button binding

team581 · Sep 14, 2024 · 1a59d99 · 1a59d99
1 parent 9df4054
commit 1a59d99
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Showing 3 changed files with 51 additions and 14 deletions.
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -131,37 +131,66 @@ public void testPeriodic() {}
   public void testExit() {}
 
   private void configureBindings() {
+    // TODO: Swerve button bindings
+
     hardware
         .driverController
         .rightTrigger()
         .onTrue(robotCommands.confirmShotCommand())
-        .onFalse(robotCommands.stowCommand());
+        .onFalse(robotCommands.stopShootingCommand());
     hardware
         .driverController
         .leftTrigger()
         .onTrue(robotCommands.intakeCommand())
         .onFalse(robotCommands.stowCommand());
-    // TODO: Two of these bindings use right bumper
     hardware
         .driverController
         .rightBumper()
-        .onTrue(robotCommands.feedingCommand())
-        .onFalse(robotCommands.stowCommand());
+        .onTrue(robotCommands.passCommand())
+        .onFalse(robotCommands.stopShootingCommand());
     hardware
         .driverController
-        .rightBumper()
-        .onTrue(robotCommands.passCommand())
-        .onFalse(robotCommands.stowCommand());
+        .leftBumper()
+        .onTrue(robotCommands.feedingCommand())
+        .onFalse(robotCommands.stopShootingCommand());
 
     hardware
         .operatorController
         .rightTrigger()
         .onTrue(robotCommands.ampCommand())
-        .onFalse(robotCommands.stowCommand());
+        .onFalse(robotCommands.stopShootingCommand());
     hardware
         .operatorController
         .leftTrigger()
         .onTrue(robotCommands.subwooferCommand())
         .onFalse(robotCommands.stowCommand());
+    hardware
+        .operatorController
+        .x()
+        .onTrue(robotCommands.outtakeCommand())
+        .onFalse(robotCommands.stowCommand());
+    hardware
+        .operatorController
+        .a()
+        .onTrue(robotCommands.stowCommand());
+    hardware
+        .operatorController
+        .povUp()
+        .onTrue(robotCommands.climbUpCommand());
+    hardware
+        .operatorController
+        .povDown()
+        .onTrue(robotCommands.climbDownCommand());
+    hardware
+        .operatorController
+        .povLeft()
+        .onTrue(robotCommands.unjamCommand())
+        .onFalse(robotCommands.stowCommand());
+
+
+
+
+
+
   }
 }
diff --git a/src/main/java/frc/robot/robot_manager/RobotCommands.java b/src/main/java/frc/robot/robot_manager/RobotCommands.java
@@ -89,4 +89,16 @@ public Command subwooferCommand() {
     return Commands.runOnce(robot::prepareSubwooferRequest, requirements)
         .andThen(robot.waitForState(RobotState.IDLE_NO_GP));
   }
+  public Command climbUpCommand(){
+    return Commands.runOnce(robot::nextClimbStateRequest, requirements)
+        .andThen(robot.waitForState(RobotState.CLIMBING_2_HANGING));
+  }
+  public Command climbDownCommand(){
+    return Commands.runOnce(robot::previousClimbStateRequest, requirements)
+        .andThen(robot.waitForState(RobotState.CLIMBING_1_LINEUP));
+  }
+  public Command unjamCommand(){
+    return Commands.runOnce(robot::unjamRequest, requirements)
+        .andThen(robot.waitForState(RobotState.IDLE_NO_GP));
+  }
 }
diff --git a/src/main/java/frc/robot/robot_manager/RobotManager.java b/src/main/java/frc/robot/robot_manager/RobotManager.java
@@ -341,17 +341,13 @@ public void prepareFeedRequest() {
   }
 
   public void stopShootingRequest() {
+    // If we are actively taking a shot, ignore the request to avoid messing up shooting
     switch (getState()) {
       case SPEAKER_SCORING,
           SUBWOOFER_SCORING,
           AMP_SCORING,
           FEEDING_SHOOTING,
-          PASS_SHOOTING,
-          SPEAKER_PREPARE_TO_SCORE,
-          SUBWOOFER_PREPARE_TO_SCORE,
-          AMP_PREPARE_TO_SCORE,
-          FEEDING_PREPARE_TO_SHOOT,
-          PASS_PREPARE_TO_SHOOT -> {}
+          PASS_SHOOTING -> {}
       default -> setStateFromRequest(RobotState.IDLE_WITH_GP);
     }
   }