Team_2648/2026-Robot-Code
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Changes from 3/5 meeting

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This commit is contained in:
Bradley Bickford
2026-03-05 19:05:09 -05:00
parent 10fb8d4aa5
commit f1f523de73
4 changed files with 19 additions and 11 deletions
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20
src/main/java/frc/robot/RobotContainer.java
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@@ -14,6 +14,7 @@ import com.pathplanner.lib.auto.AutoBuilder;
import com.pathplanner.lib.auto.NamedCommands;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -246,12 +247,14 @@ public class RobotContainer {
() -> true
)
);
shooter.setDefaultCommand(shooter.maintainSpeed(ShooterSpeeds.kIdleSpeed));
shooter.setDefaultCommand(shooter.stop());
intakeRoller.setDefaultCommand(intakeRoller.stop());
spindexer.setDefaultCommand(spindexer.stop());
intakePivot.setDefaultCommand(intakePivot.manualSpeed(() -> secondary.getLeftY()));
driver.y().whileTrue(drivetrain.zeroHeading());
driver.leftTrigger().whileTrue(
drivetrain.lockRotationToHub(
driver::getLeftY,
@@ -260,10 +263,11 @@ public class RobotContainer {
)
);
driver.leftBumper().whileTrue(intakeRoller.runOut());
driver.rightBumper().whileTrue(intakeRoller.runIn());
driver.rightTrigger().whileTrue(spindexer.spinToShooter());
driver.b().whileTrue(spindexer.spinToIntake());
/*
driver.b().whileTrue(
drivetrain.lockToYaw(
() -> {
@@ -274,11 +278,15 @@ public class RobotContainer {
driver::getLeftY,
driver::getLeftX
)
);*/
);
secondary.a().toggleOnTrue(shooter.maintainSpeed(ShooterSpeeds.kHubSpeed));
secondary.y().toggleOnTrue(shooter.maintainSpeed(ShooterSpeeds.kFeedSpeed));
secondary.x().toggleOnTrue(shooter.maintainSpeed(ShooterSpeeds.kFeedSpeed));
secondary.y().onTrue(hood.trackToAngle(() -> Units.degreesToRadians(40)));
secondary.b().onTrue(hood.trackToAngle(() -> Units.degreesToRadians(30)));
/*
hood.setDefaultCommand(hood.trackToAngle(() -> {
Pose2d drivetrainPose = drivetrain.getPose();
Pose2d hubPose = Utilities.getHubPose();
@@ -300,7 +308,7 @@ public class RobotContainer {
false
);
}
}));
}));*/
}
private void configureNamedCommands() {