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Merge branch 'full-robot-test' into Climber

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This commit is contained in:
Aarav Shah
2022-03-06 00:37:22 -07:00
committed by GitHub
parent 42bfaa7027 74fa148c08
commit 0b75f5793f
13 changed files with 584 additions and 39 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+13 -4
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@@ -61,6 +61,7 @@ import frc4388.robot.subsystems.Climber;
import frc4388.robot.subsystems.Claws.ClawType;
import frc4388.robot.commands.AimToCenter;
import frc4388.robot.commands.Shoot;
import frc4388.robot.commands.TrackTarget;
import frc4388.robot.subsystems.BoomBoom;
import frc4388.robot.subsystems.Hood;
import frc4388.robot.subsystems.Intake;
@@ -70,6 +71,7 @@ import frc4388.robot.subsystems.Storage;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.robot.subsystems.Turret;
import frc4388.robot.subsystems.Vision;
import frc4388.robot.subsystems.VisionOdometry;
import frc4388.utility.LEDPatterns;
import frc4388.utility.ListeningSendableChooser;
@@ -102,9 +104,9 @@ public class RobotContainer {
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();
private final Hood m_robotHood = new Hood(m_robotMap.angleAdjusterMotor);
private final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret);
private final Vision m_robotVision = new Vision(m_robotTurret, m_robotBoomBoom);
private final VisionOdometry m_robotVisionOdometry = new VisionOdometry(m_robotSwerveDrive, m_robotTurret);
/* Controllers */
@@ -139,8 +141,8 @@ public class RobotContainer {
getOperatorController().getLeftY()), m_robotClimber).withName("Climber controlWithInput defaultCommand"));
// Turret default command
// m_robotTurret.setDefaultCommand(new AimToCenter(m_robotTurret,
// m_robotSwerveDrive));
//m_robotTurret.setDefaultCommand(new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry));
m_robotTurret.setDefaultCommand(new RunCommand(() -> m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()), m_robotTurret));
//Swerve Drive
m_robotSwerveDrive.setDefaultCommand(
@@ -242,6 +244,13 @@ public class RobotContainer {
new JoystickButton(getOperatorController(), XboxController.Button.kLeftBumper.value)
.whenPressed(() -> m_robotStorage.runStorage(-StorageConstants.STORAGE_SPEED))
.whenReleased(() -> m_robotStorage.runStorage(0.0));
//Shooter
new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
.whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood));
new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
.whenPressed(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotSwerveDrive, m_robotVisionOdometry));
}
/**