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Castor2026
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Evil Racoon Man is here to steal your trash

This commit is contained in:
Team578 Driver Station 2026-04-11 13:34:59 -04:00
parent b45ab87b34
commit 75cb1bb439
3 changed files with 21 additions and 13 deletions
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3
simgui-ds.json
View File

@ -99,7 +99,8 @@
],
"robotJoysticks": [
{
"guid": "Keyboard0"
"guid": "78696e70757401000000000000000000",
"useGamepad": true
}
]
}

2
src/main/java/frc/robot/RobotContainer.java
View File

@ -84,7 +84,7 @@ public class RobotContainer {
m_driverController.y().whileTrue(new RelayCommand(hopperSubsystem, turretSubsystem, intakeSubsystem));
m_driverController.start().whileTrue(intakeSubsystem.resetDeploy());
m_driverController.x().toggleOnTrue(new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem));
m_driverController.b().toggleOnTrue(new ZoneCheck());
m_driverController.b().toggleOnTrue(new ZoneCheck(driveSubsystem));
}
/**

29
src/main/java/frc/robot/commands/ZoneCheck.java
View File

@ -9,20 +9,27 @@ import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.Constants;
import frc.robot.subsystems.DriveSubsystem;
public class ZoneCheck extends Command {
private AprilTagFieldLayout fieldTags = AprilTagFieldLayout.loadField(AprilTagFields.k2026RebuiltWelded);
private Zone zone;
private DriveSubsystem driveSubsystem;
public ZoneCheck(DriveSubsystem driveSubsystem)
{
this.driveSubsystem = driveSubsystem;
}
public enum Zone {
Blue,
Red,
Neutral;
Neutral,
INIT;
}
@Override
public void initialize() {
zone = Zone.INIT;
}
@Override
@ -36,8 +43,10 @@ public class ZoneCheck extends Command {
System.out.println("Im Home");
case Neutral:
System.out.println("Uhhhhhhhh not red");
default:
case Red:
System.out.println("BOOOOO, BOOOO RED");
default:
System.out.println("Where am I :(");
}
} else {
switch (zone) {
@ -45,8 +54,10 @@ public class ZoneCheck extends Command {
System.out.println("Screw Blue");
case Neutral:
System.out.println("Uhhhhhhhh not red");
case Red:
System.out.println("BOOOOO, BOOOO RED");
default:
System.out.println("Im Home");
System.out.println("Where am I :(");
}
}
});
@ -57,14 +68,10 @@ public class ZoneCheck extends Command {
return false;
}
private double[] getBotPose() {
return LimelightHelpers.getBotPose_wpiBlue(Constants.CameraConstanst.BACK_CAMERA_NAME);
}
private void getZone() {
if (getBotPose()[0] >= Constants.CameraConstanst.RED_ZONE_COOR[0]) {
if (driveSubsystem.getBotPose().getX() >= Constants.CameraConstanst.RED_ZONE_COOR[0]) {
zone = Zone.Red;
} else if (getBotPose()[0] >= Constants.CameraConstanst.NEUTRAL_ZONE_COOR[0]) {
} else if (driveSubsystem.getBotPose().getX() >= Constants.CameraConstanst.NEUTRAL_ZONE_COOR[0]) {
zone = Zone.Neutral;
} else {
zone = Zone.Blue;