Skip to content

added buttons for shooter and reset pose #18

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
TaylerUva merged 1 commit into from
May 30, 2026
Merged

added buttons for shooter and reset pose #18

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
12 changes: 10 additions & 2 deletions src/main/java/frc/robot/RobotContainer.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -21,8 +21,10 @@
import edu.wpi.first.wpilibj2.command.DeferredCommand;
import frc.robot.DeviceIDs.controllerIDs;
import frc.robot.commands.AddVisionMeasurement;
import frc.robot.commands.ResetPose;
import frc.robot.commands.states.Intaking;
import frc.robot.commands.states.RetractIntake;
import frc.robot.commands.states.Shooting;
import frc.robot.constants.ConstSystem;
import frc.robot.constants.ConstSystem.constControllers;
import frc.robot.subsystems.DriverStateMachine;
Expand Down Expand Up @@ -63,7 +65,8 @@ public class RobotContainer {
private final Vision loggedVisionInstance = visionInstance;
public static final Telemetry telemetryInstance = new Telemetry();
private final Telemetry loggedTelemetryInstance = telemetryInstance;

public static final Shooting shooting = new Shooting();
public static final ResetPose resetPose = new ResetPose();
Command TRY_NONE = Commands.deferredProxy(
() -> stateMachineInstance.tryState(RobotState.NONE));

Expand Down Expand Up @@ -101,12 +104,16 @@ public RobotContainer() {
private void configDriverBindings() {
conDriver.btn_RightTrigger
.whileTrue(intaking);
conDriver.btn_LeftTrigger
conDriver.btn_RightBumper
.whileTrue(retracting);
// Example Pose Drive
conDriver.btn_X
.whileTrue(EXAMPLE_POSE_DRIVE)
.onFalse(Commands.runOnce(() -> driverStateMachineInstance.setDriverState(DriverState.MANUAL)));
conDriver.btn_LeftTrigger
.whileTrue(shooting);
conDriver.btn_North
.onTrue(resetPose);
}

private void configOperatorBindings() {
Expand All @@ -126,6 +133,7 @@ public void configAutonomous() {
final Map<Command, String> autoStartingPoses = Map.ofEntries(
// Example
// Map.entry(autoCommand, "choreoStartingPath"),

);
// enter which we want to do based on name
autoChooser.onChange(selectedAuto -> {
Expand Down
Loading