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Merge remote-tracking branch 'origin/event/2024cc' into event/2024cc
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@mimizh2418
mimizh2418 committed Oct 5, 2024
2 parents d7f514b + 6a76eb1 commit 716aea1
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Showing 2 changed files with 59 additions and 46 deletions.
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105 changes: 59 additions & 46 deletions src/main/java/org/team1540/robot2024/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -124,10 +124,16 @@ public RobotContainer() {

private void configureButtonBindings() {
Command manualPivotCommand = new ManualPivotCommand(shooter, copilot);
// coop:button(LJoystick,DT Translate,pilot)
// coop:button(RJoystick,DT Rotate,pilot)
drivetrain.setDefaultCommand(new SwerveDriveCommand(drivetrain, driver));
// coop:button(RJoystick,Elevator Manual,copilot)
elevator.setDefaultCommand(new ElevatorManualCommand(elevator, copilot));
shooter.setDefaultCommand(manualPivotCommand);

// coop:button(B,X-Lock,pilot)
driver.b().onTrue(Commands.runOnce(drivetrain::stopWithX, drivetrain));
// coop:button(Y,Reorient,pilot)
driver.y().onTrue(Commands.runOnce(() -> {
drivetrain.zeroFieldOrientationManual();
enableBrakeMode(false);
Expand All @@ -154,11 +160,14 @@ private void configureButtonBindings() {
ampLock.cancel();
counterShuffleDrive.cancel();
});
//coop:button(X,Shoot,pilot)
driver.x()
.whileTrue(IntakeAndFeed.withDefaults(indexer))
.onFalse(cancelAlignment);

// coop:button(RBumper,[TOGGLE] Align Shoot,pilot)
driver.rightBumper().toggleOnTrue(targetDrive);
// coop:button(LBumper,[TOGGLE] Align Shuffle,pilot)
driver.leftBumper().toggleOnTrue(overstageTargetDrive);

// TODO remove this
Expand Down Expand Up @@ -186,81 +195,84 @@ private void configureButtonBindings() {

// driver.povDown().and(() -> !DriverStation.isFMSAttached()).onTrue(Commands.runOnce(() -> drivetrain.setPose(new Pose2d(Units.inchesToMeters(260), Units.inchesToMeters(161.62), Rotation2d.fromRadians(0)))).ignoringDisable(true));

// coop:button(RTrigger,Countershuffle,pilot)
driver.leftTrigger(0.95).toggleOnTrue(counterShuffleDrive);

driver.rightStick().onTrue(cancelAlignment);


driver.povLeft().whileTrue(
new DriveWithTargetingCommand(drivetrain, driver.getHID(),
()->drivetrain.getPose().plus(
new Transform2d(
new Translation2d( 1,
((DriverStation.getAlliance().orElse(null) == DriverStation.Alliance.Blue)
? AprilTagsCrescendo.getInstance().getTag(AprilTagsCrescendo.Tags.CLIMB_AMP)
: AprilTagsCrescendo.getInstance().getTag(AprilTagsCrescendo.Tags.CLIMB_SOURCE).rotateBy(new Rotation3d(0, 0, Math.PI)))
.getRotation().toRotation2d()
), new Rotation2d()
)
)
)
);
driver.povRight().whileTrue(
new DriveWithTargetingCommand(drivetrain, driver.getHID(),
()->drivetrain.getPose().plus(
new Transform2d(
new Translation2d( 1,
((DriverStation.getAlliance().orElse(null) == DriverStation.Alliance.Blue)
? AprilTagsCrescendo.getInstance().getTag(AprilTagsCrescendo.Tags.CLIMB_SOURCE)
: AprilTagsCrescendo.getInstance().getTag(AprilTagsCrescendo.Tags.CLIMB_AMP).rotateBy(new Rotation3d(0, 0, Math.PI)))
.getRotation().toRotation2d()
), new Rotation2d()
)
)
)
);
driver.povUp().whileTrue(
new DriveWithTargetingCommand(drivetrain, driver.getHID(),
()->drivetrain.getPose().plus(
new Transform2d(
new Translation2d(1,
FlipUtil.flipIfRed(AprilTagsCrescendo.getInstance().getTag(AprilTagsCrescendo.Tags.CLIMB_FAR).getRotation().toRotation2d())
), new Rotation2d()
)
)
)
);

// driver.povLeft().whileTrue(
// new DriveWithTargetingCommand(drivetrain, driver.getHID(),
// ()->drivetrain.getPose().plus(
// new Transform2d(
// new Translation2d( 1,
// ((DriverStation.getAlliance().orElse(null) == DriverStation.Alliance.Blue)
// ? AprilTagsCrescendo.getInstance().getTag(AprilTagsCrescendo.Tags.CLIMB_AMP)
// : AprilTagsCrescendo.getInstance().getTag(AprilTagsCrescendo.Tags.CLIMB_SOURCE).rotateBy(new Rotation3d(0, 0, Math.PI)))
// .getRotation().toRotation2d()
// ), new Rotation2d()
// )
// )
// )
// );
// driver.povRight().whileTrue(
// new DriveWithTargetingCommand(drivetrain, driver.getHID(),
// ()->drivetrain.getPose().plus(
// new Transform2d(
// new Translation2d( 1,
// ((DriverStation.getAlliance().orElse(null) == DriverStation.Alliance.Blue)
// ? AprilTagsCrescendo.getInstance().getTag(AprilTagsCrescendo.Tags.CLIMB_SOURCE)
// : AprilTagsCrescendo.getInstance().getTag(AprilTagsCrescendo.Tags.CLIMB_AMP).rotateBy(new Rotation3d(0, 0, Math.PI)))
// .getRotation().toRotation2d()
// ), new Rotation2d()
// )
// )
// )
// );
// driver.povUp().whileTrue(
// new DriveWithTargetingCommand(drivetrain, driver.getHID(),
// ()->drivetrain.getPose().plus(
// new Transform2d(
// new Translation2d(1,
// FlipUtil.flipIfRed(AprilTagsCrescendo.getInstance().getTag(AprilTagsCrescendo.Tags.CLIMB_FAR).getRotation().toRotation2d())
// ), new Rotation2d()
// )
// )
// )
// );

// coop:button(Back,Zero Shooter,copilot)
copilot.back().onTrue(Commands.runOnce(shooter::zeroPivotToCancoder));

// coop:button(LBumper,Score Amp,copilot)
copilot.leftBumper().whileTrue(new AmpScoreSequence(tramp, indexer, elevator));
Command intakeCommand = new ContinuousIntakeCommand(indexer, 1)
.deadlineWith(CommandUtils.rumbleCommand(driver, 0.5), CommandUtils.rumbleCommand(copilot, 0.5));
// coop:button(RBumper,Intake,copilot)
copilot.rightBumper().whileTrue(intakeCommand);

copilot.povDown().whileTrue(indexer.commandRunIntake(-1));
copilot.povUp().whileTrue(indexer.commandRunIntake(1));
copilot.povRight().whileTrue(IntakeAndFeed.withDefaults(indexer)).onFalse(cancelAlignment);
copilot.povLeft().onTrue(Commands.runOnce(()->elevator.setFlipper(true))).onFalse(Commands.runOnce(()->elevator.setFlipper(false)));
// copilot.povDown().whileTrue(new ElevatorSetpointCommand(elevator, Constants.Elevator.ElevatorState.BOTTOM));
// copilot.povUp().whileTrue(new ElevatorSetpointCommand(elevator, Constants.Elevator.ElevatorState.TOP));
// copilot.povRight().whileTrue(new ElevatorSetpointCommand(elevator, Constants.Elevator.ElevatorState.CLIMB));
// copilot.povLeft().whileTrue(new ElevatorSetpointCommand(elevator, Constants.Elevator.ElevatorState.AMP));


// coop:button(RTrigger,Run Tramp,copilot)
copilot.rightTrigger(0.95).whileTrue(tramp.commandRun(1));
copilot.leftTrigger(0.95).whileTrue(new ClimbAlignment(drivetrain, elevator, tramp, indexer));
// copilot.leftTrigger(0.95).whileTrue(new ClimbAlignment(drivetrain, elevator, tramp, indexer));


copilot.x().whileTrue(new ShootSequence(shooter, indexer));
// coop:button(A,[HOLD] PreAmp,copilot)
copilot.a().whileTrue(new AmpScoreStageSequence(indexer, tramp, elevator).alongWith(ampLock));
// coop:button(B,[HOLD] SHOOT,copilot)
copilot.b()
.and(shooter::areFlywheelsSpunUp)
.and(() -> targetDrive.isScheduled()
|| overstageTargetDrive.isScheduled()
|| counterShuffleDrive.isScheduled())
.whileTrue(IntakeAndFeed.withDefaults(indexer))
.onFalse(cancelAlignment);
// coop:button(Y,[HOLD] Stage Tramp,copilot)
copilot.y().whileTrue(new StageTrampCommand(tramp, indexer));

// copilot.leftTrigger(0.5).whileTrue(new ElevatorSetpointCommand(elevator, ElevatorState.CLIMB));
Expand Down Expand Up @@ -297,6 +309,7 @@ private void configureButtonBindings() {
new Trigger(tramp::isNoteStaged).debounce(0.1)
.onTrue(brakeModeCommand);


driver.start().onTrue(brakeModeCommand);
copilot.start().onTrue(brakeModeCommand);

Expand Down

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