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changed track target reqs + started extender command

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This commit is contained in:
Ryan Manley
2022-03-14 12:16:32 -06:00
parent 4c758f9962
commit 0315104ee8
6 changed files with 71 additions and 18 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+13 -11
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@@ -175,6 +175,8 @@ public class RobotContainer {
m_robotTurret.setDefaultCommand(
new RunCommand(() -> m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()),
m_robotTurret).withName("Turret runTurretWithInput defaultCommand"));
m_robotHood.setDefaultCommand(
new RunCommand(() -> m_robotHood.runHood(getOperatorController().getRightY()), m_robotHood));
// m_robotTurret.setDefaultCommand(
@@ -270,26 +272,25 @@ public class RobotContainer {
.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(0.9), m_robotStorage))
.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(1.0), m_robotExtender))
.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender))
.whenReleased(new RunCommand(() -> m_robotExtender.switchDirection(), m_robotExtender));
// new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
// .whileHeld(new RunCommand(() -> m_robotExtender.runExtender(1.0), m_robotExtender))
// .whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
// new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
// .whileHeld(new RunCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender))
// .whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender))
.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
// new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
// .whenPressed(new InstantCommand(() -> m_robotBoomBoom.updateOffset(500), m_robotBoomBoom));
new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
.whileHeld(new RunCommand(() -> m_robotTurret.runshooterRotatePID(-180.0), m_robotTurret));
// new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
// .whenPressed(new InstantCommand(() -> m_robotBoomBoom.updateOffset(-500), m_robotBoomBoom));
// new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
// .whileHeld(new InstantCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender))
// .whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
// Right Bumper > Storage In
// new JoystickButton(getOperatorController(), XboxController.Button.kRightBumper.value)
// .whileHeld(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED)))
@@ -304,8 +305,9 @@ public class RobotContainer {
.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));
// new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
// .whileHeld(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry));
/* Button Box Buttons */