RobotContainer.java

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package frc.robot;

import frc.robot.Constants.OperatorConstants;
import frc.robot.commands.Autos;
import frc.robot.commands.ExampleCommand;
import frc.robot.subsystems.DriveSubsystem;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.button.Trigger;
import edu.wpi.first.wpilibj2.command.RunCommand;
import frc.robot.subsystems.DriveSubsystem;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.math.MathUtil;
/**
 * 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 {@link Robot}
 * periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
 * subsystems, commands, and trigger mappings) should be declared here.
 */
public class RobotContainer {
  
  // The robot's subsystems and commands are defined here...
  private final DriveSubsystem m_DriveSubsystem = new DriveSubsystem();
  private static RobotContainer instance = null;
  public static RobotContainer getInstance() {
    if(instance == null) instance = new RobotContainer();
    return instance;
}
  
  // Replace with CommandPS4Controller or CommandJoystick if needed

  /** The container for the robot. Contains subsystems, OI devices, and commands. */
  public RobotContainer() {
    final XboxController xboxcontrol = new XboxController(0); 
    configureBindings();
    m_DriveSubsystem.setDefaultCommand(new RunCommand(
    () -> m_DriveSubsystem.arcadeDrive( 
    -MathUtil.applyDeadband(xboxcontrol.getLeftY(), 0.07),
    -MathUtil.applyDeadband(xboxcontrol.getRightX(), 0.07),
    true, true),

m_DriveSubsystem))
    ;
  }

  /**
   * Use this method to define your trigger->command mappings. Triggers can be created via the
   * {@link Trigger#Trigger(java.util.function.BooleanSupplier)} constructor with an arbitrary
   * predicate, or via the named factories in {@link
   * edu.wpi.first.wpilibj2.command.button.CommandGenericHID}'s subclasses for {@link
   * CommandXboxController Xbox}/{@link edu.wpi.first.wpilibj2.command.button.CommandPS4Controller
   * PS4} controllers or {@link edu.wpi.first.wpilibj2.command.button.CommandJoystick Flight
   * joysticks}.
   */
  private void configureBindings() {
    // Schedule `ExampleCommand` when `exampleCondition` changes to `true`


    // Schedule `exampleMethodCommand` when the Xbox controller's B button is pressed,
    // cancelling on release.
    
  }

  /**
   * Use this to pass the autonomous command to the main {@link Robot} class.
   *
   * @return the command to run in autonomous
   */

}