diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 26d07e25..22dd9a88 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -10,13 +10,9 @@ import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.wpilibj.Filesystem; import edu.wpi.first.wpilibj.RobotBase; -import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; -import edu.wpi.first.wpilibj2.command.InstantCommand; -import edu.wpi.first.wpilibj2.command.button.CommandJoystick; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; -import edu.wpi.first.wpilibj2.command.button.JoystickButton; import edu.wpi.first.wpilibj2.command.button.Trigger; import frc.robot.Constants.OperatorConstants; import frc.robot.commands.swervedrive.drivebase.AbsoluteDriveAdv; @@ -34,12 +30,9 @@ public class RobotContainer // The robot's subsystems and commands are defined here... private final SwerveSubsystem drivebase = new SwerveSubsystem(new File(Filesystem.getDeployDirectory(), "swerve/neo")); - // CommandJoystick rotationController = new CommandJoystick(1); - // Replace with CommandPS4Controller or CommandJoystick if needed - CommandJoystick driverController = new CommandJoystick(1); - // CommandJoystick driverController = new CommandJoystick(3);//(OperatorConstants.DRIVER_CONTROLLER_PORT); - XboxController driverXbox = new XboxController(0); + // Replace with CommandPS4Controller or CommandJoystick if needed + final CommandXboxController driverXbox = new CommandXboxController(0); /** * The container for the robot. Contains subsystems, OI devices, and commands. @@ -50,16 +43,16 @@ public RobotContainer() configureBindings(); AbsoluteDriveAdv closedAbsoluteDriveAdv = new AbsoluteDriveAdv(drivebase, - () -> MathUtil.applyDeadband(driverXbox.getLeftY(), + () -> -MathUtil.applyDeadband(driverXbox.getLeftY(), OperatorConstants.LEFT_Y_DEADBAND), - () -> MathUtil.applyDeadband(driverXbox.getLeftX(), + () -> -MathUtil.applyDeadband(driverXbox.getLeftX(), OperatorConstants.LEFT_X_DEADBAND), - () -> MathUtil.applyDeadband(driverXbox.getRightX(), + () -> -MathUtil.applyDeadband(driverXbox.getRightX(), OperatorConstants.RIGHT_X_DEADBAND), - driverXbox::getYButtonPressed, - driverXbox::getAButtonPressed, - driverXbox::getXButtonPressed, - driverXbox::getBButtonPressed); + driverXbox.getHID()::getYButtonPressed, + driverXbox.getHID()::getAButtonPressed, + driverXbox.getHID()::getXButtonPressed, + driverXbox.getHID()::getBButtonPressed); // Applies deadbands and inverts controls because joysticks // are back-right positive while robot @@ -67,10 +60,10 @@ public RobotContainer() // left stick controls translation // right stick controls the desired angle NOT angular rotation Command driveFieldOrientedDirectAngle = drivebase.driveCommand( - () -> MathUtil.applyDeadband(driverXbox.getLeftY(), OperatorConstants.LEFT_Y_DEADBAND), - () -> MathUtil.applyDeadband(driverXbox.getLeftX(), OperatorConstants.LEFT_X_DEADBAND), - () -> driverXbox.getRightX(), - () -> driverXbox.getRightY()); + () -> -MathUtil.applyDeadband(driverXbox.getLeftY(), OperatorConstants.LEFT_Y_DEADBAND), + () -> -MathUtil.applyDeadband(driverXbox.getLeftX(), OperatorConstants.LEFT_X_DEADBAND), + () -> -driverXbox.getRightX(), + () -> -driverXbox.getRightY()); // Applies deadbands and inverts controls because joysticks // are back-right positive while robot @@ -78,14 +71,14 @@ public RobotContainer() // left stick controls translation // right stick controls the angular velocity of the robot Command driveFieldOrientedAnglularVelocity = drivebase.driveCommand( - () -> MathUtil.applyDeadband(driverXbox.getLeftY(), OperatorConstants.LEFT_Y_DEADBAND), - () -> MathUtil.applyDeadband(driverXbox.getLeftX(), OperatorConstants.LEFT_X_DEADBAND), - () -> driverXbox.getRawAxis(2)); + () -> -MathUtil.applyDeadband(driverXbox.getLeftY(), OperatorConstants.LEFT_Y_DEADBAND), + () -> -MathUtil.applyDeadband(driverXbox.getLeftX(), OperatorConstants.LEFT_X_DEADBAND), + () -> -driverXbox.getRightX()); Command driveFieldOrientedDirectAngleSim = drivebase.simDriveCommand( - () -> MathUtil.applyDeadband(driverXbox.getLeftY(), OperatorConstants.LEFT_Y_DEADBAND), - () -> MathUtil.applyDeadband(driverXbox.getLeftX(), OperatorConstants.LEFT_X_DEADBAND), - () -> driverXbox.getRawAxis(2)); + () -> -MathUtil.applyDeadband(driverXbox.getLeftY(), OperatorConstants.LEFT_Y_DEADBAND), + () -> -MathUtil.applyDeadband(driverXbox.getLeftX(), OperatorConstants.LEFT_X_DEADBAND), + () -> -driverXbox.getRawAxis(2)); drivebase.setDefaultCommand( !RobotBase.isSimulation() ? driveFieldOrientedDirectAngle : driveFieldOrientedDirectAngleSim); @@ -102,14 +95,13 @@ private void configureBindings() { // Schedule `ExampleCommand` when `exampleCondition` changes to `true` - new JoystickButton(driverXbox, 1).onTrue((new InstantCommand(drivebase::zeroGyro))); - new JoystickButton(driverXbox, 3).onTrue(new InstantCommand(drivebase::addFakeVisionReading)); - new JoystickButton(driverXbox, - 2).whileTrue( + driverXbox.a().onTrue((Commands.runOnce(drivebase::zeroGyro))); + driverXbox.x().onTrue(Commands.runOnce(drivebase::addFakeVisionReading)); + driverXbox.b().whileTrue( Commands.deferredProxy(() -> drivebase.driveToPose( new Pose2d(new Translation2d(4, 4), Rotation2d.fromDegrees(0))) )); -// new JoystickButton(driverXbox, 3).whileTrue(new RepeatCommand(new InstantCommand(drivebase::lock, drivebase))); + // driverXbox.x().whileTrue(Commands.runOnce(drivebase::lock, drivebase).repeatedly()); } /** diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib.json index 3c741462..ff15fab4 100644 --- a/vendordeps/PathplannerLib.json +++ b/vendordeps/PathplannerLib.json @@ -1,7 +1,7 @@ { "fileName": "PathplannerLib.json", "name": "PathplannerLib", - "version": "2024.1.2", + "version": "2024.2.3", "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786", "frcYear": "2024", "mavenUrls": [ @@ -12,7 +12,7 @@ { "groupId": "com.pathplanner.lib", "artifactId": "PathplannerLib-java", - "version": "2024.1.2" + "version": "2024.2.3" } ], "jniDependencies": [], @@ -20,7 +20,7 @@ { "groupId": "com.pathplanner.lib", "artifactId": "PathplannerLib-cpp", - "version": "2024.1.2", + "version": "2024.2.3", "libName": "PathplannerLib", "headerClassifier": "headers", "sharedLibrary": false, diff --git a/vendordeps/Phoenix6.json b/vendordeps/Phoenix6.json index 69a40798..2b7d1720 100644 --- a/vendordeps/Phoenix6.json +++ b/vendordeps/Phoenix6.json @@ -1,7 +1,7 @@ { "fileName": "Phoenix6.json", "name": "CTRE-Phoenix (v6)", - "version": "24.1.0", + "version": "24.2.0", "frcYear": 2024, "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", "mavenUrls": [ @@ -19,14 +19,14 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-java", - "version": "24.1.0" + "version": "24.2.0" } ], "jniDependencies": [ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "24.1.0", + "version": "24.2.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -39,7 +39,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "24.1.0", + "version": "24.2.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -52,7 +52,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "24.1.0", + "version": "24.2.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -65,7 +65,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonFX", - "version": "24.1.0", + "version": "24.2.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -78,7 +78,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "24.1.0", + "version": "24.2.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -91,7 +91,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "24.1.0", + "version": "24.2.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -104,7 +104,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simCANCoder", - "version": "24.1.0", + "version": "24.2.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -117,7 +117,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "24.1.0", + "version": "24.2.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -130,7 +130,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "24.1.0", + "version": "24.2.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -143,7 +143,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "24.1.0", + "version": "24.2.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -158,7 +158,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-cpp", - "version": "24.1.0", + "version": "24.2.0", "libName": "CTRE_Phoenix6_WPI", "headerClassifier": "headers", "sharedLibrary": true, @@ -173,7 +173,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "24.1.0", + "version": "24.2.0", "libName": "CTRE_PhoenixTools", "headerClassifier": "headers", "sharedLibrary": true, @@ -188,7 +188,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "wpiapi-cpp-sim", - "version": "24.1.0", + "version": "24.2.0", "libName": "CTRE_Phoenix6_WPISim", "headerClassifier": "headers", "sharedLibrary": true, @@ -203,7 +203,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "24.1.0", + "version": "24.2.0", "libName": "CTRE_PhoenixTools_Sim", "headerClassifier": "headers", "sharedLibrary": true, @@ -218,7 +218,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "24.1.0", + "version": "24.2.0", "libName": "CTRE_SimTalonSRX", "headerClassifier": "headers", "sharedLibrary": true, @@ -233,7 +233,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonFX", - "version": "24.1.0", + "version": "24.2.0", "libName": "CTRE_SimTalonFX", "headerClassifier": "headers", "sharedLibrary": true, @@ -248,7 +248,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "24.1.0", + "version": "24.2.0", "libName": "CTRE_SimVictorSPX", "headerClassifier": "headers", "sharedLibrary": true, @@ -263,7 +263,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "24.1.0", + "version": "24.2.0", "libName": "CTRE_SimPigeonIMU", "headerClassifier": "headers", "sharedLibrary": true, @@ -278,7 +278,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simCANCoder", - "version": "24.1.0", + "version": "24.2.0", "libName": "CTRE_SimCANCoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -293,7 +293,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "24.1.0", + "version": "24.2.0", "libName": "CTRE_SimProTalonFX", "headerClassifier": "headers", "sharedLibrary": true, @@ -308,7 +308,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "24.1.0", + "version": "24.2.0", "libName": "CTRE_SimProCANcoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -323,7 +323,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "24.1.0", + "version": "24.2.0", "libName": "CTRE_SimProPigeon2", "headerClassifier": "headers", "sharedLibrary": true, diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json index 0f3520e7..a8295814 100644 --- a/vendordeps/REVLib.json +++ b/vendordeps/REVLib.json @@ -1,7 +1,7 @@ { "fileName": "REVLib.json", "name": "REVLib", - "version": "2024.2.0", + "version": "2024.2.1", "frcYear": "2024", "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", "mavenUrls": [ @@ -12,14 +12,14 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-java", - "version": "2024.2.0" + "version": "2024.2.1" } ], "jniDependencies": [ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2024.2.0", + "version": "2024.2.1", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -37,7 +37,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-cpp", - "version": "2024.2.0", + "version": "2024.2.1", "libName": "REVLib", "headerClassifier": "headers", "sharedLibrary": false, @@ -55,7 +55,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2024.2.0", + "version": "2024.2.1", "libName": "REVLibDriver", "headerClassifier": "headers", "sharedLibrary": false, diff --git a/vendordeps/photonlib.json b/vendordeps/photonlib.json index 46211fc1..8b1044d3 100644 --- a/vendordeps/photonlib.json +++ b/vendordeps/photonlib.json @@ -1,7 +1,7 @@ { "fileName": "photonlib.json", "name": "photonlib", - "version": "v2024.2.4", + "version": "v2024.2.6", "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004", "frcYear": "2024", "mavenUrls": [ @@ -14,7 +14,7 @@ { "groupId": "org.photonvision", "artifactId": "photonlib-cpp", - "version": "v2024.2.4", + "version": "v2024.2.6", "libName": "photonlib", "headerClassifier": "headers", "sharedLibrary": true, @@ -29,7 +29,7 @@ { "groupId": "org.photonvision", "artifactId": "photontargeting-cpp", - "version": "v2024.2.4", + "version": "v2024.2.6", "libName": "photontargeting", "headerClassifier": "headers", "sharedLibrary": true, @@ -46,12 +46,12 @@ { "groupId": "org.photonvision", "artifactId": "photonlib-java", - "version": "v2024.2.4" + "version": "v2024.2.6" }, { "groupId": "org.photonvision", "artifactId": "photontargeting-java", - "version": "v2024.2.4" + "version": "v2024.2.6" } ] } \ No newline at end of file