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Merged
y0shi merged 3 commits into from
Feb 25, 2026
Merged

Debug/default command #31

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368f79a
Utilizes test mode
Orcasphynx Feb 19, 2026
43c9f6a
Merge branch 'development' into debug/defaultCommand
Orcasphynx Feb 25, 2026
e59e6b0
Build fixes
Orcasphynx Feb 25, 2026
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10 changes: 9 additions & 1 deletion src/main/java/frc/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -88,7 +88,8 @@ public void robotPeriodic() {

/** This function is called once each time the robot enters Disabled mode. */
@Override
public void disabledInit() {}
public void disabledInit() {
}

@Override
public void disabledPeriodic() {}
Expand Down Expand Up @@ -117,6 +118,9 @@ public void teleopInit() {
if (m_autonomousCommand != null) {
m_autonomousCommand.cancel();
}

m_robotContainer.configureSubsystemDefaultCommands();
m_robotContainer.configureTeleopBindings();
}

/** This function is called periodically during operator control. */
Expand All @@ -127,6 +131,10 @@ public void teleopPeriodic() {}
public void testInit() {
// Cancels all running commands at the start of test mode.
CommandScheduler.getInstance().cancelAll();

SignalLogger.stop();
m_robotContainer.removeSubsystemDefaultCommands();
m_robotContainer.configureTestBindings();
}

/** This function is called periodically during test mode. */
Expand Down
50 changes: 23 additions & 27 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -58,11 +58,13 @@ public RobotContainer() {
autoChooser = AutoBuilder.buildAutoChooser("Auto Chooser");
SmartDashboard.putData("Auto Mode", autoChooser);

configureSubsystemDefaultCommands();
configureBindings();
// Idle while the robot is disabled. This ensures the configured
// neutral mode is applied to the drive motors while disabled.
RobotModeTriggers.disabled()
.whileTrue(drivetrain.applyRequest(() -> new SwerveRequest.Idle()).ignoringDisable(true));
}

private void configureSubsystemDefaultCommands() {
public void configureSubsystemDefaultCommands() {

drivetrain.setDefaultCommand(
// Drivetrain will execute this command periodically
Expand Down Expand Up @@ -90,34 +92,36 @@ private void configureSubsystemDefaultCommands() {
.withRotationalDeadband(DriveConstants.MAX_ANGULAR_SPEED * 0.1)));
}

private void configureBindings() {
public void removeSubsystemDefaultCommands(){
drivetrain.removeDefaultCommand();
}

public void configureTestBindings() {
// Idle while the robot is disabled. This ensures the configured
// neutral mode is applied to the drive motors while disabled.

final var idle = new SwerveRequest.Idle();
RobotModeTriggers.disabled()
.whileTrue(drivetrain.applyRequest(() -> idle).ignoringDisable(true));

driverJoystick.rightBumper().onTrue(Commands.runOnce(SignalLogger::start));
driverJoystick.leftBumper().onTrue(Commands.runOnce(SignalLogger::stop));

// // driverJoystick.a().whileTrue(drivetrain.applyRequest(() -> brake));
// driverJoystick
// .b()
// .whileTrue(
// drivetrain.applyRequest(
// () ->
// point.withModuleDirection(
// new Rotation2d(-driverJoystick.getLeftY(),
// -driverJoystick.getLeftX()))));
operatorJoystick.y().whileTrue(shooter.sysIdQuasistatic(SysIdRoutine.Direction.kForward));
operatorJoystick.a().whileTrue(shooter.sysIdQuasistatic(SysIdRoutine.Direction.kReverse));
operatorJoystick.b().whileTrue(shooter.sysIdDynamic(SysIdRoutine.Direction.kForward));
operatorJoystick.x().whileTrue(shooter.sysIdDynamic(SysIdRoutine.Direction.kReverse));

// Reset the field-centric heading on left bumper press.
driverJoystick.start().onTrue(drivetrain.runOnce(drivetrain::seedFieldCentric));
}

public void configureTeleopBindings() {
// Run SysId routines when holding back/start and X/Y.
// Note that each routine should be run exactly once in a single log.

// joystick.x().onTrue(drivetrain.sysIdSteer());
// joystick.y().onTrue(drivetrain.sysIdTranslation());
// driverJoystick.x().onTrue(new WheelSlipTest(drivetrain));
/*
driverJoystick
.y()
.whileTrue(new DriveBySpeed(drivetrain, DrivePreferences.onemeter_speed)); // Testing only
*/

driverJoystick
.rightTrigger()
Expand All @@ -139,14 +143,6 @@ private void configureBindings() {
.whileTrue(indexer.setIndexerNoPID())
.onFalse(indexer.stopIndexerNoPID());

driverJoystick.rightBumper().onTrue(Commands.runOnce(SignalLogger::start));
driverJoystick.leftBumper().onTrue(Commands.runOnce(SignalLogger::stop));

operatorJoystick.y().whileTrue(shooter.sysIdQuasistatic(SysIdRoutine.Direction.kForward));
operatorJoystick.a().whileTrue(shooter.sysIdQuasistatic(SysIdRoutine.Direction.kReverse));
operatorJoystick.b().whileTrue(shooter.sysIdDynamic(SysIdRoutine.Direction.kForward));
operatorJoystick.x().whileTrue(shooter.sysIdDynamic(SysIdRoutine.Direction.kReverse));

// Reset the field-centric heading on left bumper press.
driverJoystick.start().onTrue(drivetrain.runOnce(drivetrain::seedFieldCentric));

Expand Down