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Caleb pathing #5

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049eeeb
Added controller recording and following
calebdistel Oct 31, 2022
8f83347
Update RobotContainer.java
calebdistel Nov 1, 2022
8ee5262
Nsl106 Nov 1, 2022
a45511f
Update DriveInterpolator
Nsl106 Nov 2, 2022
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17 changes: 12 additions & 5 deletions src/main/java/org/team498/C2022/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -6,12 +6,13 @@
import static org.team498.C2022.Constants.OIConstants.kDriverControllerID;
import static org.team498.C2022.Constants.OIConstants.kOperatorControllerID;

import org.team498.C2022.Tables.DriveTables;
import org.team498.C2022.commands.CalibrateGyro;
import org.team498.C2022.commands.LimelightTestingSetup;
import org.team498.C2022.commands.ResetGyro;
import org.team498.C2022.commands.RumbleControllerLeft;
import org.team498.C2022.commands.RumbleControllerRight;
import org.team498.C2022.commands.auto.StateChampsTwoBall;
import org.team498.C2022.commands.auto.TableFollower;
import org.team498.C2022.commands.centerer.ToggleCenterer;
import org.team498.C2022.commands.climber.SetClimber;
import org.team498.C2022.commands.climber.TuneClimber;
Expand Down Expand Up @@ -40,6 +41,7 @@
import org.team498.C2022.subsystems.Shooter.ShooterSetting;
import org.team498.C2022.subsystems.Wrist;
import org.team498.C2022.subsystems.Wrist.WristState;
import org.team498.app.ControllerApp;
import org.team498.lib.drivers.Limelight;

import edu.wpi.first.wpilibj.XboxController;
Expand Down Expand Up @@ -109,13 +111,13 @@ private void configureButtonBindings() {

new JoystickButton(operatorController, Button.kY.value).whileHeld(new LimelightAlign(drivetrain, limelight));

new JoystickButton(driverController, Button.kBack.value).whenPressed(new SequentialCommandGroup(
new JoystickButton(driverController, Button.kBack.value).whenPressed(
// new ParabolicTrajectory(drivetrain, 1, 1, 0, 0, 1);
// new LinearTrajectory(drivetrain, 2, 2, 0, 1),
// new LinearTrajectory(drivetrain, 2, -2, 0, 2),
// new LinearTrajectory(drivetrain, 0, 2, 0, 2)

new StateChampsTwoBall(drivetrain, hood, shooter, hopper, intake, wrist, centerer, limelight)));
new TableFollower(drivetrain, Tables.DriveTables.trajectory1));
//new StateChampsTwoBall(drivetrain, hood, shooter, hopper, intake, wrist, centerer, limelight)));
// new RotatingLinearTrajectory(drivetrain, 0, 0, 90, 10)));

new JoystickButton(driverController, Button.kStart.value).toggleWhenActive(new SequentialCommandGroup(
Expand Down Expand Up @@ -185,6 +187,9 @@ private void configureButtonBindings() {
.whileActiveOnce(new ToggleHopper(hopper, HopperSetting.OUTTAKETOP))
.whenInactive(new SetShooter(shooter, 0));

new JoystickButton(operatorController, Button.kBack.value)
.toggleWhenActive(new ControllerApp(driverController, "trajectory1.txt", "/home/lvuser/paths"));
//TODO: Test the input recorder
new JoystickButton(driverController, Button.kRightBumper.value)
// .and(flywheelAtSpeed)
.whileActiveContinuous(new ToggleHopper(hopper, HopperSetting.LOAD));
Expand Down Expand Up @@ -234,7 +239,9 @@ private void configureButtonBindings() {
}

public Command getAutoCommand() {
return new StateChampsTwoBall(drivetrain, hood, shooter, hopper, intake, wrist, centerer, limelight);
return
new TableFollower(drivetrain, DriveTables.trajectory1);
//new StateChampsTwoBall(drivetrain, hood, shooter, hopper, intake, wrist, centerer, limelight);
}

public Command getRobotInitCommand() {
Expand Down
19 changes: 0 additions & 19 deletions src/main/java/org/team498/C2022/ShooterTable.java
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