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Shoot Command Works now

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Untested on robot, but in sim
This commit is contained in:
Ryan Manley
2022-03-06 13:02:17 -07:00
parent 645f4bfe07
commit 01957ce6de
4 changed files with 58 additions and 37 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+14 -15
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@@ -95,10 +95,10 @@ public class RobotContainer {
private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.extenderMotor, m_robotSerializer);
// private final Storage m_robotStorage = new Storage(m_robotMap.storageMotor, m_robotMap.beamIntake, m_robotMap.beamShooter);
// private final LED m_robotLED = new LED(m_robotMap.LEDController);
// private final BoomBoom m_robotBoomBoom = new BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight);
// private final Hood m_robotHood = new Hood(m_robotMap.angleAdjusterMotor);
// private final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret);
// private final VisionOdometry m_robotVisionOdometry = new VisionOdometry(m_robotSwerveDrive, m_robotTurret);
private final BoomBoom m_robotBoomBoom = new BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight);
private final Hood m_robotHood = new Hood(m_robotMap.angleAdjusterMotor);
private final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret);
private final VisionOdometry m_robotVisionOdometry = new VisionOdometry(m_robotSwerveDrive, m_robotTurret);
/* Controllers */
private final XboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
@@ -196,7 +196,6 @@ public class RobotContainer {
new JoystickButton(getDriverController(), XboxController.Button.kB.value)
.whileHeld(new RunCommand(() -> m_robotSerializer.setSerializer(-0.25)))
.whenReleased(new RunCommand(() -> m_robotSerializer.setSerializer(0.0)));
}
// new JoystickButton(getDriverController(), XboxController.Button.kA.value)
// .whenPressed(() -> resetOdometry(new Pose2d(0, 0, new Rotation2d(0))));
@@ -210,25 +209,25 @@ public class RobotContainer {
/* Operator Buttons */
// X > Extend Intake
/*new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
.whenPressed(() -> m_robotIntake.runExtender(true));
// Y > Retract Intake
new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
.whenPressed(() -> m_robotIntake.runExtender(false));*/
.whenPressed(() -> m_robotIntake.runExtender(false));
// Right Bumper > Storage In
/*new JoystickButton(getOperatorController(), XboxController.Button.kRightBumper.value)
.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED)))
.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0)));
// Left Bumper > Storage Out (note: neccessary?)
new JoystickButton(getOperatorController(), XboxController.Button.kLeftBumper.value)
.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-StorageConstants.STORAGE_SPEED)))
.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0)));
// new JoystickButton(getOperatorController(), XboxController.Button.kRightBumper.value)
// .whileHeld(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED)))
// .whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0)));
// // Left Bumper > Storage Out (note: neccessary?)
// new JoystickButton(getOperatorController(), XboxController.Button.kLeftBumper.value)
// .whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-StorageConstants.STORAGE_SPEED)))
// .whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0)));
// A > Shoot with Odo
new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
.whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood));
// B > Shoot with Lime
new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
.whenPressed(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotSwerveDrive, m_robotVisionOdometry));/*
.whenPressed(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotSwerveDrive, m_robotVisionOdometry));
}
/**