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This commit is contained in:
aarav18
2022-03-18 23:56:01 -06:00
parent 6570f81cf7
commit 113a26d831
3 changed files with 33 additions and 26 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+24 -18
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@@ -212,26 +212,26 @@ public class RobotContainer {
// new RunCommand(() -> m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()),
// m_robotTurret).withName("Turret runTurretWithInput defaultCommand"));
// m_robotTurret.setDefaultCommand(
// new RunCommand(() -> {
// if (this.currentControlMode.equals(ControlMode.SHOOTER)) {
// if (this.currentTurretMode.equals(TurretMode.MANUAL)) { m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()); }
// }
// if (this.currentControlMode.equals(ControlMode.CLIMBER)) { m_robotTurret.runTurretWithInput(0); }
// }, m_robotTurret));
m_robotTurret.setDefaultCommand(
new RunCommand(() -> {
if (this.currentControlMode.equals(ControlMode.SHOOTER)) {
if (this.currentTurretMode.equals(TurretMode.MANUAL)) { m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()); }
}
if (this.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); }
// }, m_robotHood));
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); }
}, m_robotHood));
// m_robotClimber.setDefaultCommand(
// // new RunCommand(() -> {
// // if (this.currentMode.equals(Mode.SHOOTER)) { m_robotClimber.setMotors(0, 0); }
// /*if (this.currentMode.equals(Mode.CLIMBER)) { */new RunCommand(() -> m_robotClimber.setMotors(getOperatorController().getLeftX(),
// getOperatorController().getRightY()), m_robotClimber).withName("Climber controlWithInput defaultCommand")); //}
// }, m_robotClimber));
m_robotClimber.setDefaultCommand(
new RunCommand(() -> {
if (this.currentControlMode.equals(ControlMode.SHOOTER)) { m_robotClimber.setMotors(0, 0); }
if (this.currentControlMode.equals(ControlMode.CLIMBER)) { m_robotClimber.setJointSpeeds(getOperatorController().getLeftX() * 10000,
getOperatorController().getRightY() * 10000); }}
, m_robotClimber));
// m_robotTurret.setDefaultCommand(
// new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry));
@@ -269,6 +269,12 @@ public class RobotContainer {
new JoystickButton(getDriverController(), XboxController.Button.kA.value)
.whileHeld(() -> m_robotSwerveDrive.driveWithInput(0.0, 0.0, 1.0, 0.0, true))
.whenReleased(() -> m_robotSwerveDrive.stopModules());
new JoystickButton(getDriverController(), XboxController.Button.kB.value)
.whileHeld(new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry))
.whenReleased(new InstantCommand(() -> m_robotTurret.runTurretWithInput(0.0), m_robotTurret));
/* Operator Buttons */