Team_2648/2024_Robot_Code
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Adding some different controls that were requested

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This commit is contained in:
Bradley Bickford 2024-02-20 12:31:38 -05:00
parent 570696fa7a
commit d8bb8cfd05
1 changed files with 51 additions and 22 deletions
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73
src/main/java/frc/robot/RobotContainer.java
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@ -132,26 +132,6 @@ public class RobotContainer {
) )
); );
//intake.setDefaultCommand(intake.intakeUpCommand());
intake.setDefaultCommand(intake.manualPivot(operator::getLeftY, driver::getLeftTriggerAxis));
// shooter.setDefaultCommand(shooter.angleSpeedsSetpoints(ShooterConstants.kShooterLoadAngle, 0.0, 0.0));
shooter.setDefaultCommand(shooter.manualPivot(operator::getRightY, operator::getLeftTriggerAxis));
climber.setDefaultCommand(climber.stop());
indexer.setDefaultCommand(indexer.shootNote(operator::getRightTriggerAxis));
driver.povCenter().onFalse(
drivetrain.driveCardinal(
driver::getLeftY,
driver::getLeftX,
driver.getHID()::getPOV,
OIConstants.kTeleopDriveDeadband).until(
() -> MathUtil.applyDeadband(driver.getRightX(), OIConstants.kTeleopDriveDeadband) != 0
)
);
// Lock on to the appropriate Amp AprilTag while still being able to strafe and drive forward and back // Lock on to the appropriate Amp AprilTag while still being able to strafe and drive forward and back
driver.a().onTrue( driver.a().onTrue(
drivetrain.driveAprilTagLock( drivetrain.driveAprilTagLock(
@ -188,6 +168,16 @@ public class RobotContainer {
) )
); );
driver.povCenter().onFalse(
drivetrain.driveCardinal(
driver::getLeftY,
driver::getLeftX,
driver.getHID()::getPOV,
OIConstants.kTeleopDriveDeadband).until(
() -> MathUtil.applyDeadband(driver.getRightX(), OIConstants.kTeleopDriveDeadband) != 0
)
);
// This was originally a run while held, not sure that's really necessary, change it if need be // This was originally a run while held, not sure that's really necessary, change it if need be
driver.y().onTrue(drivetrain.zeroHeadingCommand()); driver.y().onTrue(drivetrain.zeroHeadingCommand());
@ -205,9 +195,48 @@ public class RobotContainer {
*/ */
driver.start().onTrue(drivetrain.toggleFieldRelativeControl()); driver.start().onTrue(drivetrain.toggleFieldRelativeControl());
driver.leftBumper().toggleOnTrue(intake.intakeDownCommand()); //intake.setDefaultCommand(intake.intakeUpCommand());
//Intake rollers intentionally disabled at the moment
intake.setDefaultCommand(
intake.manualPivot(
() -> { return operator.getRightY() / 2; },
() -> { return 0; }
)
);
operator.y().onTrue(climber.setSpeedWithSupplier(operator::getRightTriggerAxis)); // shooter.setDefaultCommand(shooter.angleSpeedsSetpoints(ShooterConstants.kShooterLoadAngle, 0.0, 0.0));
shooter.setDefaultCommand(
shooter.manualPivot(
() -> { return operator.getLeftY() / 2; },
() -> {
if (MathUtil.applyDeadband(driver.getLeftTriggerAxis(), OIConstants.kTeleopDriveDeadband) != 0) {
return driver.getLeftTriggerAxis();
} else {
return -operator.getLeftTriggerAxis();
}
}
)
);
indexer.setDefaultCommand(
indexer.shootNote(
() -> {
if (MathUtil.applyDeadband(driver.getLeftTriggerAxis(), OIConstants.kTeleopDriveDeadband) != 0) {
return driver.getLeftTriggerAxis();
} else {
return -operator.getLeftTriggerAxis();
}
}
)
);
climber.setDefaultCommand(climber.stop());
operator.rightBumper().whileTrue(
climber.setSpeedWithSupplier(
operator::getRightTriggerAxis
)
);
} }