RobotContainer Class Reference

Public Member Functions
None	__init__ (self)
None	configureButtonBindings (self)
commands2.Command	getAutonomousCommand (self)

Public Attributes
	arm
	autoChooser = AutoBuilder.buildAutoChooser()
	climb = Climb()
	configController = commands2.button.CommandXboxController(constants.Global.kConfigControllerPort)
tuple	drive
	driverController = commands2.button.CommandXboxController(constants.Global.kDriverControllerPort)
	elevator
	grabber = Grabber()
	limelight = Limelight(self.robotDrive)
	logger = Telemetry(constants.Global.max_speed)
	operatorController = commands2.button.CommandXboxController(constants.Global.kOperatorControllerPort)
	robotDrive
	score
	slewRateT = SlewRateLimiter(2, -3)
	slewRateX = SlewRateLimiter(2, -3)
	slewRateY = SlewRateLimiter(2, -3)
	wrist

Detailed Description

This class is where the bulk of the robot should be declared. Since Command-based is a
"declarative" paradigm, very little robot logic should actually be handled in the :class:`.Robot`
periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
subsystems, commands, and button mappings) should be declared here.

Constructor & Destructor Documentation

__init__()

None __init__

(

self

)

The container for the robot. Contains subsystems, OI devices, and commands.

Member Function Documentation

configureButtonBindings()

None configureButtonBindings

(

self

)

Use this method to define your button->command mappings. Buttons can be created via the button
factories on commands2.button.CommandGenericHID or one of its
subclasses (commands2.button.CommandJoystick or command2.button.CommandXboxController).

getAutonomousCommand()

commands2.Command getAutonomousCommand

(

self

)

Use this to pass the autonomous command to the main :class:`.Robot` class.

:returns: the command to run in autonomous

Member Data Documentation

arm

arm

Initial value:

=  PositionalSubsystem(
            "arm",
            motorID=constants.Arm.id,
            motorConfig=constants.Arm.config,
            encoderID=constants.Arm.encoder,
            encoderConfig=constants.Arm.encoderConfig,
            sysidConf=constants.Arm.sysidConf,
            limitWaitingDistance=3,
            initialTarget=90
        )

autoChooser

autoChooser = AutoBuilder.buildAutoChooser()

climb

climb = Climb()

configController

configController = commands2.button.CommandXboxController(constants.Global.kConfigControllerPort)

drive

tuple drive

Initial value:

=  (
            swerve.requests.FieldCentric()
            .with_deadband(constants.Global.max_speed * 0.1)
            .with_rotational_deadband(
                rotationsToRadians(0.75) * 0.1
            )  # Add a 10% deadband
            .with_drive_request_type(
                swerve.SwerveModule.DriveRequestType.OPEN_LOOP_VOLTAGE
            )  # Use open-loop control for drive motors
        )

driverController

driverController = commands2.button.CommandXboxController(constants.Global.kDriverControllerPort)

elevator

elevator

Initial value:

=  PositionalSubsystem(
            "elevate",
            motorID=constants.Elevator.mainMotorId,
            followerID=constants.Elevator.othrMotorId,
            motorConfig=constants.Elevator.config,
            conversionRate=constants.Elevator.turnsPerInch,
            sysidConf=constants.Elevator.sysidConf,
            initialTarget=1,
            limitWaitingDistance=1
        )

grabber

grabber = Grabber()

limelight

limelight = Limelight(self.robotDrive)

logger

logger = Telemetry(constants.Global.max_speed)

operatorController

operatorController = commands2.button.CommandXboxController(constants.Global.kOperatorControllerPort)

robotDrive

robotDrive

Initial value:

=   CommandSwerveDrivetrain(
            hardware.TalonFX,
            hardware.TalonFX,
            hardware.CANcoder,
            constants.TunerConstants.drivetrain_constants,
            [ constants.TunerConstants.front_left, constants.TunerConstants.front_right, constants.TunerConstants.back_left, constants.TunerConstants.back_right ],
        )

score

score

Initial value:

=  Score(
            elevator=self.elevator,
            arm=self.arm,
            wrist=self.wrist,
            grabber=self.grabber
        )

slewRateT

slewRateT = SlewRateLimiter(2, -3)

slewRateX

slewRateX = SlewRateLimiter(2, -3)

slewRateY

slewRateY = SlewRateLimiter(2, -3)

wrist

wrist

Initial value:

=  PositionalSubsystem(
            "wrist",
            motorID=constants.Wrist.id,
            motorConfig=constants.Wrist.config,
            conversionRate=constants.Wrist.gearRatio/360,
            encoderID=constants.Wrist.encoder,
            initialPosition=0.0,
            encoderConfig=constants.Wrist.encoderConfig,
            sysidConf=constants.Wrist.sysidConf,
            limitWaitingDistance=3,
            positionSetErrorBounds=5
        )

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The documentation for this class was generated from the following file:

• /home/axolotl/FRC-2025/robotcontainer.py