fixed button bindings and added arm requirement for run once.

Team-4795 · Feb 12, 2025 · 0ea9662 · 0ea9662
1 parent 11e567d
commit 0ea9662
Showing 1 changed file with 13 additions and 15 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -50,8 +50,6 @@ public class RobotContainer {
 
   private final Telemetry logger = new Telemetry(MaxSpeed);
 
-  private final CommandXboxController joystick = new CommandXboxController(0);
-
   public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
 
 
@@ -115,26 +113,26 @@ private void configureBindings() {{
       drivetrain.setDefaultCommand(
           // Drivetrain will execute this command periodically
           drivetrain.applyRequest(() ->
-              drive.withVelocityX(-joystick.getLeftY() * MaxSpeed) // Drive forward with negative Y (forward)
-                  .withVelocityY(-joystick.getLeftX() * MaxSpeed) // Drive left with negative X (left)
-                  .withRotationalRate(-joystick.getRightX() * MaxAngularRate) // Drive counterclockwise with negative X (left)
+              drive.withVelocityX(-Constants.OIConstants.driverController.getLeftY() * MaxSpeed) // Drive forward with negative Y (forward)
+                  .withVelocityY(-Constants.OIConstants.driverController.getLeftX() * MaxSpeed) // Drive left with negative X (left)
+                  .withRotationalRate(-Constants.OIConstants.driverController.getRightX() * MaxAngularRate) // Drive counterclockwise with negative X (left)
           )
       );
 
-      joystick.a().whileTrue(drivetrain.applyRequest(() -> brake));
-      joystick.b().whileTrue(drivetrain.applyRequest(() ->
-          point.withModuleDirection(new Rotation2d(-joystick.getLeftY(), -joystick.getLeftX()))
+      Constants.OIConstants.driverController.a().whileTrue(drivetrain.applyRequest(() -> brake));
+      Constants.OIConstants.driverController.b().whileTrue(drivetrain.applyRequest(() ->
+          point.withModuleDirection(new Rotation2d(-Constants.OIConstants.driverController.getLeftY(), -Constants.OIConstants.driverController.getLeftX()))
       ));
 
       // Run SysId routines when holding back/start and X/Y.
       // Note that each routine should be run exactly once in a single log.
-      joystick.back().and(joystick.y()).whileTrue(drivetrain.sysIdDynamic(Direction.kForward));
-      joystick.back().and(joystick.x()).whileTrue(drivetrain.sysIdDynamic(Direction.kReverse));
-      joystick.start().and(joystick.y()).whileTrue(drivetrain.sysIdQuasistatic(Direction.kForward));
-      joystick.start().and(joystick.x()).whileTrue(drivetrain.sysIdQuasistatic(Direction.kReverse));
+      Constants.OIConstants.driverController.back().and(Constants.OIConstants.driverController.y()).whileTrue(drivetrain.sysIdDynamic(Direction.kForward));
+      Constants.OIConstants.driverController.back().and(Constants.OIConstants.driverController.x()).whileTrue(drivetrain.sysIdDynamic(Direction.kReverse));
+      Constants.OIConstants.driverController.start().and(Constants.OIConstants.driverController.y()).whileTrue(drivetrain.sysIdQuasistatic(Direction.kForward));
+      Constants.OIConstants.driverController.start().and(Constants.OIConstants.driverController.x()).whileTrue(drivetrain.sysIdQuasistatic(Direction.kReverse));
 
       // reset the field-centric heading on left bumper press
-      joystick.leftBumper().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric()));
+      Constants.OIConstants.driverController.leftBumper().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric()));
 
       drivetrain.registerTelemetry(logger::telemeterize);
     // drive.setDefaultCommand(
@@ -191,7 +189,7 @@ private void configureBindings() {{
     Constants.OIConstants.operatorController.povRight().onTrue(
       Commands.sequence(
         Commands.parallel(
-          Commands.runOnce(() -> Arm.getInstance().setGoal(1.02)),
+          Commands.runOnce(() -> Arm.getInstance().setGoal(1.02), Arm.getInstance()),
           Elevator.getInstance().setGoal(0.57)
         )
       )
@@ -200,7 +198,7 @@ private void configureBindings() {{
     Constants.OIConstants.operatorController.povLeft().onTrue(
       Commands.sequence(
         Elevator.getInstance().setGoal(ElevatorConstants.minDistance),
-        Commands.runOnce(() -> Arm.getInstance().setGoal(-1.8)),
+        Commands.runOnce(() -> Arm.getInstance().setGoal(-1.8), Arm.getInstance()),
         Commands.waitSeconds(1.5)
       )
     );