From c1eae1e68be01afd9d647fb3d08d852727e71784 Mon Sep 17 00:00:00 2001
From: Cayden <caydenwb10@gmail.com>
Date: Thu, 7 Nov 2024 14:50:13 -0500
Subject: [PATCH] Added controls and shuffboard

---
 shuffleboard.json                             | 64 +++++++++++++++++++
 src/main/java/frc/robot/RobotContainer.java   | 29 ++++++++-
 .../java/frc/robot/constants/OIConstants.java |  8 +++
 3 files changed, 99 insertions(+), 2 deletions(-)
 create mode 100644 shuffleboard.json
 create mode 100644 src/main/java/frc/robot/constants/OIConstants.java

diff --git a/shuffleboard.json b/shuffleboard.json
new file mode 100644
index 0000000..2fb2ceb
--- /dev/null
+++ b/shuffleboard.json
@@ -0,0 +1,64 @@
+{
+  "tabPane": [
+    {
+      "title": "SmartDashboard",
+      "autoPopulate": true,
+      "autoPopulatePrefix": "SmartDashboard/",
+      "widgetPane": {
+        "gridSize": 128.0,
+        "showGrid": true,
+        "hgap": 16.0,
+        "vgap": 16.0,
+        "titleType": 0,
+        "tiles": {}
+      }
+    },
+    {
+      "title": "LiveWindow",
+      "autoPopulate": true,
+      "autoPopulatePrefix": "LiveWindow/",
+      "widgetPane": {
+        "gridSize": 128.0,
+        "showGrid": true,
+        "hgap": 16.0,
+        "vgap": 16.0,
+        "titleType": 0,
+        "tiles": {}
+      }
+    },
+    {
+      "title": " Sensor",
+      "autoPopulate": false,
+      "autoPopulatePrefix": "",
+      "widgetPane": {
+        "gridSize": 128.0,
+        "showGrid": true,
+        "hgap": 16.0,
+        "vgap": 16.0,
+        "titleType": 0,
+        "tiles": {
+          "0,0": {
+            "size": [
+              2,
+              1
+            ],
+            "content": {
+              "_type": "Boolean Box",
+              "_title": "Frisbee Presence Sensor",
+              "_glyph": 148,
+              "_showGlyph": false,
+              "Colors/Color when true": "#7CFC00FF",
+              "Colors/Color when false": "#8B0000FF"
+            }
+          }
+        }
+      }
+    }
+  ],
+  "windowGeometry": {
+    "x": -7.199999809265137,
+    "y": -7.199999809265137,
+    "width": 1550.4000244140625,
+    "height": 830.4000244140625
+  }
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index de2c9d0..31f5853 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -6,15 +6,40 @@ package frc.robot;
 
 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;
+
 
 public class RobotContainer {
+  private Flicker flicker;
+  private Drivetrain drivetrain;
+  private CommandXboxController driver;
+  private CommandXboxController operator;
   public RobotContainer() {
+    drivetrain = new Drivetrain();
+    flicker = new Flicker();
+    driver = new CommandXboxController(OIConstants.kDriverUSB);
+
     configureBindings();
   }
 
-  private void configureBindings() {}
+  private void configureBindings() {
+    drivetrain.setDefaultCommand(
+      drivetrain.driveArcade(
+        driver::getLeftY, 
+        driver::getLeftX
+      )
+    );  
+    flicker.setDefaultCommand(flicker.stop());
+    driver.a().onTrue(flicker.setSpeed(() ->1));
+    
+
+    
+  }
 
   public Command getAutonomousCommand() {
-    return Commands.print("No autonomous command configured");
+    return flicker.setSpeed(() -> 1);
   }
 }
diff --git a/src/main/java/frc/robot/constants/OIConstants.java b/src/main/java/frc/robot/constants/OIConstants.java
new file mode 100644
index 0000000..a606067
--- /dev/null
+++ b/src/main/java/frc/robot/constants/OIConstants.java
@@ -0,0 +1,8 @@
+package frc.robot.constants;
+
+public class OIConstants {
+    public static final int kDriverUSB = 0;
+    public static final int kOperatorUSB = 1;
+
+    public static final String kRobotIndicatorsTabName = "Robot Indicators";
+}    
\ No newline at end of file