From ae249adf100d809645953359654faf333677f9b1 Mon Sep 17 00:00:00 2001 From: "Keenan D. Buckley" Date: Thu, 7 Mar 2019 18:47:12 -0700 Subject: [PATCH] Test Code for both relative turn and absolute turn --- 2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java index 91c431f..eca53c9 100644 --- a/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java +++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java @@ -92,6 +92,12 @@ public class OI CloseIntake.whenPressed(new IntakePosition(false)); */ + JoystickButton TurnDriveTrain90 = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.RIGHT_JOYSTICK_BUTTON); + TurnDriveTrain90.whenPressed(new DriveRelativeTurnPID(90, MPSoftwareTurnType.TANK)); + + JoystickButton TurnTo0NavX = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.LEFT_JOYSTICK_BUTTON); + TurnTo0NavX.whenPressed(new DriveRelativeTurnPID(0, MPSoftwareTurnType.TANK)); + SmartDashboard.putData("switch to manuel", new SetManual()); SmartDashboard.putData("run arm test", new ArmTest());