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Add button to lift both intakes

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This commit is contained in:
Keenan D. Buckley
2019-02-16 20:47:58 -07:00
parent f1cff88862
commit 89c3489f79
2 changed files with 37 additions and 2 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java
+2 -2
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@@ -49,8 +49,8 @@ public class OI
CarriageEject.whenPressed(new SetIntakeSpeed(BallIntake.BALL_EXTAKE_SPEED));
CarriageEject.whenReleased(new SetIntakeSpeed(0.0));
//JoystickButton endEfector = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.X_BUTTON);
//endEfector.toggleWhenActive(new WristPlacement(true));
JoystickButton liftBothIntake = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.X_BUTTON);
liftBothIntake.whenPressed(new HatchAndBallUp());
JoystickButton liftHatchIntake = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.RIGHT_BUMPER_BUTTON);
liftHatchIntake.whenPressed(new LiftHatchDropBall());
2019robot/src/main/java/org/usfirst/frc4388/robot/commands/HatchAndBallUp.java
+35
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@@ -0,0 +1,35 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package org.usfirst.frc4388.robot.commands;
import edu.wpi.first.wpilibj.command.CommandGroup;
public class HatchAndBallUp extends CommandGroup {
/**
* Add your docs here.
*/
public HatchAndBallUp() {
addSequential(new HatchFlip(true));
addParallel(new DeployBallIntake(false));
// e.g. addSequential(new Command1());
// addSequential(new Command2());
// these will run in order.
// To run multiple commands at the same time,
// use addParallel()
// e.g. addParallel(new Command1());
// addSequential(new Command2());
// Command1 and Command2 will run in parallel.
// A command group will require all of the subsystems that each member
// would require.
// e.g. if Command1 requires chassis, and Command2 requires arm,
// a CommandGroup containing them would require both the chassis and the
// arm.
}
}