From b084ae7f16530f6be46c4f8c21239096d3739e46 Mon Sep 17 00:00:00 2001
From: Cayden <caydenwb10@gmail.com>
Date: Sun, 17 Nov 2024 15:15:23 -0500
Subject: [PATCH] finished robotcontainer.java

---
 src/main/java/frc/robot/RobotContainer.java | 30 +++++++++++++++++----
 1 file changed, 25 insertions(+), 5 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 31f5853..11abc4d 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -4,42 +4,62 @@
 
 package frc.robot;
 
+import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.constants.OIConstants;
 import frc.robot.subsystems.Drivetrain;
 import frc.robot.subsystems.Flicker;
+import frc.robot.subsystems.Shooter;
 
 
 public class RobotContainer {
   private Flicker flicker;
+  private Shooter shooter;
   private Drivetrain drivetrain;
   private CommandXboxController driver;
-  private CommandXboxController operator;
   public RobotContainer() {
     drivetrain = new Drivetrain();
     flicker = new Flicker();
-    driver = new CommandXboxController(OIConstants.kDriverUSB);
+    driver = new CommandXboxController(OIConstants.kDriverUSB); //sets up controlers
 
     configureBindings();
+    configureShuffleboard();
   }
 
   private void configureBindings() {
     drivetrain.setDefaultCommand(
       drivetrain.driveArcade(
         driver::getLeftY, 
-        driver::getLeftX
+        driver::getLeftX //manual controls for driveing
       )
     );  
     flicker.setDefaultCommand(flicker.stop());
     driver.a().onTrue(flicker.setSpeed(() ->1));
+
+    shooter.setDefaultCommand(shooter.stop());
+    driver.rightBumper().onTrue(shooter.setSpeed(()->1)); //manual controls for shooter and flicker
     
 
+  }
+  private void configureShuffleboard() {
+    ShuffleboardTab robotIndicatorTab = Shuffleboard.getTab(OIConstants.kRobotIndicatorsTabName);
+
+    robotIndicatorTab.addBoolean("Sensors", flicker::photoswich)
+    .withPosition(0, 0).
+    withSize(2, 1).
+    withWidget(BuiltInWidgets.kBooleanBox); //sets up the wiget
+
     
   }
+    
 
   public Command getAutonomousCommand() {
-    return flicker.setSpeed(() -> 1);
+    return drivetrain.driveTank(() -> .5,() -> .5).withTimeout(2). andThen(
+      shooter.setSpeed(()-> 1)).withTimeout(1).andThen(
+        shooter.setSpeed(()->1)).alongWith(
+          flicker.setSpeed(()->1)); //sets up the anumus command, it drives forward for 2 seconds, spins the shooter mototrs for 1 second, and both shooter and flicker for 3 seconds.
   }
 }