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Fixing triggers using new controller type. NEEDS TESTING!!! #60

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Merged
TotalTaxAmount merged 4 commits into from
Mar 6, 2025
Merged

Fixing triggers using new controller type. NEEDS TESTING!!! #60

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71368c1
changing to CommandXboxController
aaditsangvikar Mar 5, 2025
45734cc
linting
aaditsangvikar Mar 5, 2025
deed47c
Delete src/main/java/org/blackknights/utils/Controller.java
TotalTaxAmount Mar 6, 2025
3800688
Merge branch 'dev' into new-controller-type
TotalTaxAmount Mar 6, 2025
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94 changes: 61 additions & 33 deletions src/main/java/org/blackknights/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.*;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import java.util.function.Supplier;
import org.blackknights.commands.*;
import org.blackknights.constants.ScoringConstants;
Expand All @@ -28,8 +29,8 @@ public class RobotContainer {
ButtonBoardSubsystem buttonBoardSubsystem = new ButtonBoardSubsystem(buttonBoard);

// Controllers
Controller primaryController = new Controller(0);
Controller secondaryController = new Controller(1);
CommandXboxController primaryController = new CommandXboxController(0);
CommandXboxController secondaryController = new CommandXboxController(1);

private final NetworkTablesUtils NTTune = NetworkTablesUtils.getTable("debug");

Expand Down Expand Up @@ -88,20 +89,26 @@ private void configureBindings() {
true,
true));

primaryController.leftBumper.whileTrue(
getPlaceCommand(() -> coralQueue.getCurrentPosition(), () -> coralQueue.getNext()));

primaryController.rightBumper.whileTrue(
new ParallelCommandGroup(
new ElevatorArmCommand(
elevatorSubsystem,
armSubsystem,
() -> ScoringConstants.ScoringHeights.INTAKE),
new IntakeCommand(intakeSubsystem, IntakeCommand.IntakeMode.INTAKE)));
primaryController
.leftBumper()
.whileTrue(
getPlaceCommand(
() -> coralQueue.getCurrentPosition(), () -> coralQueue.getNext()));

primaryController
.leftBumper()
.whileTrue(
new ParallelCommandGroup(
new ElevatorArmCommand(
elevatorSubsystem,
armSubsystem,
() -> ScoringConstants.ScoringHeights.INTAKE),
new IntakeCommand(
intakeSubsystem, IntakeCommand.IntakeMode.INTAKE)));

elevatorSubsystem.setDefaultCommand(new BaseCommand(elevatorSubsystem, armSubsystem));

primaryController.dpadDown.whileTrue(new RunCommand(() -> swerveSubsystem.zeroGyro()));
primaryController.povDown().whileTrue(new RunCommand(() -> swerveSubsystem.zeroGyro()));

// SECONDARY CONTROLLER

Expand All @@ -113,32 +120,53 @@ private void configureBindings() {
// secondaryController.rightBumper.onTrue(new InstantCommand(() ->
// coralQueue.stepForwards()));

secondaryController.aButton.whileTrue(
new ElevatorArmCommand(
elevatorSubsystem, armSubsystem, () -> ScoringConstants.ScoringHeights.L1));
secondaryController
.a()
.whileTrue(
new ElevatorArmCommand(
elevatorSubsystem,
armSubsystem,
() -> ScoringConstants.ScoringHeights.L1));

secondaryController.bButton.whileTrue(
new ElevatorArmCommand(
elevatorSubsystem, armSubsystem, () -> ScoringConstants.ScoringHeights.L2));
secondaryController
.b()
.whileTrue(
new ElevatorArmCommand(
elevatorSubsystem,
armSubsystem,
() -> ScoringConstants.ScoringHeights.L2));

secondaryController.xButton.whileTrue(
new ElevatorArmCommand(
elevatorSubsystem, armSubsystem, () -> ScoringConstants.ScoringHeights.L3));
secondaryController
.x()
.whileTrue(
new ElevatorArmCommand(
elevatorSubsystem,
armSubsystem,
() -> ScoringConstants.ScoringHeights.L3));

secondaryController.yButton.whileTrue(
new ElevatorArmCommand(
elevatorSubsystem, armSubsystem, () -> ScoringConstants.ScoringHeights.L4));
secondaryController
.y()
.whileTrue(
new ElevatorArmCommand(
elevatorSubsystem,
armSubsystem,
() -> ScoringConstants.ScoringHeights.L4));

secondaryController
.leftBumper()
.onTrue(new InstantCommand(() -> coralQueue.stepForwards()));

secondaryController.leftBumper.onTrue(new InstantCommand(() -> coralQueue.stepForwards()));
secondaryController
.rightBumper()
.onTrue(new InstantCommand(() -> coralQueue.stepBackwards()));

secondaryController.rightBumper.onTrue(
new InstantCommand(() -> coralQueue.stepBackwards()));
secondaryController
.rightTrigger(0.2)
.whileTrue(new IntakeCommand(intakeSubsystem, IntakeCommand.IntakeMode.OUTTAKE));

// secondaryController.rightTrigger.whileTrue(
// new IntakeCommand(intakeSubsystem, IntakeCommand.IntakeMode.OUTTAKE));
//
// secondaryController.leftTrigger.whileTrue(
// new IntakeCommand(intakeSubsystem, IntakeCommand.IntakeMode.INTAKE));
secondaryController
.leftTrigger(0.2)
.whileTrue(new IntakeCommand(intakeSubsystem, IntakeCommand.IntakeMode.INTAKE));
}

/** Runs once when the code starts */
Expand Down
13 changes: 7 additions & 6 deletions src/main/java/org/blackknights/commands/ClimberCommand.java
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Original file line number Diff line number Diff line change
Expand Up @@ -2,35 +2,36 @@
package org.blackknights.commands;

import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import org.blackknights.subsystems.ClimberSubsystem;
import org.blackknights.utils.Controller;

/** Climber command to control the climber */
public class ClimberCommand extends Command {
public ClimberSubsystem climberSubsystem;
public Controller controller;
public CommandXboxController controller;

/**
* Command to controller the climber, right now over pure voltage
*
* @param climberSubsystem The instance of {@link ClimberSubsystem}
* @param controller A {@link Controller} to control the climber
*/
public ClimberCommand(ClimberSubsystem climberSubsystem, Controller controller) {
public ClimberCommand(ClimberSubsystem climberSubsystem, CommandXboxController controller) {
this.climberSubsystem = climberSubsystem;
this.controller = controller;
addRequirements(climberSubsystem);
}

@Override
public void execute() {
if (controller.dpadDown.getAsBoolean()) {
if (controller.povDown().getAsBoolean()) {
climberSubsystem.setClimberSpeed(1);
} else if (controller.dpadUp.getAsBoolean()) {
} else if (controller.povUp().getAsBoolean()) {
climberSubsystem.setClimberSpeed(-1);
} else if (controller.dpadLeft.getAsBoolean()) {
} else if (controller.povLeft().getAsBoolean()) {
climberSubsystem.setLockSpeed(0.5);
} else if (controller.dpadRight.getAsBoolean()) {
} else if (controller.povRight().getAsBoolean()) {
climberSubsystem.setLockSpeed(-0.5);
} else {
climberSubsystem.setClimberSpeed(0);
Expand Down
76 changes: 0 additions & 76 deletions src/main/java/org/blackknights/utils/Controller.java
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