Team4388/Shirt-Cannon
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"HotWire" fixes

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This commit is contained in:
C4llSiqn
2023-04-26 11:42:48 -06:00
parent 74af4b2f2a
commit 7ea99b9af2
1 changed files with 99 additions and 28 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+99 -28
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@@ -31,17 +31,25 @@ public class RobotContainer {
/* Subsystems */
private final Drive m_robotDrive = new Drive(m_robotMap.driveMotorLeftLeader, m_robotMap.driveMotorRightLeader, m_robotMap.driveBase);
private final Shooter m_robotShooterBottomLeftOuter = new Shooter(m_robotMap.shooterSolenoidBottomLeftOuter);
private final Shooter m_robotShooterBottomLeftInner = new Shooter(m_robotMap.shooterSolenoidBottomLeftInner);
private final Shooter m_robotShooterBottomRightInner = new Shooter(m_robotMap.shooterSolenoidBottomRightInner);
private final Shooter m_robotShooterBottomRightOuter = new Shooter(m_robotMap.shooterSolenoidBottomRightOuter);
private final Shooter m_robotShooterBottomLeft = new Shooter(m_robotMap.shooterSolenoidBottomLeft);
private final Shooter m_robotShooterBottomMiddle = new Shooter(m_robotMap.shooterSolenoidBottomMiddle);
private final Shooter m_robotShooterBottomRight = new Shooter(m_robotMap.shooterSolenoidBottomRight);
private final Shooter m_robotShooterTopLeft = new Shooter(m_robotMap.shooterSolenoidTopLeft);
private final Shooter m_robotShooterTopMiddle = new Shooter(m_robotMap.shooterSolenoidTopMiddle);
private final Shooter m_robotShooterTopRight = new Shooter(m_robotMap.shooterSolenoidTopRight);
private final Shooter m_robotShooterTopLeftOuter = new Shooter(m_robotMap.shooterSolenoidTopLeftOuter);
private final Shooter m_robotShooterTopLeftInner = new Shooter(m_robotMap.shooterSolenoidTopLeftInner);
private final Shooter m_robotShooterTopRightInner = new Shooter(m_robotMap.shooterSolenoidTopRightInner);
private final Shooter m_robotShooterTopRightOuter = new Shooter(m_robotMap.shooterSolenoidTopRightOuter);
// private final Shooter m_robotShooterBottomLeftOuter = new Shooter(m_robotMap.shooterSolenoidBottomLeftOuter);
// private final Shooter m_robotShooterBottomLeftInner = new Shooter(m_robotMap.shooterSolenoidBottomLeftInner);
// private final Shooter m_robotShooterBottomRightInner = new Shooter(m_robotMap.shooterSolenoidBottomRightInner);
// private final Shooter m_robotShooterBottomRightOuter = new Shooter(m_robotMap.shooterSolenoidBottomRightOuter);
private final Horn m_robotHorn = new Horn(m_robotMap.hornSolenoid);
// private final Shooter m_robotShooterTopLeftOuter = new Shooter(m_robotMap.shooterSolenoidTopLeftOuter);
// private final Shooter m_robotShooterTopLeftInner = new Shooter(m_robotMap.shooterSolenoidTopLeftInner);
// private final Shooter m_robotShooterTopRightInner = new Shooter(m_robotMap.shooterSolenoidTopRightInner);
// private final Shooter m_robotShooterTopRightOuter = new Shooter(m_robotMap.shooterSolenoidTopRightOuter);
// private final Horn m_robotHorn = new Horn(m_robotMap.hornSolenoid);
/* Controllers */
private final XboxController m_controller = new XboxController(OIConstants.CONTROLLER_ID);
@@ -64,28 +72,50 @@ public class RobotContainer {
* {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
*/
private void configureButtonBindings() {
// Y Button: Fire Top Lefter Shooter
new JoystickButton(getController(), XboxController.Button.kY.value).whenPressed(putToDashboard("Y", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterTopLeftOuter)).withName("Fire Top Lefter")));
// B Button: Fire Top Right Shooter
new JoystickButton(getController(), XboxController.Button.kB.value).whenPressed(putToDashboard("B", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterTopRightInner)).withName("Fire Top Right")));
// A Button: Fire Top Righter Shooter
new JoystickButton(getController(), XboxController.Button.kA.value).whenPressed(putToDashboard("A", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterTopRightOuter)).withName("Fire Top Righter")));
// X Button: Fire Top Left Shooter
new JoystickButton(getController(), XboxController.Button.kX.value).whenPressed(putToDashboard("X", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterTopLeftInner)).withName("Fire Top Left")));
// D-Pad Up: Fire Bottom Lefter Shooter
new POVButton(getController(), 0).whenPressed(putToDashboard("Up", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterBottomLeftOuter)).withName("Fire Bottom Lefter")));
// D-Pad Right: Fire Bottom Right Shooter
new POVButton(getController(), 90).whenPressed(putToDashboard("Right", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterBottomRightInner)).withName("Fire Bottom Right")));
new JoystickButton(getController(), XboxController.Button.kX.value).whenPressed(() -> fireShooterWithFeedback(m_robotShooterTopLeft));
// Y Button: Fire Top Middle Shooter
new JoystickButton(getController(), XboxController.Button.kY.value).whenPressed(() -> fireShooterWithFeedback(m_robotShooterTopMiddle));
// B Button: Fire Top Right Shooter
new JoystickButton(getController(), XboxController.Button.kB.value).whenPressed(() -> fireShooterWithFeedback(m_robotShooterTopRight));
// D-Pad Left: Fire Bottom Righter Shooter
new POVButton(getController(), 180).whenPressed(putToDashboard("Down", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterBottomRightOuter)).withName("Fire Bottom Righter")));
// D-Pad Up: Fire Bottom Left Shooter
new POVButton(getController(), 270).whenPressed(putToDashboard("Left", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterBottomLeftInner)).withName("Fire Bottom Left")));
new POVButton(getController(), 270).whenPressed(() -> fireShooterWithFeedback(m_robotShooterBottomLeft));
// D-Pad Up: Fire Bottom Middle Shooter
new POVButton(getController(), 0).whenPressed(() -> fireShooterWithFeedback(m_robotShooterBottomMiddle));
// D-Pad Right: Fire Bottom Right Shooter
new POVButton(getController(), 90).whenPressed(() -> fireShooterWithFeedback(m_robotShooterBottomRight));
// // Y Button: Fire Top Lefter Shooter
// new JoystickButton(getController(), XboxController.Button.kY.value).whenPressed(putToDashboard("Y", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterTopLeftOuter)).withName("Fire Top Lefter")));
// // B Button: Fire Top Right Shooter
// new JoystickButton(getController(), XboxController.Button.kB.value).whenPressed(putToDashboard("B", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterTopRightInner)).withName("Fire Top Right")));
// // A Button: Fire Top Righter Shooter
// new JoystickButton(getController(), XboxController.Button.kA.value).whenPressed(putToDashboard("A", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterTopRightOuter)).withName("Fire Top Righter")));
// // X Button: Fire Top Left Shooter
// new JoystickButton(getController(), XboxController.Button.kX.value).whenPressed(putToDashboard("X", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterTopLeftInner)).withName("Fire Top 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));
// // D-Pad Up: Fire Bottom Lefter Shooter
// new POVButton(getController(), 0).whenPressed(putToDashboard("Up", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterBottomLeftOuter)).withName("Fire Bottom Lefter")));
// // D-Pad Right: Fire Bottom Right Shooter
// new POVButton(getController(), 90).whenPressed(putToDashboard("Right", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterBottomRightInner)).withName("Fire Bottom Right")));
// // D-Pad Left: Fire Bottom Righter Shooter
// new POVButton(getController(), 180).whenPressed(putToDashboard("Down", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterBottomRightOuter)).withName("Fire Bottom Righter")));
// // D-Pad Up: Fire Bottom Left Shooter
// new POVButton(getController(), 270).whenPressed(putToDashboard("Left", new InstantCommand(() -> fireShooterWithFeedback(m_robotShooterBottomLeftInner)).withName("Fire Bottom Left")));
// Right menu button, aka Start: Reset Barrels
new JoystickButton(getController(), XboxController.Button.kStart.value).whenPressed(() -> ResetShooters());
// Left menu button, aka Back: Fire all barrels
new JoystickButton(getController(), XboxController.Button.kBack.value).whenPressed(() -> FireAll());
// Do we even have this on the robot?
// // 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) {
@@ -113,4 +143,45 @@ public class RobotContainer {
public XboxController getController() {
return m_controller;
}
public void ResetShooters() {
m_robotShooterBottomLeft.ready();
m_robotShooterBottomMiddle.ready();
m_robotShooterBottomRight.ready();
m_robotShooterTopLeft.ready();
m_robotShooterTopMiddle.ready();
m_robotShooterTopRight.ready();
// m_robotShooterBottomLeftOuter.ready();
// m_robotShooterBottomLeftInner.ready();
// m_robotShooterBottomRightInner.ready();
// m_robotShooterBottomRightOuter.ready();
// m_robotShooterTopLeftOuter.ready();
// m_robotShooterTopLeftInner.ready();
// m_robotShooterTopRightInner.ready();
// m_robotShooterTopRightOuter.ready();
}
public void FireAll() {
m_robotShooterBottomLeft.fire();
m_robotShooterBottomMiddle.fire();
m_robotShooterBottomRight.fire();
m_robotShooterTopLeft.fire();
m_robotShooterTopMiddle.fire();
m_robotShooterTopRight.fire();
// m_robotShooterBottomLeftOuter.fire();
// m_robotShooterBottomLeftInner.fire();
// m_robotShooterBottomRightInner.fire();
// m_robotShooterBottomRightOuter.fire();
// m_robotShooterTopLeftOuter.fire();
// m_robotShooterTopLeftInner.fire();
// m_robotShooterTopRightInner.fire();
// m_robotShooterTopRightOuter.fire();
}
}