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Minor fixes and controller updates #67

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Merged
CameronMyhre merged 3 commits into from
Apr 11, 2026
Merged

Minor fixes and controller updates #67

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7564a64
Remove duplicate bindings
quipp Apr 11, 2026
74a3af0
Fix team number check
quipp Apr 11, 2026
cc1d411
New controls, moved x lock to driver options (hamberger) button
quipp Apr 11, 2026
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19 changes: 3 additions & 16 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -320,7 +320,7 @@ public void configureBindings() {
detectedRobot = raycast.getRobot(teamNumber, 1);
}

if (teamNumber > 0) {
if (teamNumber <= 0) {
detectedRobot = Optional.empty();
}

Expand Down Expand Up @@ -388,8 +388,8 @@ public void configureBindings() {

Trigger reverseTransferTrigger = new Trigger(() -> driverController.getYButton());

// Driver X button: hold to lock robot pose (X-lock)
Trigger xLockTrigger = new Trigger(() -> driverController.getXButton());
// Operator Start button: hold to lock robot pose (X-lock)
Trigger xLockTrigger = new Trigger(() -> operatorController.getStartButton());
xLockTrigger.whileTrue(driveSubsystem.getLockPoseCommand());

/* Shooter runs while button held */
Expand Down Expand Up @@ -517,19 +517,6 @@ public void configureBindings() {
new Trigger(() -> operatorController.getLeftTriggerAxis() > 0.5
|| operatorController.getRightTriggerAxis() > 0.5)
.onTrue(new InstantCommand(() -> shooterPercent.set(Constants.Operator.ErrorSettings.SHOOTER_PERCENT_DEFAULT)));
new Trigger(
() -> operatorController.getAButton()).onTrue(
new InstantCommand(() -> selectedFixedTarget = FixedTarget.A));

new Trigger(
() -> operatorController.getBButton()).onTrue(
new InstantCommand(() -> selectedFixedTarget = FixedTarget.B));

new Trigger(
() -> operatorController.getXButton()).onTrue(
new InstantCommand(() -> xHeld = true))
.onFalse(
new InstantCommand(() -> xHeld = false));

}

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