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Adding a mechanism for a 'shift display' in Elastic

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This commit is contained in:
Bradley Bickford
2026-01-22 16:03:46 -05:00
parent e531c8e191
commit c2cb06748c
5 changed files with 476 additions and 25 deletions
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88
src/main/java/frc/robot/RobotContainer.java
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@@ -4,47 +4,44 @@
package frc.robot;
import com.pathplanner.lib.auto.AutoBuilder;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.PrintCommand;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.Subsystem;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.button.RobotModeTriggers;
import edu.wpi.first.wpilibj2.command.button.Trigger;
import frc.robot.constants.AutoConstants;
import frc.robot.constants.OIConstants;
import frc.robot.subsystems.Drivetrain;
import frc.robot.utilities.Elastic;
import frc.robot.utilities.Utilities;
public class RobotContainer {
Boolean isRed;
private Drivetrain drivetrain;
private Utilities utilities;
private CommandXboxController driver;
private SendableChooser<Command> autoChooser;
private Timer shiftTimer;
public RobotContainer() {
drivetrain = new Drivetrain();
driver = new CommandXboxController(OIConstants.kDriverControllerPort);
shiftTimer = new Timer();
shiftTimer.reset();
configureBindings();
}
private void configureBindings() {
drivetrain.setDefaultCommand(
drivetrain.drive(
@@ -55,15 +52,9 @@ public class RobotContainer {
)
);
ShuffleboardTab tab = Shuffleboard.getTab("SideFirst");
if (Utilities.ShiftFirst() == Alliance.Red) {
tab.add("IsRed", isRed);
}
configureShiftDisplay();
}
public Command getAutonomousCommand() {
if(AutoConstants.kAutoConfigOk) {
return autoChooser.getSelected();
@@ -71,4 +62,55 @@ public class RobotContainer {
return new PrintCommand("Robot Config loading failed, autonomous disabled");
}
}
private void configureShiftDisplay() {
SmartDashboard.putStringArray(OIConstants.kCurrentActiveHub, OIConstants.kRedBlueDisplay);
RobotModeTriggers.autonomous().onTrue(new InstantCommand(() -> {
shiftTimer.stop();
SmartDashboard.putStringArray(OIConstants.kCurrentActiveHub, OIConstants.kRedBlueDisplay);
}));
RobotModeTriggers.teleop().onTrue(new InstantCommand(() -> {
Elastic.selectTab(OIConstants.kTeleopTab);
shiftTimer.reset();
shiftTimer.start();
}));
new Trigger(() -> shiftTimer.get() <= 10).onTrue(new InstantCommand(() -> {
SmartDashboard.putStringArray(OIConstants.kCurrentActiveHub, OIConstants.kRedBlueDisplay);
}));
new Trigger(() -> shiftTimer.get() > 10 && shiftTimer.get() <= 35).onTrue(new InstantCommand(() -> {
SmartDashboard.putStringArray(
OIConstants.kCurrentActiveHub,
Utilities.ShiftFirst() == Alliance.Red ? OIConstants.kRedDisplay : OIConstants.kBlueDisplay
);
}));
new Trigger(() -> shiftTimer.get() > 35 && shiftTimer.get() <= 60).onTrue(new InstantCommand(() -> {
SmartDashboard.putStringArray(
OIConstants.kCurrentActiveHub,
Utilities.ShiftFirst() == Alliance.Red ? OIConstants.kBlueDisplay : OIConstants.kRedDisplay
);
}));
new Trigger(() -> shiftTimer.get() > 60 && shiftTimer.get() <= 85).onTrue(new InstantCommand(() -> {
SmartDashboard.putStringArray(
OIConstants.kCurrentActiveHub,
Utilities.ShiftFirst() == Alliance.Red ? OIConstants.kRedDisplay : OIConstants.kBlueDisplay
);
}));
new Trigger(() -> shiftTimer.get() > 85 && shiftTimer.get() <= 110).onTrue(new InstantCommand(() -> {
SmartDashboard.putStringArray(
OIConstants.kCurrentActiveHub,
Utilities.ShiftFirst() == Alliance.Red ? OIConstants.kBlueDisplay : OIConstants.kRedDisplay
);
}));
new Trigger(() -> shiftTimer.get() > 110).onTrue(new InstantCommand(() -> {
SmartDashboard.putStringArray(OIConstants.kCurrentActiveHub, OIConstants.kRedBlueDisplay);
}));
}
}