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run claw and claw stuff (vcool)

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aarav18
2022-03-05 14:38:54 -07:00
parent 6a639544ae
commit 11359e4c02
4 changed files with 139 additions and 14 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+16 -5
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@@ -11,9 +11,11 @@ import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.subsystems.Claws;
import frc4388.robot.commands.RunClaw;
import frc4388.robot.subsystems.Climber;
import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.robot.subsystems.Claws.ClawType;
import frc4388.utility.LEDPatterns;
import frc4388.utility.controller.IHandController;
import frc4388.utility.controller.XboxController;
@@ -86,13 +88,22 @@ public class RobotContainer {
/*new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
.whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));*/
// run claws
new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON)
.whenPressed(() -> m_claws.setSpeed(0.5))
.whenReleased(() -> m_claws.setSpeed(0.0));
.whenPressed(new RunClaw(m_claws, ClawType.LEFT, true))
.whenPressed(new RunClaw(m_claws, ClawType.RIGHT, true));
new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
.whenPressed(() -> m_claws.setSpeed(-0.5))
.whenReleased(() -> m_claws.setSpeed(0.0));
.whenPressed(new RunClaw(m_claws, ClawType.LEFT, false))
.whenPressed(new RunClaw(m_claws, ClawType.RIGHT, false));
// new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON)
// .whenPressed(() -> m_claws.setSpeed(0.5))
// .whenReleased(() -> m_claws.setSpeed(0.0));
// new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
// .whenPressed(() -> m_claws.setSpeed(-0.5))
// .whenReleased(() -> m_claws.setSpeed(0.0));
}
/**