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Merged
ddjoshua01 merged 2 commits into from
Aug 8, 2025
Merged

Transfer Demo Code #67

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47c8e99
code for letting kids drive
aaditsangvikar Apr 30, 2025
c967832
not letting kids 500mph
aaditsangvikar Apr 30, 2025
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128 changes: 71 additions & 57 deletions src/main/java/org/blackknights/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -116,74 +116,61 @@ private void configureBindings() {
swerveSubsystem,
() ->
primaryController.getLeftY()
* ConfigManager.getInstance().get("driver_max_speed", 3.5),
* ConfigManager.getInstance().get("demo_max_speed", 1.0),
() ->
primaryController.getLeftX()
* ConfigManager.getInstance().get("driver_max_speed", 3.5),
* ConfigManager.getInstance().get("demo_max_speed", 1.0),
() ->
-primaryController.getRightX()
* Math.toRadians(
ConfigManager.getInstance()
.get("driver_max_speed_rot", 360)),
.get("demo_max_speed_rot", 90)),
true,
true));

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

primaryController
.rightBumper()
.whileTrue(
new SequentialCommandGroup(
new ParallelRaceGroup(
new DriveCommands(
swerveSubsystem,
primaryController::getLeftY,
primaryController::getLeftX,
() -> -primaryController.getRightX() * Math.PI,
true,
true),
new ElevatorArmCommand(
elevatorSubsystem,
armSubsystem,
() -> ScoringConstants.ScoringHeights.INTAKE),
new IntakeCommand(
intakeSubsystem, IntakeCommand.IntakeMode.INTAKE)),
new RunCommand(
() ->
swerveSubsystem.drive(
ConfigManager.getInstance()
.get("back_mps", -1.0),
0.0,
0.0,
false,
false,
false),
swerveSubsystem)
.withTimeout(
ConfigManager.getInstance()
.get("back_time_sec", 0.2))));
new ParallelRaceGroup(
new DriveCommands(
swerveSubsystem,
() -> primaryController.getLeftY() / 2.0,
() -> primaryController.getLeftX() / 2.0,
() -> -primaryController.getRightX() * Math.PI / 2,
true,
true),
new ElevatorArmCommand(
elevatorSubsystem,
armSubsystem,
() -> ScoringConstants.ScoringHeights.INTAKE),
new IntakeCommand(
intakeSubsystem, IntakeCommand.IntakeMode.INTAKE)));

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

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

primaryController
.a()
.whileTrue(
new RunCommand(
() ->
elevatorSubsystem.setVoltage(
ConfigManager.getInstance()
.get("elevator_manual_zero", -2.0)),
elevatorSubsystem));

primaryController
.x()
.whileTrue(new InstantCommand(() -> elevatorSubsystem.resetEncoders()));
// primaryController
// .a()
// .whileTrue(
// new RunCommand(
// () ->
// elevatorSubsystem.setVoltage(
// ConfigManager.getInstance()
// .get("elevator_manual_zero",
// -2.0)),
// elevatorSubsystem));
//
// primaryController
// .x()
// .whileTrue(new InstantCommand(() -> elevatorSubsystem.resetEncoders()));

// primaryController
// .povUp()
Expand All @@ -195,14 +182,14 @@ private void configureBindings() {
// .get("break_right_encoder_pos",
// -10.0))));

secondaryController
.rightStick()
.onTrue(new InstantCommand(ScoringConstants::recomputeCoralPositions));
// secondaryController
// .rightStick()
// .onTrue(new InstantCommand(ScoringConstants::recomputeCoralPositions));

// SECONDARY CONTROLLER

climberSubsystem.setDefaultCommand(
new ClimberCommand(climberSubsystem, secondaryController));
// climberSubsystem.setDefaultCommand(
// new ClimberCommand(climberSubsystem, secondaryController));

secondaryController
.a()
Expand Down Expand Up @@ -236,13 +223,40 @@ private void configureBindings() {
armSubsystem,
() -> ScoringConstants.ScoringHeights.L4));

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

secondaryController
.leftBumper()
.onTrue(new InstantCommand(() -> coralQueue.stepForwards())); //
.whileTrue(
getPlaceCommand(
() -> coralQueue.getCurrentPosition(), () -> coralQueue.getNext()));

secondaryController
.rightBumper()
.onTrue(new InstantCommand(() -> coralQueue.stepBackwards()));
.onTrue(
new DriveCommands(
swerveSubsystem,
() ->
secondaryController.getLeftY()
* ConfigManager.getInstance()
.get("driver_max_speed", 3.5),
() ->
secondaryController.getLeftX()
* ConfigManager.getInstance()
.get("driver_max_speed", 3.5),
() ->
-secondaryController.getRightX()
* Math.toRadians(
ConfigManager.getInstance()
.get("driver_max_speed_rot", 360)),
true,
true));

secondaryController
.rightTrigger(0.2)
Expand Down
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