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Deleted ManualHopperCommand because it was never called and never meant to be permanent

This commit is contained in:
TheRealGrayden 2026-04-07 19:16:20 -04:00
parent 57fa16b4b3
commit eb16cf40fe
3 changed files with 64 additions and 121 deletions
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2
lib/RoboLib

@ -1 +1 @@
Subproject commit 840c851253187081a50ca9492c032cec8d376e7b Subproject commit cd9dee709893a27de40fb86e441223dd4c068b12

125
src/main/java/frc/robot/RobotContainer.java
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@ -1,12 +1,10 @@
// Copyright (c) FIRST and other WPILib contributors. // Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of // Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project. // the WPILib BSD license file in the root directory of this project.
package frc.robot; package frc.robot;
import com.pathplanner.lib.auto.NamedCommands; import com.pathplanner.lib.auto.NamedCommands;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
@ -14,10 +12,6 @@ import edu.wpi.first.wpilibj2.command.button.Trigger;
import frc.robot.Constants.OperatorConstants; import frc.robot.Constants.OperatorConstants;
import frc.robot.commands.AutoShootCommandChassisTurret; import frc.robot.commands.AutoShootCommandChassisTurret;
import frc.robot.commands.AutoShootCommandChassisTurretPathPlanner; import frc.robot.commands.AutoShootCommandChassisTurretPathPlanner;
import frc.robot.commands.AutoTurretCommand;
import frc.robot.commands.ManualHopperCommand;
import frc.robot.commands.ManualIntake;
import frc.robot.commands.ManualShootCommand;
import frc.robot.commands.RelayCommand; import frc.robot.commands.RelayCommand;
import frc.robot.commands.SetDeflectorCommand; import frc.robot.commands.SetDeflectorCommand;
import frc.robot.subsystems.DriveSubsystem; import frc.robot.subsystems.DriveSubsystem;
@ -26,73 +20,80 @@ import frc.robot.subsystems.IntakeSubsystem;
import frc.robot.subsystems.TurretSubsystem; import frc.robot.subsystems.TurretSubsystem;
/** /**
* This class is where the bulk of the robot should be declared. Since Command-based is a * This class is where the bulk of the robot should be declared. Since
* "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot} * Command-based is a "declarative" paradigm, very little robot logic should
* periodic methods (other than the scheduler calls). Instead, the structure of the robot (including * actually be handled in the {@link Robot} periodic methods (other than the
* subsystems, commands, and trigger mappings) should be declared here. * scheduler calls). Instead, the structure of the robot (including subsystems,
* commands, and trigger mappings) should be declared here.
*/ */
public class RobotContainer { public class RobotContainer {
// The robot's subsystems and commands are defined here... // The robot's subsystems and commands are defined here...
// Replace with CommandPS4Controller or CommandJoystick if needed // Replace with CommandPS4Controller or CommandJoystick if needed
private final CommandXboxController m_driverController =
new CommandXboxController(OperatorConstants.kDriverControllerPort);
// private final CommandPS4Controller m_driverController = new CommandPS4Controller(OperatorConstants.kDriverControllerPort); private final CommandXboxController m_driverController
public final DriveSubsystem driveSubsystem = new DriveSubsystem(m_driverController); = new CommandXboxController(OperatorConstants.kDriverControllerPort);
public final IntakeSubsystem intakeSubsystem = new IntakeSubsystem(); // private final CommandPS4Controller m_driverController = new CommandPS4Controller(OperatorConstants.kDriverControllerPort);
public final DriveSubsystem driveSubsystem = new DriveSubsystem(m_driverController);
public final TurretSubsystem turretSubsystem = new TurretSubsystem(); public final IntakeSubsystem intakeSubsystem = new IntakeSubsystem();
public final HopperSubsystem hopperSubsystem = new HopperSubsystem(); public final TurretSubsystem turretSubsystem = new TurretSubsystem();
/** The container for the robot. Contains subsystems, OI devices, and commands. */
public RobotContainer() {
// turretSubsystem.setDefaultCommand(new AutoTurretCommand(turretSubsystem, driveSubsystem)); public final HopperSubsystem hopperSubsystem = new HopperSubsystem();
// turretSubsystem.homeTurret();
// Configure the trigger bindings /**
configureBindings(); * The container for the robot. Contains subsystems, OI devices, and
* commands.
*/
public RobotContainer() {
NamedCommands.registerCommand("ChassisAlignShoot", new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem)); // turretSubsystem.setDefaultCommand(new AutoTurretCommand(turretSubsystem, driveSubsystem));
// turretSubsystem.homeTurret();
// Configure the trigger bindings
configureBindings();
} NamedCommands.registerCommand("ChassisAlignShoot", new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem));
/** }
* Use this method to define your trigger->command mappings. Triggers can be created via the
* {@link Trigger#Trigger(java.util.function.BooleanSupplier)} constructor with an arbitrary
* predicate, or via the named factories in {@link
* edu.wpi.first.wpilibj2.command.button.CommandGenericHID}'s subclasses for {@link
* CommandXboxController Xbox}/{@link edu.wpi.first.wpilibj2.command.button.CommandPS4Controller
* PS4} controllers or {@link edu.wpi.first.wpilibj2.command.button.CommandJoystick Flight
* joysticks}.
* */
private void configureBindings() { /**
m_driverController.povDown().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_STORED_ANGLE)); * Use this method to define your trigger->command mappings. Triggers can be
m_driverController.povLeft().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE1)); * created via the
m_driverController.povRight().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE3)); * {@link Trigger#Trigger(java.util.function.BooleanSupplier)} constructor
m_driverController.povUp().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE2)); * with an arbitrary predicate, or via the named factories in {@link
* edu.wpi.first.wpilibj2.command.button.CommandGenericHID}'s subclasses for {@link
m_driverController.back().whileTrue(new AutoShootCommandChassisTurretPathPlanner(driveSubsystem, hopperSubsystem, turretSubsystem)); * CommandXboxController Xbox}/{@link edu.wpi.first.wpilibj2.command.button.CommandPS4Controller
//m_driverController.a().whileTrue(new AutoShootCommandChassisTurretPathPlanner(driveSubsystem, hopperSubsystem, turretSubsystem)); * PS4} controllers or {@link edu.wpi.first.wpilibj2.command.button.CommandJoystick Flight
// m_driverController:wa.a().whileTrue(new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem)); * joysticks}.
m_driverController.leftBumper().onTrue(Commands.runOnce(() -> turretSubsystem.homeTurret(), turretSubsystem));
m_driverController.rightBumper().onTrue(intakeSubsystem.intake());
m_driverController.y().whileTrue(new RelayCommand(hopperSubsystem, turretSubsystem, intakeSubsystem));
m_driverController.start().whileTrue(intakeSubsystem.resetDeploy());
m_driverController.x().whileTrue(new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem));
}
/**
* Use this to pass the autonomous command to the main {@link Robot} class.
* *
* @return the command to run in autonomous */
*/ private void configureBindings() {
public Command getAutonomousCommand() { m_driverController.povDown().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_STORED_ANGLE));
// An example command will be run in autonomous m_driverController.povLeft().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE1));
return Commands.parallel(intakeSubsystem.deploy(), Commands.run(()-> {turretSubsystem.homeTurret();}, turretSubsystem), driveSubsystem.getAutoCommand()); m_driverController.povRight().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE3));
} m_driverController.povUp().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE2));
m_driverController.back().whileTrue(new AutoShootCommandChassisTurretPathPlanner(driveSubsystem, hopperSubsystem, turretSubsystem));
//m_driverController.a().whileTrue(new AutoShootCommandChassisTurretPathPlanner(driveSubsystem, hopperSubsystem, turretSubsystem));
// m_driverController:wa.a().whileTrue(new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem));
m_driverController.leftBumper().onTrue(Commands.runOnce(() -> turretSubsystem.homeTurret(), turretSubsystem));
m_driverController.rightBumper().onTrue(intakeSubsystem.intake());
m_driverController.y().whileTrue(new RelayCommand(hopperSubsystem, turretSubsystem, intakeSubsystem));
m_driverController.start().whileTrue(intakeSubsystem.resetDeploy());
m_driverController.x().whileTrue(new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem));
}
/**
* Use this to pass the autonomous command to the main {@link Robot} class.
*
* @return the command to run in autonomous
*/
public Command getAutonomousCommand() {
// An example command will be run in autonomous
return Commands.parallel(intakeSubsystem.deploy(), Commands.run(() -> {
turretSubsystem.homeTurret();
}, turretSubsystem), driveSubsystem.getAutoCommand());
}
} }

58
src/main/java/frc/robot/commands/ManualHopperCommand.java
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@ -1,58 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc.robot.commands;
import frc.robot.subsystems.HopperSubsystem;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj2.command.Command;
/** An example command that uses an example subsystem. */
public class ManualHopperCommand extends Command {
private final HopperSubsystem m_subsystem;
private final XboxController m_xboxController;
public ManualHopperCommand(HopperSubsystem subsystem, XboxController xboxController) {
m_subsystem = subsystem;
m_xboxController = xboxController;
addRequirements(subsystem);
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
m_subsystem.spindexerOn();
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(m_xboxController.getLeftTriggerAxis()>.5 && m_xboxController.getRightTriggerAxis()>.2)
{
m_subsystem.feedKicker();
}
else
{
m_subsystem.stopKicker();
}
if(m_xboxController.getRightBumper())
{
m_subsystem.spindexerOn();
}
if(m_xboxController.getLeftBumper())
{
m_subsystem.spindexerOff();
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}