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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
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@@ -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))