79 lines
3.3 KiB
Java
79 lines
3.3 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc.robot;
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
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import edu.wpi.first.wpilibj2.command.button.Trigger;
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import frc.robot.Constants.OperatorConstants;
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import frc.robot.commands.Autos;
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import frc.robot.commands.ExampleCommand;
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import frc.robot.subsystems.DriveSubsystem;
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import frc.robot.subsystems.ExampleSubsystem;
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import frc.robot.subsystems.HopperSubsystem;
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import frc.robot.subsystems.IntakeSubsystem;
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import frc.robot.subsystems.TurretSubsystem;
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/**
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* This class is where the bulk of the robot should be declared. Since Command-based is a
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* "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
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* periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
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* subsystems, commands, and trigger mappings) should be declared here.
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*/
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public class RobotContainer {
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// The robot's subsystems and commands are defined here...
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private final ExampleSubsystem m_exampleSubsystem = new ExampleSubsystem();
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// Replace with CommandPS4Controller or CommandJoystick if needed
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private final CommandXboxController m_driverController =
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new CommandXboxController(OperatorConstants.kDriverControllerPort);
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// private final CommandPS4Controller m_driverController = new CommandPS4Controller(OperatorConstants.kDriverControllerPort);
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public final DriveSubsystem driveSubsystem = new DriveSubsystem(m_driverController);
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public final IntakeSubsystem intakeSubsystem = new IntakeSubsystem();
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public final TurretSubsystem turretSubsystem = new TurretSubsystem();
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public final HopperSubsystem hopperSubsystem = new HopperSubsystem();
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/** The container for the robot. Contains subsystems, OI devices, and commands. */
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public RobotContainer() {
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// Configure the trigger bindings
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configureBindings();
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}
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/**
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* Use this method to define your trigger->command mappings. Triggers can be created via the
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* {@link Trigger#Trigger(java.util.function.BooleanSupplier)} constructor with an arbitrary
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* predicate, or via the named factories in {@link
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* edu.wpi.first.wpilibj2.command.button.CommandGenericHID}'s subclasses for {@link
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* CommandXboxController Xbox}/{@link edu.wpi.first.wpilibj2.command.button.CommandPS4Controller
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* PS4} controllers or {@link edu.wpi.first.wpilibj2.command.button.CommandJoystick Flight
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* joysticks}.
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*/
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private void configureBindings() {
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// Schedule `ExampleCommand` when `exampleCondition` changes to `true`
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new Trigger(m_exampleSubsystem::exampleCondition)
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.onTrue(new ExampleCommand(m_exampleSubsystem));
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// Schedule `exampleMethodCommand` when the Xbox controller's B button is pressed,
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// cancelling on release.
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// m_driverController.b().whileTrue(m_exampleSubsystem.exampleMethodCommand());
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}
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/**
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* Use this to pass the autonomous command to the main {@link Robot} class.
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*
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* @return the command to run in autonomous
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*/
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public Command getAutonomousCommand() {
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// An example command will be run in autonomous
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return Autos.exampleAuto(m_exampleSubsystem);
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}
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}
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