its the small things

vikings204 · Mar 27, 2024 · f495669 · f495669
1 parent d80e30a
commit f495669
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Showing 3 changed files with 14 additions and 22 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -12,7 +12,7 @@
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import frc.robot.Constants.Controller;
 import frc.robot.Robot.ControlMode;
-import frc.robot.commands.ShootSpeakerPoselessCommand;
+import frc.robot.commands.TimedSpeakerShotCommand;
 import frc.robot.commands.TeleopSwerveCommand;
 import frc.robot.subsystems.*;
 import frc.robot.util.Gamepad;
@@ -28,7 +28,7 @@ public class RobotContainer {
     public final LinearActuatorSubsystem LinearActuator = new LinearActuatorSubsystem();
     public final PoseEstimationSubsystem PoseEstimation = new PoseEstimationSubsystem(Swerve::getYaw, Swerve::getPositions);
 
-    private final ShootSpeakerPoselessCommand ShootSpeakerPoselessCMD = new ShootSpeakerPoselessCommand(Shooter);
+    private final TimedSpeakerShotCommand TimedSpeakerShot = new TimedSpeakerShotCommand(Shooter);
 
     Gamepad DRIVER = new Gamepad(Controller.DRIVER_PORT);
     Gamepad OPERATOR = new Gamepad(Controller.OPERATOR_PORT);
@@ -90,7 +90,7 @@ private void configureDefaultCommands() {
 
         Shooter.setDefaultCommand(
                 new RunCommand(
-                        () -> Shooter.flywheelSpeaker(OPERATOR.getXButton()),
+                        () -> Shooter.flywheelSpeaker(false),
                         Shooter));
 
         LinearActuator.setDefaultCommand(
@@ -101,7 +101,7 @@ private void configureDefaultCommands() {
         );
     }
 
-    private void configureButtonBindings() { // MOVE POOP FUNCTION TO ANOTHER BUTTON
+    private void configureButtonBindings() {
         new JoystickButton(OPERATOR, 2)
                 .whileTrue(
                         new RunCommand(() -> Shooter.intake(true, true), Shooter));
@@ -124,7 +124,7 @@ private void configureButtonBindings() { // MOVE POOP FUNCTION TO ANOTHER BUTTON
                         new RunCommand(() -> Shooter.flywheelAmp(true), Shooter));
 
         //new JoystickButton(OPERATOR, 1).whileTrue(ShootSpeakerCMD);
-        new JoystickButton(OPERATOR, 1).whileTrue(ShootSpeakerPoselessCMD);
+        new JoystickButton(OPERATOR, 1).whileTrue(TimedSpeakerShot);
     }
 
     public Command getAutonomousCommand() {

diff --git a/...commands/ShootSpeakerPoselessCommand.java → ...bot/commands/TimedSpeakerShotCommand.java b/...commands/ShootSpeakerPoselessCommand.java → ...bot/commands/TimedSpeakerShotCommand.java
@@ -1,36 +1,21 @@
 package frc.robot.commands;
 
-import edu.wpi.first.math.controller.PIDController;
-import edu.wpi.first.math.controller.ProfiledPIDController;
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.geometry.Translation2d;
-import edu.wpi.first.math.trajectory.TrapezoidProfile.Constraints;
-import edu.wpi.first.math.util.Units;
 import edu.wpi.first.networktables.GenericEntry;
-import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.Constants;
-import frc.robot.Robot;
-import frc.robot.subsystems.PoseEstimationSubsystem;
 import frc.robot.subsystems.ShooterSubsystem;
-import frc.robot.subsystems.SwerveSubsystem;
-import org.photonvision.PhotonCamera;
-import org.photonvision.PhotonUtils;
 
 import java.util.Map;
 
 import static edu.wpi.first.wpilibj.Timer.getFPGATimestamp;
-import static frc.robot.Constants.Vision.*;
 
-public class ShootSpeakerPoselessCommand extends Command {
+public class TimedSpeakerShotCommand extends Command {
     private final ShooterSubsystem Shooter;
     private double initialTimestamp;
     private final GenericEntry secondsToShootEntry = Shuffleboard.getTab("config").add("seconds to shoot p", (double) 1).withWidget(BuiltInWidgets.kDial).withProperties(Map.of("min", 0, "max", 1)).getEntry();
 
-    public ShootSpeakerPoselessCommand(
+    public TimedSpeakerShotCommand(
             ShooterSubsystem Shooter
     ) {
         this.Shooter = Shooter;

diff --git a/src/main/java/frc/robot/subsystems/AlternateLEDSubsystem.java b/src/main/java/frc/robot/subsystems/AlternateLEDSubsystem.java
@@ -14,6 +14,7 @@ public class AlternateLEDSubsystem {
     public presetSettings Presets;
     private final SendableChooser<Boolean> ledChooser = new SendableChooser<>();
     private final PowerDistribution pd;
+    private final SendableChooser<BlinkinPattern> patternBypassChooser = new SendableChooser<>();
 
     public AlternateLEDSubsystem() {
         blinkin = new AddressableLED(0);
@@ -34,6 +35,12 @@ public AlternateLEDSubsystem() {
         ledChooser.setDefaultOption("LED on", true);
         Shuffleboard.getTab("config").add("LED status", ledChooser).withWidget(BuiltInWidgets.kSplitButtonChooser).withSize(2, 1);
         ledChooser.onChange(pd::setSwitchableChannel);
+
+        for (BlinkinPattern pat : BlinkinPattern.values()) {
+            patternBypassChooser.addOption(pat.name(), pat);
+        }
+        Shuffleboard.getTab("config").add("LED bypass", patternBypassChooser);
+        patternBypassChooser.onChange(this::setPattern);
     }
 
     // https://www.chiefdelphi.com/t/rev-blinkin-example-code/452871/4