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Add robotrelative binding #195

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Merged
merged 1 commit into from
Sep 8, 2023
Merged

Add robotrelative binding #195

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7 changes: 1 addition & 6 deletions src/main/java/com/stuypulse/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -121,17 +121,11 @@ private void configureButtonBindings() {
}

private void configureDriverBindings() {
// wing
// driver.getSelectButton().onTrue(new WingToggle());

// arm
driver.getLeftTriggerButton()
.whileTrue(new RobotScore());
driver.getBottomButton()
.whileTrue(new RobotScore());
driver.getLeftBumper()
.whileTrue(new RobotRelease())
.onFalse(new WaitCommand(0.5).andThen(new IntakeStop()));
driver.getRightTriggerButton()
.whileTrue(new RobotRelease())
.onFalse(new WaitCommand(0.5).andThen(new IntakeStop()));
Expand All @@ -143,6 +137,7 @@ private void configureDriverBindings() {

// swerve
driver.getLeftButton().whileTrue(new SwerveDriveAlignThenBalance());
// left bumper -> robot relative

// odometry
driver.getDPadUp().onTrue(new OdometryRealign(Rotation2d.fromDegrees(180)));
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6 changes: 6 additions & 0 deletions src/main/java/com/stuypulse/robot/commands/swerve/SwerveDriveDrive.java
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,7 @@
import com.stuypulse.robot.subsystems.swerve.SwerveDrive;

import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj2.command.CommandBase;

Expand Down Expand Up @@ -122,6 +123,11 @@ public void execute() {
if (plant.isEngaged() || driver.getRawStartButton() || driver.getRawSelectButton()) {
swerve.setXMode();
}

// if in robot relative mode, set raw chassis speed
else if (driver.getRawLeftBumper()) {
swerve.setChassisSpeeds(new ChassisSpeeds(speed.get().y, -speed.get().x, -angularVel));
}

// use the angularVelocity for drive otherwise
else {
Expand Down