102 lines
5.0 KiB
Java
102 lines
5.0 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 com.pathplanner.lib.auto.NamedCommands;
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.Commands;
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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.AutoShootCommandChassisTurret;
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import frc.robot.commands.AutoShootCommandChassisTurretPathPlanner;
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import frc.robot.commands.AutoTurretCommand;
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import frc.robot.commands.Reverse;
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import frc.robot.subsystems.DriveSubsystem;
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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
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* Command-based is a "declarative" paradigm, very little robot logic should
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* actually be handled in the {@link Robot} periodic methods (other than the
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* scheduler calls). Instead, the structure of the robot (including subsystems,
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* 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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// 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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/**
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* The container for the robot. Contains subsystems, OI devices, and
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* commands.
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*/
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public RobotContainer() {
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// turretSubsystem.setDefaultCommand(new AutoTurretCommand(turretSubsystem, driveSubsystem));
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// turretSubsystem.homeTurret();
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// Configure the trigger bindings
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configureBindings();
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NamedCommands.registerCommand("ChassisAlignShoot", new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem));
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NamedCommands.registerCommand("RunIntake", intakeSubsystem.intake());
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turretSubsystem.setDefaultCommand(new AutoTurretCommand(turretSubsystem, driveSubsystem));
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}
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/**
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* Use this method to define your trigger->command mappings. Triggers can be
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* created via the
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* {@link Trigger#Trigger(java.util.function.BooleanSupplier)} constructor
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* with an arbitrary 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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*/
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private void configureBindings() {
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/*m_driverController.povDown().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_STORED_ANGLE));
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m_driverController.povLeft().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE1));
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m_driverController.povRight().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE3));
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m_driverController.povUp().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE2));*/
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m_driverController.back().whileTrue(new AutoShootCommandChassisTurretPathPlanner(driveSubsystem, hopperSubsystem, turretSubsystem));
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m_driverController.leftBumper().onTrue(Commands.runOnce(() -> turretSubsystem.homeTurret(), turretSubsystem));
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m_driverController.rightBumper().onTrue(Commands.parallel(intakeSubsystem.intake()));
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//m_driverController.y().whileTrue(new RelayCommand(hopperSubsystem, turretSubsystem, intakeSubsystem));
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m_driverController.start().whileTrue(intakeSubsystem.resetDeploy());
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m_driverController.x().whileTrue(new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem));
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m_driverController.b().onTrue(new Reverse(intakeSubsystem, hopperSubsystem));
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m_driverController.y().onTrue(intakeSubsystem.deploy());
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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 Commands.parallel(intakeSubsystem.deploy(), Commands.run(() -> {
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turretSubsystem.homeTurret();
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}, turretSubsystem), driveSubsystem.getAutoCommand());
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}
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}
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