupBase;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.PrintCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.WaitCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import edu.wpi.first.wpilibj2.command.button.POVButton;
import frc4388.robot.Constants.OIConstants;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Horn;
import frc4388.robot.subsystems.Shooter;

/**
 * This class is where the bulk of the robot should be declared. Since Command-based is a
 * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
 * periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
 * subsystems, commands, and button mappings) should be declared here.
 */
public class RobotContainer {
  /* RobotMap */
  private final RobotMap m_robotMap = new RobotMap();

  /* Subsystems */
  private final Drive m_robotDrive = new Drive(m_robotMap.driveLeftLeaderMotor, m_robotMap.driveRightLeaderMotor, m_robotMap.driveBase);

  private final Shooter m_robotShooterLowerLefterSolenoid = new Shooter(m_robotMap.shooterLowerLefterSolenoid);
  private final Shooter m_robotShooterLowerLeftSolenoid = new Shooter(m_robotMap.shooterLowerLeftSolenoid);
  private final Shooter m_robotShooterLowerRightSolenoid = new Shooter(m_robotMap.shooterLowerRightSolenoid);
  private final Shooter m_robotShooterLowerRighterSolenoid = new Shooter(m_robotMap.shooterLowerRighterSolenoid);

  private final Shooter m_robotShooterUpperLefterSolenoid = new Shooter(m_robotMap.shooterUpperLefterSolenoid);
  private final Shooter m_robotShooterUpperLeftSolenoid = new Shooter(m_robotMap.shooterUpperLeftSolenoid);
  private final Shooter m_robotShooterUpperRightSolenoid = new Shooter(m_robotMap.shooterUpperRightSolenoid);
  private final Shooter m_robotShooterUpperRighterSolenoid = new Shooter(m_robotMap.shooterUpperRighterSolenoid);

  private final Horn m_robotHorn = new Horn(m_robotMap.hornSolenoid);

  /* Controllers */
  private final XboxController m_controller = new XboxController(OIConstants.CONTROLLER_ID);

  /**
   * The container for the robot. Contains subsystems, OI devices, and commands.
   */
  public RobotContainer() {
    configureButtonBindings();

    /* Default Commands */
    // drives the robot with a two-axis input from the driver controller
    m_robotDrive.setDefaultCommand(new RunCommand(() -> m_robotDrive.arcadeDrive(getController().getLeftY(), getController().getRightX()), m_robotDrive));
  }

  /**
   * Use this method to define your button->command mappings. Buttons can be created by instantiating
   * a {@link GenericHID} or one of its subclasses ({@link edu.wpi.first.wpilibj.Joystick} or
   * {@link XboxController}), and then passing it to a
   * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
   */
  private void configureButtonBindings() {
    // Y Button: Fire Upper Lefter Shooter
    new JoystickButton(getController(), XboxController.Button.kY.value).whenPressed(putToDashboard("Y", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterUpperLefterSolenoid)).withName("Fire Upper Lefter")));
    // B Button: Fire Upper Right Shooter
    new JoystickButton(getController(), XboxController.Button.kB.value).whenPressed(putToDashboard("B", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterUpperRightSolenoid)).withName("Fire Upper Right")));
    // A Button: Fire Upper Righter Shooter
    new JoystickButton(getController(), XboxController.Button.kA.value).whenPressed(putToDashboard("A", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterUpperRighterSolenoid)).withName("Fire Upper Righter")));
    // X Button: Fire Upper Left Shooter
    new JoystickButton(getController(), XboxController.Button.kX.value).whenPressed(putToDashboard("X", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterUpperLeftSolenoid)).withName("Fire Upper Left")));

    // D-Pad Up: Fire Lower Lefter Shooter
    new POVButton(getController(), 0).whenPressed(putToDashboard("Up", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterLowerLefterSolenoid)).withName("Fire Lower Lefter")));
    // D-Pad Right: Fire Lower Right Shooter
    new POVButton(getController(), 90).whenPressed(putToDashboard("Right", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterLowerRightSolenoid)).withName("Fire Lower Right")));
    // D-Pad Left: Fire Lower Righter Shooter
    new POVButton(getController(), 180).whenPressed(putToDashboard("Down", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterLowerRighterSolenoid)).withName("Fire Lower Righter")));
    // D-Pad Up: Fire Lower Left Shooter
    new POVButton(getController(), 270).whenPressed(putToDashboard("Left", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterLowerLeftSolenoid)).withName("Fire Lower Left")));

    // Right Bumper: Sound Horn
    new JoystickButton(getController(), XboxController.Button.kRightBumper.value).whenPressed(() -> m_robotHorn.set(true)).whenReleased(() -> m_robotHorn.set(false));
    // Left Bumper: Sound Horn
    new JoystickButton(getController(), XboxController.Button.kLeftBumper.value).whenPressed(() -> m_robotHorn.set(true)).whenReleased(() -> m_robotHorn.set(false));
  }

  private static <T extends Sendable> T putToDashboard(String key, T data) {
    SmartDashboard.putData(key, data);
    return data;
  }

  private void fireShooterWithFeedback(Shooter shooter) {
    boolean fired = shooter.set(true);
    RumbleType rumbleType = shooter.getName().contains("Left") ? RumbleType.kLeftRumble : RumbleType.kRightRumble;
    double value = fired ? 0.3 : 0.6;
    double duration = fired ? 0.3 : 0.4;
    CommandGroupBase.sequence(new InstantCommand(() -> getController().setRumble(rumbleType, value)), new WaitCommand(duration), new InstantCommand(() -> getController().setRumble(rumbleType, 0.0))).schedule();
  }

  /**
   * Use this to pass the autonomous command to the main {@link Robot} class.
   *
   * @return the command to run in autonomous
   */
  public Command getAutonomousCommand() {
    return new PrintCommand("No Autonomous");
  }

  public XboxController getController() {
    return m_controller;
  }
}