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Button Mapping (´ｰ∀ｰ`) (#18)
* Button Mapping * merge * Refactor intake subsystem and override logic. * what have i done... * Update RobotMap.java * :O * Update StateMachine.mmd Co-authored-by: Tayler Uva <8679670+TaylerUva@users.noreply.github.com> * Update StateMachine.mmd * Update RobotContainer.java * Update src/main/java/frc/robot/RobotContainer.java Co-authored-by: Tayler Uva <8679670+TaylerUva@users.noreply.github.com> * Revert "Update src/main/java/frc/robot/RobotContainer.java" This reverts commit b5a250d. * Update RobotContainer.java --------- Co-authored-by: Tayler Uva <8679670+TaylerUva@users.noreply.github.com>
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‎StateMachine.mmd‎

Lines changed: 43 additions & 39 deletions
Original file line numberDiff line numberDiff line change
@@ -23,7 +23,7 @@ stateDiagram-v2
2323
state PREP_ALGAE_WITH_CORAL_GROUP {
2424
PREP_ALGAE_NET_WITH_CORAL
2525
PREP_ALGAE_PROCESSOR_WITH_CORAL
26-
PREP_ALGAE_ZERO_WITH_CORAL
26+
PREP_CORAL_ZERO_WITH_ALGAE
2727
}
2828

2929
state INTAKE_CORAL_GROUP {
@@ -59,49 +59,53 @@ stateDiagram-v2
5959
CLIMBING
6060

6161
%% [*] - REPRESENTS NONE (starting and end)
62-
[*] --> INTAKE_CORAL_GROUP
63-
[*] --> INTAKE_ALGAE_GROUP
64-
[*] --> PREP_CLIMB
62+
[*] --> INTAKE_CORAL_GROUP: 🎮🟢 = Left Trigger/Right Bumper
63+
[*] --> INTAKE_ALGAE_GROUP: 🎮🟢 = Left Bumper/West/East
64+
[*] --> PREP_CLIMB: 🎮🟢 = Driver BTN Start
65+
6566
%% INTAKING
66-
INTAKE_ALGAE_GROUP --> [*]
67-
INTAKE_CORAL_GROUP --> [*]
68-
INTAKE_CORAL_GROUP --> HAS_CORAL
69-
INTAKE_ALGAE_GROUP --> HAS_ALGAE
70-
INTAKE_CORAL_WITH_ALGAE_GROUP --> HAS_CORAL_AND_ALGAE
71-
INTAKE_ALGAE_WITH_CORAL_GROUP --> HAS_CORAL_AND_ALGAE
67+
INTAKE_ALGAE_GROUP --> [*]: 🎮🔴 = Left Bumper/West/East
68+
INTAKE_CORAL_GROUP --> [*]: 🎮🔴 = Left Trigger/Right Bumper
69+
INTAKE_CORAL_GROUP --> HAS_CORAL: SENSOR ✅ = Has Coral
70+
INTAKE_ALGAE_GROUP --> HAS_ALGAE: SENSOR ✅ = Has Algae
71+
INTAKE_CORAL_WITH_ALGAE_GROUP --> HAS_CORAL_AND_ALGAE: SENSOR ✅ = Has Coral & Has Algae
72+
INTAKE_CORAL_WITH_ALGAE_GROUP --> HAS_ALGAE: 🎮🔴 = Left Trigger/Right Bumper
73+
INTAKE_ALGAE_WITH_CORAL_GROUP --> HAS_CORAL_AND_ALGAE: SENSOR ✅ = Has Coral & Has Algae
74+
INTAKE_ALGAE_WITH_CORAL_GROUP --> HAS_CORAL: 🎮🔴 = Left Bumper/West/East
75+
7276
%% HAS SCORING ELEMENT
73-
HAS_CORAL --> PREP_CORAL_GROUP
74-
HAS_CORAL --> INTAKE_ALGAE_WITH_CORAL_GROUP
75-
HAS_CORAL --> PREP_CLIMB
76-
HAS_CORAL --> EJECTING
77-
HAS_ALGAE --> INTAKE_CORAL_WITH_ALGAE_GROUP
78-
HAS_ALGAE --> PREP_ALGAE_GROUP
79-
HAS_ALGAE --> PREP_CLIMB
80-
HAS_ALGAE --> EJECTING
81-
HAS_CORAL_AND_ALGAE --> PREP_CORAL_WITH_ALGAE_GROUP
82-
HAS_CORAL_AND_ALGAE --> PREP_ALGAE_WITH_CORAL_GROUP
83-
HAS_CORAL_AND_ALGAE --> PREP_CLIMB
84-
HAS_CORAL_AND_ALGAE --> EJECTING
77+
HAS_CORAL --> PREP_CORAL_GROUP: 🎮🟢 = A/B/X/Y/Right Stick
78+
HAS_CORAL --> INTAKE_ALGAE_WITH_CORAL_GROUP: 🎮🟢 = Left Bumper/West/East
79+
HAS_CORAL --> PREP_CLIMB: 🎮🟢 = Driver BTN Start
80+
HAS_CORAL --> EJECTING: 🎮🟢 = Left Stick
81+
HAS_ALGAE --> INTAKE_CORAL_WITH_ALGAE_GROUP: 🎮🟢 = Left Trigger/Right Bumper
82+
HAS_ALGAE --> PREP_ALGAE_GROUP: 🎮🟢 = North/South/Left Stick
83+
HAS_ALGAE --> PREP_CLIMB: 🎮🟢 = Driver BTN Start
84+
HAS_ALGAE --> EJECTING: 🎮🟢 = Left Stick
85+
HAS_CORAL_AND_ALGAE --> PREP_CORAL_WITH_ALGAE_GROUP: 🎮🟢 = A/B/X/Y/Right Stick
86+
HAS_CORAL_AND_ALGAE --> PREP_ALGAE_WITH_CORAL_GROUP: 🎮🟢 = North/South/Right Stick
87+
HAS_CORAL_AND_ALGAE --> PREP_CLIMB: 🎮🟢 = Driver BTN Start
88+
HAS_CORAL_AND_ALGAE --> EJECTING: 🎮🟢 = Left Stick
8589

8690
%% PREPPING
87-
PREP_CORAL_GROUP --> SCORING_CORAL
88-
PREP_CORAL_WITH_ALGAE_GROUP --> SCORING_CORAL_WITH_ALGAE
89-
PREP_ALGAE_GROUP --> SCORING_ALGAE
90-
PREP_ALGAE_WITH_CORAL_GROUP --> SCORING_ALGAE_WITH_CORAL
91-
PREP_ALGAE_WITH_CORAL_GROUP --> PREP_CORAL_WITH_ALGAE_GROUP
92-
PREP_CORAL_WITH_ALGAE_GROUP --> PREP_ALGAE_WITH_CORAL_GROUP
93-
PREP_ALGAE_GROUP --> EJECTING
94-
PREP_CORAL_GROUP --> EJECTING
95-
PREP_CORAL_WITH_ALGAE_GROUP --> EJECTING
96-
PREP_ALGAE_WITH_CORAL_GROUP --> EJECTING
91+
PREP_CORAL_GROUP --> SCORING_CORAL: 🎮🟢 = Right Trigger
92+
PREP_CORAL_WITH_ALGAE_GROUP --> SCORING_CORAL_WITH_ALGAE: 🎮🟢 = Right Trigger
93+
PREP_ALGAE_GROUP --> SCORING_ALGAE: 🎮🟢 = Right Trigger
94+
PREP_ALGAE_WITH_CORAL_GROUP --> SCORING_ALGAE_WITH_CORAL: 🎮🟢 = Right Trigger
95+
PREP_ALGAE_WITH_CORAL_GROUP --> PREP_CORAL_WITH_ALGAE_GROUP: 🎮🟢 = A/B/X/Y/Right Stick
96+
PREP_CORAL_WITH_ALGAE_GROUP --> PREP_ALGAE_WITH_CORAL_GROUP: 🎮🟢 = North/South/Left Stick
97+
PREP_ALGAE_GROUP --> EJECTING: 🎮🟢 = Left Stick
98+
PREP_CORAL_GROUP --> EJECTING: 🎮🟢 = Left Stick
99+
PREP_CORAL_WITH_ALGAE_GROUP --> EJECTING: 🎮🟢 = Left Stick
100+
PREP_ALGAE_WITH_CORAL_GROUP --> EJECTING: 🎮🟢 = Left Stick
97101
%% CLIMBING
98-
PREP_CLIMB --> CLIMBING
99-
PREP_CLIMB --> [*]
102+
PREP_CLIMB --> CLIMBING: 🎮🟢 = Driver BTN = Y
103+
PREP_CLIMB --> [*]: Automatically ⏩
100104
%% SCORING
101-
SCORING_CORAL --> [*]
102-
SCORING_ALGAE --> [*]
103-
SCORING_CORAL_WITH_ALGAE --> HAS_ALGAE
104-
SCORING_ALGAE_WITH_CORAL --> HAS_CORAL
105-
EJECTING --> [*]
105+
SCORING_CORAL --> [*]: Automatically ⏩
106+
SCORING_ALGAE --> [*]: Automatically ⏩
107+
SCORING_CORAL_WITH_ALGAE --> HAS_ALGAE: SENSOR ✅ = Has Algae
108+
SCORING_ALGAE_WITH_CORAL --> HAS_CORAL: SENSOR ✅ = Has Coral
109+
EJECTING --> [*]: Automatically ⏩
106110

107111

‎src/main/java/frc/robot/Constants.java‎

Lines changed: 9 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -214,6 +214,12 @@ public static class TELEOP_AUTO_ALIGN {
214214
}
215215
}
216216

217+
public static class constIntake {
218+
// TODO: Replace with actual measurements
219+
public static final Current ALGAE_INTAKE_HAS_GP_CURRENT = Units.Amps.of(15);
220+
public static final AngularVelocity ALGAE_INTAKE_HAS_GP_VELOCITY = Units.RotationsPerSecond.of(2102 / 60);
221+
}
222+
217223
public static class constField {
218224
public static Optional<Alliance> ALLIANCE = Optional.empty();
219225

@@ -240,9 +246,9 @@ public static boolean isRedAlliance() {
240246
public static class constElevator {
241247

242248
public static final Distance CORAL_L1_HEIGHT = Units.Inches.of(0);
243-
public static final Distance CORAL_L2_HEIGHT = Units.Inches.of(0);
244-
public static final Distance CORAL_L3_HEIGHT = Units.Inches.of(0);
245-
public static final Distance CORAL_L4_HEIGHT = Units.Inches.of(0);
249+
public static final Distance CORAL_L2_HEIGHT = Units.Inches.of(2);
250+
public static final Distance CORAL_L3_HEIGHT = Units.Inches.of(3);
251+
public static final Distance CORAL_L4_HEIGHT = Units.Inches.of(4);
246252

247253
}
248254

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

Lines changed: 174 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -10,6 +10,7 @@
1010
import edu.wpi.first.math.geometry.Rotation2d;
1111
import edu.wpi.first.wpilibj2.command.Command;
1212
import edu.wpi.first.wpilibj2.command.Commands;
13+
import edu.wpi.first.wpilibj2.command.button.Trigger;
1314
import frc.robot.Constants.constControllers;
1415
import frc.robot.RobotMap.mapControllers;
1516
import frc.robot.commands.*;
@@ -23,6 +24,7 @@
2324
public class RobotContainer {
2425

2526
private final SN_XboxController conDriver = new SN_XboxController(mapControllers.DRIVER_USB);
27+
private final SN_XboxController conOperator = new SN_XboxController(mapControllers.OPERATOR_USB);
2628

2729
private final Drivetrain subDrivetrain = new Drivetrain();
2830
private final Intake subIntake = new Intake();
@@ -31,8 +33,88 @@ public class RobotContainer {
3133
private final StateMachine subStateMachine = new StateMachine(subDrivetrain, subIntake, subClimber, subElevator);
3234
private final RobotPoses robotPose = new RobotPoses(subDrivetrain);
3335

36+
private final Trigger hasCoralTrigger = new Trigger(() -> subIntake.hasCoral() && !subIntake.hasAlgae());
37+
private final Trigger hasAlgaeTrigger = new Trigger(() -> !subIntake.hasCoral() && subIntake.hasAlgae());
38+
private final Trigger hasBothTrigger = new Trigger(() -> subIntake.hasCoral() && subIntake.hasAlgae());
39+
3440
Command TRY_NONE = Commands.deferredProxy(
3541
() -> subStateMachine.tryState(RobotState.NONE));
42+
Command TRY_CLIMBING = Commands.deferredProxy(
43+
() -> subStateMachine.tryState(RobotState.CLIMBING));
44+
Command TRY_PREP_CLIMB = Commands.deferredProxy(
45+
() -> subStateMachine.tryState(RobotState.PREP_CLIMB));
46+
Command TRY_RETRACTING_CLIMBER = Commands.deferredProxy(
47+
() -> subStateMachine.tryState(RobotState.RETRACTING_CLIMBER));
48+
Command TRY_PREP_CORAL_ZERO = Commands.deferredProxy(
49+
() -> subStateMachine.tryState(RobotState.PREP_CORAL_ZERO));
50+
Command TRY_PREP_CORAL_L1 = Commands.deferredProxy(
51+
() -> subStateMachine.tryState(RobotState.PREP_CORAL_L1));
52+
Command TRY_PREP_CORAL_L2 = Commands.deferredProxy(
53+
() -> subStateMachine.tryState(RobotState.PREP_CORAL_L2));
54+
Command TRY_PREP_CORAL_L3 = Commands.deferredProxy(
55+
() -> subStateMachine.tryState(RobotState.PREP_CORAL_L3));
56+
Command TRY_PREP_CORAL_L4 = Commands.deferredProxy(
57+
() -> subStateMachine.tryState(RobotState.PREP_CORAL_L4));
58+
Command TRY_PREP_CORAL_L1_WITH_ALGAE = Commands.deferredProxy(
59+
() -> subStateMachine.tryState(RobotState.PREP_CORAL_L1_WITH_ALGAE));
60+
Command TRY_PREP_CORAL_L2_WITH_ALGAE = Commands.deferredProxy(
61+
() -> subStateMachine.tryState(RobotState.PREP_CORAL_L2_WITH_ALGAE));
62+
Command TRY_PREP_CORAL_L3_WITH_ALGAE = Commands.deferredProxy(
63+
() -> subStateMachine.tryState(RobotState.PREP_CORAL_L3_WITH_ALGAE));
64+
Command TRY_PREP_CORAL_L4_WITH_ALGAE = Commands.deferredProxy(
65+
() -> subStateMachine.tryState(RobotState.PREP_CORAL_L4_WITH_ALGAE));
66+
Command TRY_PREP_CORAL_ZERO_WITH_ALGAE = Commands.deferredProxy(
67+
() -> subStateMachine.tryState(RobotState.PREP_CORAL_ZERO_WITH_ALGAE));
68+
Command TRY_PREP_ALGAE_NET = Commands.deferredProxy(
69+
() -> subStateMachine.tryState(RobotState.PREP_ALGAE_NET));
70+
Command TRY_PREP_ALGAE_PROCESSOR = Commands.deferredProxy(
71+
() -> subStateMachine.tryState(RobotState.PREP_ALGAE_PROCESSOR));
72+
Command TRY_PREP_ALGAE_ZERO = Commands.deferredProxy(
73+
() -> subStateMachine.tryState(RobotState.PREP_ALGAE_ZERO));
74+
Command TRY_PREP_ALGAE_NET_WITH_CORAL = Commands.deferredProxy(
75+
() -> subStateMachine.tryState(RobotState.PREP_ALGAE_NET_WITH_CORAL));
76+
Command TRY_PREP_ALGAE_PROCESSOR_WITH_CORAL = Commands.deferredProxy(
77+
() -> subStateMachine.tryState(RobotState.PREP_ALGAE_PROCESSOR_WITH_CORAL));
78+
Command TRY_HAS_CORAL = Commands.deferredProxy(
79+
() -> subStateMachine.tryState(RobotState.HAS_CORAL));
80+
Command TRY_HAS_ALGAE = Commands.deferredProxy(
81+
() -> subStateMachine.tryState(RobotState.HAS_ALGAE));
82+
Command TRY_HAS_CORAL_AND_ALGAE = Commands.deferredProxy(
83+
() -> subStateMachine.tryState(RobotState.HAS_CORAL_AND_ALGAE));
84+
Command TRY_SCORING_CORAL = Commands.deferredProxy(
85+
() -> subStateMachine.tryState(RobotState.SCORING_CORAL));
86+
Command TRY_SCORING_ALGAE = Commands.deferredProxy(
87+
() -> subStateMachine.tryState(RobotState.SCORING_ALGAE));
88+
Command TRY_CLEAN_HIGH = Commands.deferredProxy(
89+
() -> subStateMachine.tryState(RobotState.CLEAN_HIGH));
90+
Command TRY_CLEAN_LOW = Commands.deferredProxy(
91+
() -> subStateMachine.tryState(RobotState.CLEAN_LOW));
92+
Command TRY_INTAKE_CORAL_STATION = Commands.deferredProxy(
93+
() -> subStateMachine.tryState(RobotState.INTAKE_CORAL_STATION));
94+
Command TRY_INTAKE_ALGAE_GROUND = Commands.deferredProxy(
95+
() -> subStateMachine.tryState(RobotState.INTAKE_ALGAE_GROUND));
96+
Command TRY_EJECTING = Commands.deferredProxy(
97+
() -> subStateMachine.tryState(RobotState.EJECTING));
98+
Command TRY_SCORING_ALGAE_WITH_CORAL = Commands.deferredProxy(
99+
() -> subStateMachine.tryState(RobotState.SCORING_ALGAE_WITH_CORAL));
100+
Command TRY_SCORING_CORAL_WITH_ALGAE = Commands.deferredProxy(
101+
() -> subStateMachine.tryState(RobotState.SCORING_CORAL_WITH_ALGAE));
102+
Command TRY_CLEAN_HIGH_WITH_CORAL = Commands.deferredProxy(
103+
() -> subStateMachine.tryState(RobotState.CLEAN_HIGH_WITH_CORAL));
104+
Command TRY_CLEAN_LOW_WITH_CORAL = Commands.deferredProxy(
105+
() -> subStateMachine.tryState(RobotState.CLEAN_LOW_WITH_CORAL));
106+
Command TRY_INTAKE_CORAL_GROUND = Commands.deferredProxy(
107+
() -> subStateMachine.tryState(RobotState.INTAKE_CORAL_GROUND));
108+
Command TRY_INTAKE_CORAL_GROUND_WITH_ALGAE = Commands.deferredProxy(
109+
() -> subStateMachine.tryState(RobotState.INTAKE_CORAL_GROUND_WITH_ALGAE));
110+
Command TRY_INTAKE_ALGAE_GROUND_WITH_CORAL = Commands.deferredProxy(
111+
() -> subStateMachine.tryState(RobotState.INTAKE_ALGAE_GROUND_WITH_CORAL));
112+
Command TRY_INTAKE_CORAL_STATION_WITH_ALGAE = Commands.deferredProxy(
113+
() -> subStateMachine.tryState(RobotState.INTAKE_CORAL_STATION_WITH_ALGAE));
114+
Command HAS_CORAL_OVERRIDE = Commands.deferredProxy(() -> subStateMachine.tryState(RobotState.HAS_CORAL)
115+
.alongWith(subStateMachine.tryState(RobotState.HAS_CORAL_AND_ALGAE)));
116+
Command HAS_ALGAE_OVERRIDE = Commands.deferredProxy(() -> subStateMachine.tryState(RobotState.HAS_ALGAE)
117+
.alongWith(subStateMachine.tryState(RobotState.HAS_CORAL_AND_ALGAE)));
36118

37119
public RobotContainer() {
38120
conDriver.setLeftDeadband(constControllers.DRIVER_LEFT_STICK_DEADBAND);
@@ -57,6 +139,15 @@ private void configDriverBindings() {
57139
conDriver.btn_LeftBumper
58140
.whileTrue(Commands.runOnce(() -> subDrivetrain.setRobotRelative()))
59141
.onFalse(Commands.runOnce(() -> subDrivetrain.setFieldRelative()));
142+
143+
conDriver.btn_Start
144+
.onTrue(TRY_PREP_CLIMB);
145+
146+
conDriver.btn_A
147+
.whileTrue(TRY_RETRACTING_CLIMBER);
148+
149+
conDriver.btn_Y
150+
.whileTrue(TRY_CLIMBING);
60151
}
61152

62153
public Command getAutonomousCommand() {
@@ -66,6 +157,89 @@ public Command getAutonomousCommand() {
66157

67158
private void configOperatorBindings() {
68159
// Add operator bindings here if needed
160+
conOperator.btn_LeftTrigger
161+
.whileTrue(TRY_INTAKE_CORAL_GROUND)
162+
.whileTrue(TRY_INTAKE_CORAL_GROUND_WITH_ALGAE)
163+
.onFalse(TRY_NONE)
164+
.onFalse(TRY_HAS_ALGAE);
165+
166+
conOperator.btn_LeftBumper
167+
.whileTrue(TRY_INTAKE_ALGAE_GROUND)
168+
.whileTrue(TRY_INTAKE_ALGAE_GROUND_WITH_CORAL)
169+
.onFalse(TRY_NONE)
170+
.onFalse(TRY_HAS_CORAL);
171+
172+
conOperator.btn_RightTrigger
173+
.whileTrue(TRY_SCORING_CORAL)
174+
.whileTrue(TRY_SCORING_ALGAE)
175+
.whileTrue(TRY_SCORING_ALGAE_WITH_CORAL)
176+
.whileTrue(TRY_SCORING_CORAL_WITH_ALGAE)
177+
.onFalse(TRY_NONE)
178+
.onFalse(TRY_HAS_CORAL)
179+
.onFalse(TRY_HAS_ALGAE);
180+
181+
conOperator.btn_RightBumper
182+
.whileTrue(TRY_INTAKE_CORAL_STATION)
183+
.whileTrue(TRY_INTAKE_CORAL_STATION_WITH_ALGAE)
184+
.onFalse(TRY_NONE)
185+
.onFalse(TRY_HAS_ALGAE);
186+
187+
conOperator.btn_A
188+
.onTrue(TRY_PREP_CORAL_L1)
189+
.onTrue(TRY_PREP_CORAL_L1_WITH_ALGAE);
190+
191+
conOperator.btn_B
192+
.onTrue(TRY_PREP_CORAL_L3)
193+
.onTrue(TRY_PREP_CORAL_L3_WITH_ALGAE);
194+
195+
conOperator.btn_X
196+
.onTrue(TRY_PREP_CORAL_L2)
197+
.onTrue(TRY_PREP_CORAL_L2_WITH_ALGAE);
198+
199+
conOperator.btn_Y
200+
.onTrue(TRY_PREP_CORAL_L4)
201+
.onTrue(TRY_PREP_CORAL_L4_WITH_ALGAE);
202+
203+
conOperator.btn_LeftStick
204+
.whileTrue(TRY_EJECTING)
205+
.onFalse(TRY_NONE);
206+
207+
conOperator.btn_RightStick
208+
.onTrue(TRY_PREP_CORAL_ZERO)
209+
.onTrue(TRY_PREP_CORAL_ZERO_WITH_ALGAE);
210+
211+
conOperator.btn_North
212+
.onTrue(TRY_PREP_ALGAE_NET)
213+
.onTrue(TRY_PREP_ALGAE_NET_WITH_CORAL);
214+
215+
conOperator.btn_South
216+
.onTrue(TRY_PREP_ALGAE_PROCESSOR)
217+
.onTrue(TRY_PREP_ALGAE_PROCESSOR_WITH_CORAL);
218+
219+
conOperator.btn_East
220+
.whileTrue(TRY_CLEAN_HIGH)
221+
.whileTrue(TRY_CLEAN_HIGH_WITH_CORAL)
222+
.onFalse(TRY_NONE)
223+
.onFalse(TRY_HAS_CORAL);
224+
225+
conOperator.btn_West
226+
.whileTrue(TRY_CLEAN_LOW)
227+
.whileTrue(TRY_CLEAN_LOW_WITH_CORAL)
228+
.onFalse(TRY_NONE)
229+
.onFalse(TRY_HAS_CORAL);
230+
231+
conOperator.btn_Start.onTrue(HAS_CORAL_OVERRIDE);
232+
233+
conOperator.btn_Back.onTrue(HAS_ALGAE_OVERRIDE);
234+
235+
hasCoralTrigger
236+
.whileTrue(TRY_HAS_CORAL);
237+
238+
hasAlgaeTrigger
239+
.whileTrue(TRY_HAS_ALGAE);
240+
241+
hasBothTrigger
242+
.whileTrue(TRY_HAS_CORAL_AND_ALGAE);
69243
}
70244

71245
public RobotState getRobotState() {

‎src/main/java/frc/robot/RobotMap.java‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -5,6 +5,7 @@
55
public class RobotMap {
66
public static class mapControllers {
77
public static final int DRIVER_USB = 0;
8+
public static final int OPERATOR_USB = 1;
89
}
910

1011
public static class mapDrivetrain {

‎src/main/java/frc/robot/commands/States/prep_algae/PrepAlgaeZeroWithCoral.java‎

Lines changed: 0 additions & 42 deletions
This file was deleted.

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