Team_2648/2026-Robot-Code
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Changes from build session 3/3/26

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This commit is contained in:
Bradley Bickford
2026-03-04 10:05:46 -05:00
parent 208cfa3ce4
commit 918876923f
3 changed files with 30 additions and 10 deletions
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18
src/main/java/frc/robot/RobotContainer.java
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@@ -42,7 +42,7 @@ import frc.robot.utilities.Elastic;
import frc.robot.utilities.Utilities;
public class RobotContainer {
//private PhotonVision vision;
private PhotonVision vision;
private Drivetrain drivetrain;
private Hood hood;
private Shooter shooter;
@@ -59,7 +59,7 @@ public class RobotContainer {
private Timer shiftTimer;
public RobotContainer() {
//vision = new PhotonVision();
vision = new PhotonVision();
drivetrain = new Drivetrain(null);
hood = new Hood();
shooter = new Shooter();
@@ -68,14 +68,14 @@ public class RobotContainer {
spindexer = new Spindexer();
//climber = new Climber();
/*
vision.addPoseEstimateConsumer(drivetrain::consumeVisualPose);
vision.addPoseEstimateConsumer((vp) -> {
Logger.recordOutput(
"Vision/" + vp.cameraName() + "/Pose",
vp.visualPose()
);
});*/
});
driver = new CommandXboxController(OIConstants.kDriverControllerPort);
secondary = new CommandXboxController(OIConstants.kOperatorControllerPort);
@@ -108,7 +108,7 @@ public class RobotContainer {
// This should just work, if it doesn't it's likely modules aren't assigned the right IDs
// after the electronics rebuild. For testing normal operation nothing about the Drivetrain
// class should need to change
drivetrain.setDefaultCommand(drivetrain.drive(() -> 0, () -> 0, () -> 0, () -> true));
//drivetrain.setDefaultCommand(drivetrain.drive(() -> 0, () -> 0, () -> 0, () -> true));
drivetrain.setDefaultCommand(
drivetrain.drive(
driver::getLeftY,
@@ -117,6 +117,8 @@ public class RobotContainer {
() -> true
)
);
driver.y().whileTrue(drivetrain.zeroHeading());
/*
// This needs to be tested after a prolonged amount of driving around <i>aggressively</i>.
// Do things like going over the bump repeatedly, spin around a bunch, etc.
@@ -168,8 +170,7 @@ public class RobotContainer {
// DO NOT INVERT MOTION WITH UNARY MINUS (-). Every motor can be inverted from the
// constants file for the subsystem having the problem
driver.rightBumper().whileTrue(
//intakeRoller.runIn().alongWith(spindexer.spinToShooter())
spindexer.spinToShooter()
spindexer.spinToShooter()
);
// While holding the left bumper of the driver controller, the intake rollers
@@ -178,7 +179,8 @@ public class RobotContainer {
// DO NOT INVERT MOTION WITH UNARY MINUS (-). Every motor can be inverted from the
// constants file for the subsystem having the problem
driver.leftBumper().whileTrue(
intakeRoller.runOut().alongWith(spindexer.spinToIntake())
intakeRoller.runIn()
//intakeRoller.runOut().alongWith(spindexer.spinToIntake())
);
// While holding D-Pad up on the secondary controller, the shooter should spin