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Testy stuffs fot the Shoot

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This commit is contained in:
aarav18
2022-03-20 12:09:41 -06:00
parent 5d83a1292f
commit 0eca600135
3 changed files with 17 additions and 11 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+9 -9
View File
@@ -179,13 +179,13 @@ public class RobotContainer {
// Swerve Drive with Input
m_robotSwerveDrive.setDefaultCommand(
new RunCommand(() -> {
if (this.currentControlMode.equals(ControlMode.SHOOTER)) {
if (RobotContainer.currentControlMode.equals(ControlMode.SHOOTER)) {
m_robotSwerveDrive.driveWithInput( getDriverController().getLeftX(),
getDriverController().getLeftY(),
getDriverController().getRightX(),
getDriverController().getRightY(),
true); }
if (this.currentControlMode.equals(ControlMode.CLIMBER)) {
if (RobotContainer.currentControlMode.equals(ControlMode.CLIMBER)) {
m_robotSwerveDrive.driveWithInput( 0,
0,
0,
@@ -223,14 +223,14 @@ public class RobotContainer {
m_robotTurret.setDefaultCommand(
new RunCommand(() -> {
if (this.currentControlMode.equals(ControlMode.SHOOTER)) { m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()); }
if (this.currentControlMode.equals(ControlMode.CLIMBER)) { m_robotTurret.runTurretWithInput(0); }
if (RobotContainer.currentControlMode.equals(ControlMode.SHOOTER)) { m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()); }
if (RobotContainer.currentControlMode.equals(ControlMode.CLIMBER)) { m_robotTurret.runTurretWithInput(0); }
}, m_robotTurret));
m_robotHood.setDefaultCommand(
new RunCommand(() -> {
if (this.currentControlMode.equals(ControlMode.SHOOTER)) { m_robotHood.runHood(getOperatorController().getRightY()); }
if (this.currentControlMode.equals(ControlMode.CLIMBER)) { m_robotHood.runHood(0); }
if (RobotContainer.currentControlMode.equals(ControlMode.SHOOTER)) { m_robotHood.runHood(getOperatorController().getRightY()); }
if (RobotContainer.currentControlMode.equals(ControlMode.CLIMBER)) { m_robotHood.runHood(0); }
}, m_robotHood));
m_robotClimber.setDefaultCommand(
@@ -279,9 +279,9 @@ public class RobotContainer {
.whenReleased(new InstantCommand(() -> m_robotTurret.runTurretWithInput(0.0), m_robotTurret));
new JoystickButton(getDriverController(), XboxController.Button.kY.value)
.whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood, false))
.whenReleased(new InstantCommand(() -> m_robotTurret.runTurretWithInput(0.0), m_robotTurret))
.whenReleased(() -> m_robotSwerveDrive.stopModules());
.whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood, false));
//!.whenReleased(new InstantCommand(() -> m_robotTurret.runTurretWithInput(0.0), m_robotTurret))
//!.whenReleased(() -> m_robotSwerveDrive.stopModules());
new JoystickButton(getDriverController(), XboxController.Button.kX.value)
.whileHeld(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry))
src/main/java/frc4388/robot/commands/ShooterCommands/Shoot.java
+6 -2
View File
@@ -148,7 +148,7 @@ public class Shoot extends CommandBase {
SmartDashboard.putNumber("Normalized Output", this.normOutput);
this.turret.m_boomBoomRotateMotor.set(normOutput);
this.swerve.driveWithInput(0, 0, normOutput, true);
this.swerve.driveWithInput(0, 0, normOutput, false); // ? should the output be field relative
if (this.toShoot) {
this.hood.runAngleAdjustPID(this.targetHood);
@@ -164,7 +164,11 @@ public class Shoot extends CommandBase {
// swerve.driveWithInput(0, 0, initialSwerveRotation, true);
// this.swerve.driveWithInput(0.0, 0.0, 0.0, 0.0, true);
this.turret.m_boomBoomRotateMotor.set(0.0);
// this.turret.m_boomBoomRotateMotor.set(0.0);
// ? should stop the turret and the swerve
////this.swerve.stopModules();
////this.turret.runTurretWithInput(0);
if (this.toShoot) {
this.hood.runHood(0.0);
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+2
View File
@@ -97,6 +97,7 @@ public class SwerveDrive extends SubsystemBase {
ignoreAngles = true;
else
ignoreAngles = false;
Translation2d speed = new Translation2d(speedX, speedY);
double mag = speed.getNorm();
speed = speed.times(mag * speedAdjust);
@@ -111,6 +112,7 @@ public class SwerveDrive extends SubsystemBase {
SwerveModuleState[] states = m_kinematics.toSwerveModuleStates(chassisSpeeds);
setModuleStates(states);
}
// new Rotation2d((360 - m_gyro.getRotation2d().getDegrees() + 90) * (Math.PI/180)))
public void driveWithInput(double leftX, double leftY, double rightX, double rightY, boolean fieldRelative) {
ignoreAngles = leftX == 0 && leftY == 0 && rightX == 0 && rightY == 0;