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fixed motor controls

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This commit is contained in:
aarav18
2022-01-22 11:25:39 -07:00
parent ab2a3f6866
commit 050d60ef36
5 changed files with 34 additions and 25 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+9 -10
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@@ -43,9 +43,9 @@ public class RobotContainer {
private final LED m_robotLED = new LED(m_robotMap.LEDController);
private final Climber m_robotClimber = new Climber(m_robotMap.shoulder, m_robotMap.elbow, m_robotMap.gyro);
private final Climber m_robotClimber = new Climber(m_robotMap.shoulder, m_robotMap.elbow, m_robotMap.gyro, false);
private final Hooks m_hooks = new Hooks(m_robotMap.leftHook, m_robotMap.rightHook);
//private final Hooks m_hooks = new Hooks(m_robotMap.leftHook, m_robotMap.rightHook);
/* Controllers */
private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
@@ -59,15 +59,14 @@ public class RobotContainer {
/* Default Commands */
// drives the swerve drive with a two-axis input from the driver controller
m_robotSwerveDrive.setDefaultCommand(
new RunCommand(() -> m_robotSwerveDrive.driveWithInput(-getDriverController().getLeftXAxis(),
getDriverController().getLeftYAxis(), -getDriverController().getRightXAxis(), false), m_robotSwerveDrive));
// m_robotSwerveDrive.setDefaultCommand(
// new RunCommand(() -> m_robotSwerveDrive.driveWithInput(-getDriverController().getLeftXAxis(),
// getDriverController().getLeftYAxis(), -getDriverController().getRightXAxis(), false), m_robotSwerveDrive));
// moves climber in xy space with two-axis input from the operator controller
m_robotClimber.setDefaultCommand(
new RunCommand(() -> m_robotClimber.controlWithInput(getOperatorController().getLeftXAxis(),
getOperatorController().getLeftYAxis(),
getDriverJoystick().getRawButtonPressed(XboxController.A_BUTTON)), m_robotClimber));
getOperatorController().getLeftYAxis()), m_robotClimber));
// continually sends updates to the Blinkin LED controller to keep the lights on
m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, m_robotLED));
@@ -88,9 +87,9 @@ public class RobotContainer {
.whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
.whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON)
.whenPressed(() -> m_hooks.setOpen(true))
.whenReleased(() -> m_hooks.setOpen(false));
// new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON)
// .whenPressed(() -> m_hooks.setOpen(true))
// .whenReleased(() -> m_hooks.setOpen(false));
}
/**