Team_2648/2026-Robot-Code
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auto getting there everything else gucci

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This commit is contained in:
Tylr-J42
2026-03-21 16:08:26 -04:00
parent b8c376499b
commit cb1c7ba0e3
9 changed files with 291 additions and 82 deletions
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18
src/main/java/frc/robot/RobotContainer.java
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@@ -84,7 +84,7 @@ public class RobotContainer {
resetOdometryToVisualPose = false;
//vision.addPoseEstimateConsumer(drivetrain::consumeVisualPose);
vision.addPoseEstimateConsumer(drivetrain::consumeVisualPose);
vision.addPoseEstimateConsumer((vp) -> {
Logger.recordOutput(
"Vision/" + vp.cameraName() + "/Pose",
@@ -243,7 +243,7 @@ public class RobotContainer {
// Useful for testing PID and FF responses of the shooter
// You need to have graphs up of the logged data to make sure the response is correct
secondary.a().whileTrue(shooter.maintainSpeed(ShooterSpeeds.kHubSpeed));
//secondary.a().whileTrue(shooter.maintainSpeed(ShooterSpeeds.kHubSpeed));
secondary.b().whileTrue(shooter.maintainSpeed(ShooterSpeeds.kFeedSpeed));
// Useful for testing PID and FF responses of the intake pivot
@@ -276,6 +276,7 @@ public class RobotContainer {
driver.a().onTrue(new InstantCommand(() -> resetOdometryToVisualPose = true));
driver.y().whileTrue(drivetrain.zeroHeading());
driver.x().whileTrue(drivetrain.setX());
driver.leftTrigger().whileTrue(
drivetrain.lockRotationToHub(
@@ -320,10 +321,12 @@ public class RobotContainer {
//40 good for feeding
//secondary.b().onTrue(hood.trackToAngle(() -> Units.degreesToRadians(30)));
//30 degrees good for shooter far near outpost
secondary.rightBumper().onTrue(hood.trackToAngle(() -> Units.degreesToRadians(10)));
secondary.rightBumper().whileTrue(hood.trackToAngle(() -> Units.degreesToRadians(10)));
//10 degrees good for shooting ~33in away from hub
hood.setDefaultCommand(hood.trackToAnglePoseBased(drivetrain, shooter));
hood.setDefaultCommand(hood.trackToAngle(() -> {
/*hood.setDefaultCommand(hood.trackToAngle(() -> {
Pose2d drivetrainPose = drivetrain.getPose();
Pose2d hubPose = Utilities.getHubPose();
@@ -345,7 +348,7 @@ public class RobotContainer {
} else {
return 0;
}
}));
}));*/
new Trigger(() -> MathUtil.isNear(
shooter.getTargetSpeeds().isEmpty() ? 0 : shooter.getTargetSpeeds().get().getSpeedRPM(),
@@ -399,7 +402,8 @@ public class RobotContainer {
// NamedCommands.registerCommand("Intake Start", intakeRoller.runIn());
new EventTrigger("Intake Start")
.onTrue(intakeRoller.runIn());
.onTrue(
intakeRoller.runIn());
NamedCommands.registerCommand("stop spindexer", spindexer.instantaneousStop());
@@ -415,6 +419,8 @@ public class RobotContainer {
hood.trackToAngle(() -> Units.degreesToRadians(10)))
).withTimeout(3).andThen(spindexer.instantaneousStop()));
NamedCommands.registerCommand("auto shoot", hood.trackToAnglePoseBased(drivetrain, shooter));
}
public Command getAutonomousCommand() {