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mapping buttons #51

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Merged
Wu-Fan-529 merged 6 commits into from
May 31, 2026
Merged

mapping buttons #51

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86aa577
mapping buttons
FRCTeam3255-Shared-K1-10 May 31, 2026
71d116a
buttons mappin
FRCTeam3255-Shared-K1-10 May 31, 2026
c823519
button mapping
FRCTeam3255-Shared-K1-10 May 31, 2026
4e7ea0a
mapping buttons
FRCTeam3255-Shared-K1-10 May 31, 2026
f4c2d3f
Merge branch 'main' into 33-mapping-states-to-buttons
FRCTeam3255-Shared-K1-10 May 31, 2026
3122087
button map
FRCTeam3255-Shared-K1-10 May 31, 2026
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79 changes: 64 additions & 15 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -22,9 +22,6 @@
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 @@ -59,16 +56,48 @@ public class RobotContainer {
private final StateMachine loggedStateMachineInstance = stateMachineInstance;
public static final RobotPoses robotPose = new RobotPoses();
private final RobotPoses loggedRobotPose = robotPose;
public static final Intaking intaking = new Intaking();
public static final RetractIntake retracting = new RetractIntake();

public static final Vision visionInstance = new Vision();
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));

Command TRY_INTAKING = Commands.deferredProxy(
() -> stateMachineInstance.tryState(RobotState.INTAKING));

Command TRY_SHOOTING = Commands.deferredProxy(
() -> stateMachineInstance.tryState(RobotState.SHOOTING));

Command TRY_EJECTING_HOPPER = Commands.deferredProxy(
() -> stateMachineInstance.tryState(RobotState.EJECTING_HOPPER));

Command TRY_REVERSING_SHOOTER = Commands.deferredProxy(
() -> stateMachineInstance.tryState(RobotState.REVERSING_SHOOTER));

Command TRY_PREPANYWHERE = Commands.deferredProxy(
() -> stateMachineInstance.tryState(RobotState.PREP_ANYWHERE));

Command TRY_PREPTRENCH = Commands.deferredProxy(
() -> stateMachineInstance.tryState(RobotState.PREP_TRENCH));

Command TRY_PREPNEAUTRALTOALLIANCE = Commands.deferredProxy(
() -> stateMachineInstance.tryState(RobotState.PREP_NEUTRAL_TO_ALLIANCE));

Command TRY_PREPOPPONENTOALLIANCE = Commands.deferredProxy(
() -> stateMachineInstance.tryState(RobotState.PREP_OPPONENT_TO_ALLIANCE));

Command TRY_PREPTOWER = Commands.deferredProxy(
() -> stateMachineInstance.tryState(RobotState.PREP_TOWER));

Command TRY_PREPHUB = Commands.deferredProxy(
() -> stateMachineInstance.tryState(RobotState.PREP_HUB));

Command TRY_PREPCORNER = Commands.deferredProxy(
() -> stateMachineInstance.tryState(RobotState.PREP_CORNER));

Command TRY_RETRACTING = Commands.deferredProxy(
() -> stateMachineInstance.tryState(RobotState.PREP_CORNER));

Command MANUAL = new DeferredCommand(
driverStateMachineInstance.tryState(
Expand Down Expand Up @@ -102,16 +131,36 @@ public RobotContainer() {
}

private void configDriverBindings() {
conDriver.btn_LeftTrigger
.whileTrue(TRY_INTAKING);
conDriver.btn_RightStick
.onTrue(TRY_RETRACTING);
conDriver.btn_South
.whileTrue(TRY_EJECTING_HOPPER);
conDriver.btn_East
.whileTrue(TRY_REVERSING_SHOOTER);
conDriver.btn_West
.onTrue(TRY_PREPNEAUTRALTOALLIANCE);
conDriver.btn_LeftStick
.onTrue(TRY_PREPOPPONENTOALLIANCE);
conDriver.btn_RightTrigger
.whileTrue(intaking);
.whileTrue(TRY_SHOOTING);
conDriver.btn_A
.onTrue(TRY_PREPTRENCH);
conDriver.btn_B
.onTrue(TRY_PREPCORNER);
conDriver.btn_X
.onTrue(TRY_PREPTOWER);
conDriver.btn_Y
.onTrue(TRY_PREPHUB);
conDriver.btn_RightBumper
.whileTrue(retracting);
.onTrue(TRY_PREPANYWHERE);

// Example Pose Drive
conDriver.btn_X
.whileTrue(EXAMPLE_POSE_DRIVE)
.onFalse(Commands.runOnce(() -> driverStateMachineInstance.setDriverState(DriverState.MANUAL)));
conDriver.btn_LeftTrigger
.whileTrue(shooting);
// conDriver.btn_X
// .whileTrue(EXAMPLE_POSE_DRIVE)
// .onFalse(Commands.runOnce(() ->
// driverStateMachineInstance.setDriverState(DriverState.MANUAL)));
conDriver.btn_North
.onTrue(resetPose);
}
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