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Merged
SpectrumFRC3847 merged 4 commits into from
Feb 11, 2026
Merged

Button mapping + Miscellaneous changes #46

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eb59683
triggers and automatic state transitions
SpectrumFRC3847 Jan 30, 2026
65f6565
Merge branch 'main' into button-mapping
SpectrumFRC3847 Feb 7, 2026
1261031
miscellaneous changes
SpectrumFRC3847 Feb 7, 2026
4c719c4
more miscellaneous changes
SpectrumFRC3847 Feb 9, 2026
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21 changes: 12 additions & 9 deletions simgui-ds.json
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Original file line number Diff line number Diff line change
Expand Up @@ -22,12 +22,14 @@
}
],
"axisCount": 5,
"buttonCount": 4,
"buttonCount": 6,
"buttonKeys": [
90,
88,
67,
86
86,
66,
78
],
"povConfig": [
{
Expand Down Expand Up @@ -55,12 +57,14 @@
}
],
"axisCount": 2,
"buttonCount": 4,
"buttonCount": 6,
"buttonKeys": [
77,
44,
46,
47
49,
50,
51,
52,
53,
54
],
"povCount": 0
},
Expand Down Expand Up @@ -95,8 +99,7 @@
],
"robotJoysticks": [
{
"guid": "78696e70757401000000000000000000",
"useGamepad": true
"guid": "Keyboard0"
},
{
"guid": "Keyboard1"
Expand Down
26 changes: 23 additions & 3 deletions simgui-window.json
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
{
"Docking": {
"Data": [
"DockNode ID=0x00000001 Pos=9,835 Size=937,509 Selected=0x48913727"
"DockNode ID=0x00000001 Pos=9,835 Size=937,509 Selected=0x2D9B9756"
]
},
"MainWindow": {
Expand Down Expand Up @@ -51,6 +51,21 @@
"Pos": "1002,1036",
"Size": "340,360"
},
"###/SmartDashboard/Sim/LeftView": {
"Collapsed": "0",
"Pos": "1366,653",
"Size": "393,372"
},
"###/SmartDashboard/Sim/TopView": {
"Collapsed": "0",
"Pos": "998,654",
"Size": "361,374"
},
"###/SmartDashboard/States": {
"Collapsed": "0",
"Pos": "247,711",
"Size": "300,150"
},
"###/SmartDashboard/TopView": {
"Collapsed": "0",
"Pos": "998,652",
Expand All @@ -64,18 +79,23 @@
"###FMS": {
"Collapsed": "0",
"Pos": "268,27",
"Size": "210,214"
"Size": "202,214"
},
"###Joysticks": {
"Collapsed": "0",
"Pos": "11,442",
"Size": "976,278"
"Size": "976,219"
},
"###Keyboard 0 Settings": {
"Collapsed": "0",
"Pos": "266,326",
"Size": "300,560"
},
"###Keyboard 1 Settings": {
"Collapsed": "0",
"Pos": "320,50",
"Size": "300,560"
},
"###NetworkTables": {
"Collapsed": "0",
"DockId": "0x00000001,0",
Expand Down
12 changes: 9 additions & 3 deletions simgui.json
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Original file line number Diff line number Diff line change
Expand Up @@ -44,17 +44,17 @@
"visible": true
}
},
"/SmartDashboard/LeftView": {
"/SmartDashboard/Scheduler": {
"window": {
"visible": true
}
},
"/SmartDashboard/Scheduler": {
"/SmartDashboard/Sim/LeftView": {
"window": {
"visible": true
}
},
"/SmartDashboard/TopView": {
"/SmartDashboard/Sim/TopView": {
"window": {
"visible": true
}
Expand Down Expand Up @@ -89,6 +89,9 @@
}
},
"NetworkTables": {
"Retained Values": {
"open": false
},
"transitory": {
"Robot": {
"FieldSimulation": {
Expand All @@ -106,6 +109,9 @@
}
},
"NetworkTables Info": {
"Clients": {
"open": true
},
"visible": true
}
}
2 changes: 1 addition & 1 deletion src/main/java/frc/rebuilt/ShotCalculator.java
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Original file line number Diff line number Diff line change
Expand Up @@ -87,7 +87,7 @@ public ShootingParameters getParameters() {
}

// Target location on the field
boolean feed = RobotStates.robotInFeedZone.getAsBoolean();
boolean feed = RobotStates.robotInFeedZone.getAsBoolean() && !RobotStates.forceScore.getAsBoolean();
Translation2d target = feed ? FeedTargetFactory.generate() : HubTargetFactory.generate().toTranslation2d();

// Calculate estimated pose while accounting for phase delay
Expand Down
45 changes: 37 additions & 8 deletions src/main/java/frc/robot/Coordinator.java
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Original file line number Diff line number Diff line change
@@ -1,9 +1,14 @@
package frc.robot;

import org.checkerframework.checker.units.qual.C;

import edu.wpi.first.networktables.NTSendableBuilder;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import frc.robot.fuelIntake.FuelIntakeStates;
import frc.robot.indexer.IndexerStates;
import frc.robot.intakeExtension.IntakeExtensionStates;
import frc.robot.launcher.LauncherStates;
import frc.robot.swerve.SwerveStates;
import frc.robot.turretRotationalPivot.RotationalPivotStates;

public class Coordinator {
Expand All @@ -17,44 +22,68 @@ public void applyRobotState(State state) {
FuelIntakeStates.stop();
IndexerStates.neutral();
IntakeExtensionStates.fullExtend();
LauncherStates.neutral();
RotationalPivotStates.neutral();
}
case INTAKE_FUEL -> {
FuelIntakeStates.intakeFuel();
IndexerStates.neutral();
IntakeExtensionStates.fullExtend();
LauncherStates.neutral();
RotationalPivotStates.neutral();
}
case TURRET_TRACK_WITH_SPINUP -> {
case SNAKE_INTAKE -> {
FuelIntakeStates.intakeFuel();
IndexerStates.neutral();
IntakeExtensionStates.fullExtend();
RotationalPivotStates.neutral();
}
case TURRET_TRACK -> {
FuelIntakeStates.stop();
IndexerStates.neutral();
IntakeExtensionStates.fullExtend();
LauncherStates.aimAtHub();
RotationalPivotStates.aimAtHub();
}
case TURRET_TRACK_WITH_LAUNCH -> {
FuelIntakeStates.stop();
IndexerStates.indexMax();
IntakeExtensionStates.fullExtend();
LauncherStates.aimAtHub();
RotationalPivotStates.aimAtHub();
}
case TURRET_FEED_WITH_SPINUP -> {
case TURRET_WITHOUT_TRACK -> {
FuelIntakeStates.stop();
IndexerStates.neutral();
IntakeExtensionStates.fullExtend();
RotationalPivotStates.aimAtPresetPosition();
}
case TURRET_WITHOUT_TRACK_WITH_LAUNCH -> {
FuelIntakeStates.stop();
IndexerStates.indexMax();
IntakeExtensionStates.fullExtend();
RotationalPivotStates.aimAtPresetPosition();
}
case TURRET_FEED_WITH_AIMING -> {
FuelIntakeStates.stop();
IndexerStates.neutral();
IntakeExtensionStates.fullExtend();
LauncherStates.aimAtHub();
RotationalPivotStates.aimAtHub();
}
case TURRET_FEED_WITH_LAUNCH -> {
FuelIntakeStates.stop();
IndexerStates.indexMax();
IntakeExtensionStates.fullExtend();
LauncherStates.aimAtHub();
RotationalPivotStates.aimAtHub();
}
case TURRET_FEED_WITHOUT_AIMING -> {
FuelIntakeStates.stop();
IndexerStates.neutral();
IntakeExtensionStates.fullExtend();
RotationalPivotStates.aimAtPresetPosition();
}
case TURRET_FEED_WITHOUT_AIMING_WITH_LAUNCH -> {
FuelIntakeStates.stop();
IndexerStates.indexMax();
IntakeExtensionStates.fullExtend();
RotationalPivotStates.aimAtPresetPosition();
}
case L1_CLIMB_PREP -> {

}
Expand Down
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