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Swordman51Swordman51
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added killVision
1 parent 094caaf commit 1681024

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2 files changed

+11
-62
lines changed

2 files changed

+11
-62
lines changed

‎src/main/java/frc/robot/RobotContainer.java

+7-61
Original file line numberDiff line numberDiff line change
@@ -4,38 +4,7 @@
44

55
package frc.robot;
66

7-
import static frc.robot.util.drive.DriveControls.DRIVE_AMP;
8-
import static frc.robot.util.drive.DriveControls.DRIVE_FORWARD;
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import static frc.robot.util.drive.DriveControls.DRIVE_ROBOT_RELATIVE;
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import static frc.robot.util.drive.DriveControls.DRIVE_ROTATE;
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import static frc.robot.util.drive.DriveControls.DRIVE_SLOW;
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import static frc.robot.util.drive.DriveControls.DRIVE_SPEAKER_AIM;
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import static frc.robot.util.drive.DriveControls.DRIVE_STOP;
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import static frc.robot.util.drive.DriveControls.DRIVE_STRAFE;
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import static frc.robot.util.drive.DriveControls.GROUND_INTAKE_IN;
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import static frc.robot.util.drive.DriveControls.GROUND_INTAKE_OUT;
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import static frc.robot.util.drive.DriveControls.GROUND_INTAKE_ROTATE;
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import static frc.robot.util.drive.DriveControls.INTAKE_IN;
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import static frc.robot.util.drive.DriveControls.INTAKE_OUT;
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import static frc.robot.util.drive.DriveControls.INTAKE_ROTATE;
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import static frc.robot.util.drive.DriveControls.INTAKE_UNTIL_INTAKED;
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import static frc.robot.util.drive.DriveControls.LOCK_BACK;
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import static frc.robot.util.drive.DriveControls.LOCK_ON_AMP;
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import static frc.robot.util.drive.DriveControls.LOCK_PASS;
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import static frc.robot.util.drive.DriveControls.LOCK_PICKUP;
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import static frc.robot.util.drive.DriveControls.PIVOT_AMP;
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import static frc.robot.util.drive.DriveControls.PIVOT_ANYWHERE;
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import static frc.robot.util.drive.DriveControls.PIVOT_PODIUM;
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import static frc.robot.util.drive.DriveControls.PIVOT_ROTATE;
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import static frc.robot.util.drive.DriveControls.PIVOT_TO_SPEAKER;
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import static frc.robot.util.drive.DriveControls.PIVOT_ZERO;
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import static frc.robot.util.drive.DriveControls.SHOOTER_FULL_SEND;
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import static frc.robot.util.drive.DriveControls.SHOOTER_FULL_SEND_INTAKE;
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import static frc.robot.util.drive.DriveControls.SHOOTER_SPEED;
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import static frc.robot.util.drive.DriveControls.SHOOTER_UNJAM;
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import static frc.robot.util.drive.DriveControls.configureControls;
37-
import static frc.robot.util.drive.DriveControls.getRumbleDriver;
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import static frc.robot.util.drive.DriveControls.getRumbleOperator;
7+
import static frc.robot.util.drive.DriveControls.*;
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409
import org.littletonrobotics.junction.AutoLogOutput;
4110
import org.littletonrobotics.junction.Logger;
@@ -70,35 +39,12 @@
7039
import edu.wpi.first.wpilibj2.command.button.Trigger;
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import frc.robot.commands.DriveCommands;
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import frc.robot.subsystems.LED.BlinkinLEDController;
73-
import frc.robot.subsystems.drive.Drive;
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import frc.robot.subsystems.drive.GyroIO;
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import frc.robot.subsystems.drive.GyroIOReal;
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import frc.robot.subsystems.drive.ModuleIO;
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import frc.robot.subsystems.drive.ModuleIOSim;
78-
import frc.robot.subsystems.drive.ModuleIOSparkMax;
79-
import frc.robot.subsystems.groundIntake.GroundIntake;
80-
import frc.robot.subsystems.groundIntake.GroundIntakeConstants;
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import frc.robot.subsystems.groundIntake.GroundIntakeIO;
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import frc.robot.subsystems.groundIntake.GroundIntakeIOSim;
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import frc.robot.subsystems.groundIntake.GroundIntakeIOSparkMax;
84-
import frc.robot.subsystems.indexer.Indexer;
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import frc.robot.subsystems.indexer.IndexerConstants;
86-
import frc.robot.subsystems.indexer.IndexerIO;
87-
import frc.robot.subsystems.indexer.IndexerIOSim;
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import frc.robot.subsystems.indexer.IndexerIOSparkMax;
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import frc.robot.subsystems.pivotArm.PivotArm;
90-
import frc.robot.subsystems.pivotArm.PivotArmConstants;
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import frc.robot.subsystems.pivotArm.PivotArmIO;
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import frc.robot.subsystems.pivotArm.PivotArmIOSim;
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import frc.robot.subsystems.pivotArm.PivotArmIOSparkMax;
94-
import frc.robot.subsystems.shooter.Shooter;
95-
import frc.robot.subsystems.shooter.ShooterConstants;
96-
import frc.robot.subsystems.shooter.ShooterIO;
97-
import frc.robot.subsystems.shooter.ShooterIOSim;
98-
import frc.robot.subsystems.shooter.ShooterIOSparkMax;
99-
import frc.robot.subsystems.vision.VisionIO;
100-
import frc.robot.subsystems.vision.VisionIOPhoton;
101-
import frc.robot.subsystems.vision.VisionIOSim;
42+
import frc.robot.subsystems.drive.*;
43+
import frc.robot.subsystems.groundIntake.*;
44+
import frc.robot.subsystems.indexer.*;
45+
import frc.robot.subsystems.pivotArm.*;
46+
import frc.robot.subsystems.shooter.*;
47+
import frc.robot.subsystems.vision.*;
10248
import frc.robot.util.autonomous.AutoChooser;
10349
import frc.robot.util.autonomous.MakeAutos;
10450
import frc.robot.util.drive.AllianceFlipUtil;

‎src/main/java/frc/robot/subsystems/drive/Drive.java

+4-1
Original file line numberDiff line numberDiff line change
@@ -48,6 +48,7 @@
4848
import edu.wpi.first.math.kinematics.SwerveModuleState;
4949
import edu.wpi.first.wpilibj.DriverStation;
5050
import edu.wpi.first.wpilibj.DriverStation.Alliance;
51+
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
5152
import edu.wpi.first.wpilibj.Timer;
5253
import edu.wpi.first.wpilibj2.command.Command;
5354
import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -168,6 +169,8 @@ public Drive(
168169
}
169170

170171
}, null, this));
172+
173+
SmartDashboard.putBoolean("UseVision", useVision);
171174
}
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173176
public void periodic() {
@@ -179,7 +182,7 @@ public void periodic() {
179182
odometryLock.unlock();
180183
Logger.processInputs("Drive/Gyro", gyroInputs);
181184

182-
if (useVision) {
185+
if (SmartDashboard.getBoolean("UseVision", useVision)) {
183186
visionIO.updateInputs(visionInputs, getPose());
184187
Logger.processInputs("Vision", visionInputs);
185188
if (visionInputs.hasEstimate) {

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