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Ava/contextful xbox controller #144

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Ava/contextful xbox controller #144

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be946a4
added ContextfulXboxController.java and implemented in Robot.java. Pr…
Saxomophone Jul 26, 2025
c000df3
finished adding features from generic hid file
Saxomophone Jul 28, 2025
9ad77b5
moved comment in ContextfulXboxController.java to be a class comment …
Saxomophone Jul 28, 2025
7b094aa
fixed formatting
Saxomophone Jul 28, 2025
a929694
Merge branch 'master' of https://github.com/CurtinFRC/2025-Reefscape …
Saxomophone Jul 28, 2025
0e6d03c
Merge branch 'master' of https://github.com/CurtinFRC/2025-Reefscape …
Saxomophone Aug 12, 2025
89eaff0
merging with ava/contextful-xbox-controller branch
Saxomophone Aug 13, 2025
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2 changes: 1 addition & 1 deletion src/main/java/org/curtinfrc/frc2025/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,7 @@
* (log replay from a file).
*/
public final class Constants {
public static final RobotType robotType = RobotType.COMPBOT;
public static final RobotType robotType = RobotType.SIMBOT;
public static final double ROBOT_X = 0.705;
public static final double ROBOT_Y = 0.730;
public static final double FIELD_LENGTH = aprilTagLayout.getFieldLength();
Expand Down
49 changes: 22 additions & 27 deletions src/main/java/org/curtinfrc/frc2025/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,6 @@
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.ScheduleCommand;
import edu.wpi.first.wpilibj2.command.Subsystem;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.button.RobotModeTriggers;
import edu.wpi.first.wpilibj2.command.button.Trigger;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
Expand Down Expand Up @@ -69,6 +68,7 @@
import org.curtinfrc.frc2025.subsystems.vision.VisionIOPhotonVisionSim;
import org.curtinfrc.frc2025.util.AutoChooser;
import org.curtinfrc.frc2025.util.ButtonBoard;
import org.curtinfrc.frc2025.util.ContextfulXboxController;
import org.curtinfrc.frc2025.util.PhoenixUtil;
import org.curtinfrc.frc2025.util.VirtualSubsystem;
import org.littletonrobotics.junction.AutoLogOutput;
Expand Down Expand Up @@ -96,8 +96,17 @@ public class Robot extends LoggedRobot {
private Ejector ejector;
private Climber climber;

@AutoLogOutput(key = "Robot/Overridden")
private boolean overridden = false;

@AutoLogOutput(key = "Robot/Overide")
private final Trigger override = new Trigger(() -> overridden);

// Controller
private final CommandXboxController controller = new CommandXboxController(0);
private final ContextfulXboxController controller =
new ContextfulXboxController(0, override.negate());
private final ContextfulXboxController manualController =
new ContextfulXboxController(0, override);
private final Alert controllerDisconnected =
new Alert("Driver controller disconnected!", AlertType.kError);
private final ButtonBoard board = new ButtonBoard(1);
Expand All @@ -112,12 +121,6 @@ public class Robot extends LoggedRobot {
private List<Pose2d> l1Setpoints;
private List<Pose2d> algaeSetpoints;

@AutoLogOutput(key = "Robot/Overridden")
private boolean overridden = false;

@AutoLogOutput(key = "Robot/Overide")
private final Trigger override = new Trigger(() -> overridden);

public Robot() {
// Record metadata
Logger.recordMetadata("ProjectName", BuildConstants.MAVEN_NAME);
Expand Down Expand Up @@ -344,15 +347,13 @@ public Robot() {
controller
.rightBumper()
.or(controller.leftBumper())
.and(override.negate())
.whileTrue(
elevator
.goToSetpoint(ElevatorSetpoints.L2, intake.backSensor.negate())
.until(ejector.backSensor.negate()));
controller
.rightTrigger()
.or(controller.leftTrigger())
.and(override.negate())
.whileTrue(
elevator
.goToSetpoint(ElevatorSetpoints.L3, intake.backSensor.negate())
Expand All @@ -361,7 +362,6 @@ public Robot() {
controller
.rightBumper()
.or(controller.rightTrigger())
.and(override.negate())
.whileTrue(
drive
.autoAlignWithOverride(
Expand All @@ -371,30 +371,25 @@ public Robot() {
() -> controller.getRightX())
.until(ejector.backSensor.negate()));

controller.leftBumper().or(controller.leftTrigger()).and(override).whileTrue(ejector.eject(30));
controller
manualController.leftBumper().or(controller.leftTrigger()).whileTrue(ejector.eject(30));
manualController
.leftBumper()
.and(override)
.whileTrue(
elevator.goToSetpoint(ElevatorSetpoints.AlgaePopLow, intake.backSensor.negate()));
controller
manualController
.leftTrigger()
.and(override)
.whileTrue(
elevator.goToSetpoint(ElevatorSetpoints.AlgaePopHigh, intake.backSensor.negate()));
controller
manualController
.rightBumper()
.and(override)
.whileTrue(elevator.goToSetpoint(ElevatorSetpoints.L2, intake.backSensor.negate()));
controller
manualController
.rightTrigger()
.and(override)
.whileTrue(elevator.goToSetpoint(ElevatorSetpoints.L3, intake.backSensor.negate()));

controller
.leftBumper()
.or(controller.leftTrigger())
.and(override.negate())
.whileTrue(
drive
.autoAlignWithOverride(
Expand Down Expand Up @@ -446,7 +441,6 @@ public Robot() {
.or(controller.rightTrigger())
.or(controller.leftTrigger())
.negate())
.and(override.negate())
.whileTrue(
Commands.parallel(
drive.autoAlignWithOverride(
Expand Down Expand Up @@ -501,7 +495,8 @@ public Robot() {
.or(controller.rightTrigger())
.or(controller.leftTrigger()))
.whileTrue(ejector.eject(15).withInterruptBehavior(InterruptionBehavior.kCancelIncoming));
controller.povUp().whileTrue(intake.intake(-4));

controller.povUpRaw().whileTrue(intake.intake(-4));

intake
.backSensor
Expand Down Expand Up @@ -537,7 +532,7 @@ public Robot() {

// Reset gyro to 0° when B button is pressed
controller
.y()
.yRaw()
.onTrue(
Commands.runOnce(
() ->
Expand All @@ -546,15 +541,15 @@ public Robot() {
drive)
.ignoringDisable(true));
controller
.x()
.xRaw()
.onTrue(
Commands.sequence(
climber.disengage(),
climber.goToSetpoint(ClimberConstants.targetPositionRotationsIn),
elevator.goToSetpoint(ElevatorSetpoints.climbPrep, intake.backSensor.negate())));

controller // climb attempt
.a()
.aRaw()
.and(() -> climber.climberDeployed)
.onTrue(
elevator
Expand All @@ -567,7 +562,7 @@ public Robot() {
elevator.goToSetpoint(
ElevatorSetpoints.climbPrep, intake.backSensor.negate()))));

controller.b().onTrue(Commands.runOnce(() -> overridden = !overridden));
controller.bRaw().onTrue(Commands.runOnce(() -> overridden = !overridden));

new Trigger(this::isEnabled).onTrue(climber.disengage());

Expand Down
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