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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc.robot;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
import frc.robot.subsystems.Drivetrain;
public class RobotContainer
{
private final Drivetrain m_drive = new Drivetrain();
private final CommandXboxController m_controller = Constants.controller;
public RobotContainer()
{
configureBindings();
}
private double deadzone(double low, double high, double val) {
if(val > low && val < high) return 0.0;
return val;
}
private void configureBindings()
{
m_drive.setDefaultCommand(m_drive.run(() ->
m_drive.tank(
deadzone(-0.09, 0.09, m_controller.getLeftY()) * Constants.DriveMaxSpeed,
deadzone(-0.09, 0.09, m_controller.getRightY()) * Constants.DriveMaxSpeed
)));
// debug controls
m_controller.a().onTrue(Commands.runOnce(() -> {
Pose2d pose = m_drive.pose2d();
System.out.println("x: " + pose.getX() +" y: "+ pose.getY());
System.out.println("yaw: " + Constants.gyro.toRotation2d().getDegrees());
}));
m_controller.b().onTrue(Commands.runOnce(() -> {
System.out.println("Reset");
m_drive.reset();
}));
m_controller.x().and(m_controller.leftBumper())
.onTrue(Commands.sequence(Commands.runOnce(() ->
System.out.println("Quasistatic Forward")),
m_drive.sysIdQausistatic(SysIdRoutine.Direction.kForward)));
m_controller.x().and(m_controller.rightBumper())
.onTrue(Commands.sequence(Commands.runOnce(() ->
System.out.println("Quasistatic Reverse")),
m_drive.sysIdQausistatic(SysIdRoutine.Direction.kReverse)));
m_controller.y().and(m_controller.leftBumper())
.onTrue(Commands.sequence(Commands.runOnce(() ->
System.out.println("Dynamic Forward")),
m_drive.sysIdQausistatic(SysIdRoutine.Direction.kForward)));
m_controller.y().and(m_controller.rightBumper())
.onTrue(Commands.sequence(Commands.runOnce(() ->
System.out.println("Dynamic Reverse")),
m_drive.sysIdQausistatic(SysIdRoutine.Direction.kReverse)));
}
public Command getAutonomousCommand()
{
return Commands.print("No autonomous command configured");
}
}
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