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Make controllers modular in robotContainer-- testing has never been easier!1! #113 #114

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merged 1 commit into from
Feb 2, 2024
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Make controllers modular in robotContainer-- testing has never been easier!1! #113 #114

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52 changes: 26 additions & 26 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -117,44 +117,44 @@ public RobotContainer() {
}

private void configureButtonBindings() {
configureDriverBindings();
configureOperatorBindings();
configureDriverBindings(driver);
configureOperatorBindings(operator);
}

private void configureOperatorBindings() {
private void configureOperatorBindings(PatriBoxController controller) {

operator.povUp().toggleOnTrue(climb.povUpCommand(swerve::getPose));
controller.povUp().toggleOnTrue(climb.povUpCommand(swerve::getPose));

operator.povDown().onTrue(climb.toBottomCommand());
controller.povDown().onTrue(climb.toBottomCommand());

operator.povLeft().onTrue(elevator.toBottomCommand());
controller.povLeft().onTrue(elevator.toBottomCommand());

operator.povRight().onTrue(pieceControl.placeTrapCommand());
controller.povRight().onTrue(pieceControl.placeTrapCommand());

operator.leftBumper()
.and(operator.rightBumper())
controller.leftBumper()
.and(controller.rightBumper())
.onTrue(pieceControl.noteToShoot());

operator.rightBumper()
.and(operator.leftBumper().negate())
controller.rightBumper()
.and(controller.leftBumper().negate())
.onTrue(pieceControl.noteToTarget(() -> true));

operator.leftTrigger(OIConstants.OPERATOR_DEADBAND)
controller.leftTrigger(OIConstants.OPERATOR_DEADBAND)
.and(intake.hasGamePieceTrigger().negate())
.onTrue(intake.inCommand());

operator.rightTrigger(OIConstants.OPERATOR_DEADBAND)
controller.rightTrigger(OIConstants.OPERATOR_DEADBAND)
.onTrue(intake.outCommand());

operator.x().onTrue(intake.stop());
controller.x().onTrue(intake.stop());
}

private void configureDriverBindings() {
private void configureDriverBindings(PatriBoxController controller) {

// Upon hitting start or back,
// reset the orientation of the robot
// to be facing away from the driver station
driver.start().or(driver.back()).onTrue(
controller.start().or(driver.back()).onTrue(
Commands.runOnce(() -> swerve.resetOdometry(
new Pose2d(
swerve.getPose().getTranslation(),
Expand All @@ -164,37 +164,37 @@ private void configureDriverBindings() {
: 180))),
swerve));

driver.b()
controller.b()
.whileTrue(Commands.runOnce(swerve::getSetWheelsX));

driver.leftStick()
controller.leftStick()
.toggleOnTrue(swerve.toggleSpeed());

driver.a()
controller.a()
.and(intake.hasGamePieceTrigger().negate())
.onTrue(intake.inCommand());

driver.y()
controller.y()
.onTrue(intake.outCommand());

driver.leftBumper()
controller.leftBumper()
.toggleOnTrue(shooterCalc.prepareFireMovingCommand(() -> true, swerve::getPose));

driver.leftTrigger()
controller.leftTrigger()
.onTrue(shooterCalc.resetShooter());

driver.x()
controller.x()
.onTrue(intake.stop());

driver.rightStick()
controller.rightStick()
.whileTrue(
Commands.sequence(
swerve.resetHDC(),
swerve.getDriveCommand(
() -> {
return new ChassisSpeeds(
driver.getLeftY(),
driver.getLeftX(),
controller.getLeftY(),
controller.getLeftX(),
swerve.getAlignmentSpeeds(Rotation2d.fromDegrees(270)));
},
() -> true)));
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