admin6494/FRC6494_2026Regional-offseason
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OnDYCLaptop
2026-07-07 23:25:10 +08:00
parent 2b14e3f99e
commit 1c39a3bc42
15 changed files with 1518 additions and 412 deletions
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src/main/java/frc/robot/RobotContainer.java
+20 -3
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@@ -82,6 +82,12 @@ public class RobotContainer {
new ConfigTalonFXMotorTuner(shooterSubsystem.leftConveyor, "conveyor", Constants.Shooter.conveyorSlot0Configs);
private ConfigTalonFXSMotorTuner configBackboardTuner =
new ConfigTalonFXSMotorTuner(shooterSubsystem.backboardMotor, "backboard", Constants.Shooter.backboardSlot0Configs);
private ConfigTalonFXMotorTuner configMainConveyorTuner =
new ConfigTalonFXMotorTuner(conveyorSubsystem.mainConveyor, "mainconveyor", Constants.Conveyor.mainConveyorSlot0Configs);
private ConfigTalonFXMotorTuner configIntakerRollerTuner =
new ConfigTalonFXMotorTuner(intakeRollerSubsystem.leftIntakeRoller, "intakerroller", Constants.Intaker.intakeRollerSlot0Configs);
private ConfigTalonFXMotorTuner configIntakerRotaterTuner =
new ConfigTalonFXMotorTuner(intakeRotaterSubsystem.leftIntakeRotater, "intakerrotater", Constants.Intaker.intakeRotaterSlot0Configs);
private final SendableChooser<Command> autoChooser;
private final Trigger enableTrigger = new Trigger(DriverStation::isEnabled);
@@ -175,8 +181,8 @@ public class RobotContainer {
controllerupper.b().and(teleopOnly)
.onTrue(operatorControls.requestEjectCommand())
.onFalse(operatorControls.requestIdleCommand());
controllerupper.povLeft().onTrue(Commands.runOnce(() -> operatorControls.adjustFlywheelSpeedOffset(-1)));
controllerupper.povRight().onTrue(Commands.runOnce(() -> operatorControls.adjustFlywheelSpeedOffset(1)));
controllerupper.povLeft().onTrue(Commands.runOnce(() -> operatorControls.adjustFlywheelVoltageOffset(-0.1)));
controllerupper.povRight().onTrue(Commands.runOnce(() -> operatorControls.adjustFlywheelVoltageOffset(0.1)));
controllerupper.povUp().onTrue(Commands.runOnce(() -> operatorControls.adjustBackboardRateOffset(100)));
controllerupper.povDown().onTrue(Commands.runOnce(() -> operatorControls.adjustBackboardRateOffset(-100)));
controllerupper.back().onTrue(Commands.runOnce(() -> operatorControls.resetOffsets()));
@@ -196,7 +202,11 @@ public class RobotContainer {
configFlywheelTuner.periodic(() -> shooterSubsystem.applyLeftConfigurationToRight());
configConveyorTuner.periodic(null);
configBackboardTuner.periodic();
shooterSubsystem.setRightFollowLeft();
shooterSubsystem.debugBackboardTargetPeriodic();
configMainConveyorTuner.periodic(null);
configIntakerRollerTuner.periodic(null);
configIntakerRotaterTuner.periodic(null);
shooterSubsystem.setRightConveyorFollowLeft();
}
public void dashboardPeriodic() {
@@ -221,5 +231,12 @@ public class RobotContainer {
.onTrue(operatorControls.requestManualCommand())
.whileTrue(operatorControls.manualLowerIntakeRotaterCommand(intakeRotaterSubsystem))
.onFalse(operatorControls.requestIdleCommand());
controllerupper.y().and(teleopOnly)
.onTrue(Commands.sequence(
operatorControls.requestManualCommand(),
operatorControls.lowerIntakeRotaterForMatchCommand(intakeRotaterSubsystem),
operatorControls.requestIdleCommand()
));
}
}