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TestButtons + soft limits

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aarav18
2022-03-10 17:06:17 -07:00
parent b5345a53cb
commit 2b0dd53360
4 changed files with 58 additions and 6 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+15 -6
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@@ -94,7 +94,7 @@ public class RobotContainer {
/* Subsystems */
private final Climber m_robotClimber = new Climber(m_robotMap.shoulder, m_robotMap.elbow, m_robotMap.gyro, false);
private final Claws m_claws = new Claws(m_robotMap.leftClaw, m_robotMap.rightClaw);
private final Claws m_robotClaws = new Claws(m_robotMap.leftClaw, m_robotMap.rightClaw);
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront, m_robotMap.leftBack,
m_robotMap.rightFront, m_robotMap.rightBack, m_robotMap.gyro);
@@ -137,9 +137,10 @@ public class RobotContainer {
// moves climber in xy space with two-axis input from the operator controller
m_robotClimber.setDefaultCommand(
new RunCommand(() -> m_robotClimber.setMotors(getOperatorController().getLeftX(), getOperatorController().getLeftY()),
new RunCommand(() -> m_robotClimber.setMotors(getOperatorController().getLeftX() * 0.4, getOperatorController().getLeftY() * 0.4),
m_robotClimber));
// IK command
// m_robotClimber.setDefaultCommand(
// new RunCommand(() -> m_robotClimber.controlWithInput(getOperatorController().getLeftX(),
@@ -217,12 +218,20 @@ public class RobotContainer {
/* Operator Buttons */
// run claws
new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
.whenPressed(new RunClaw(m_claws, ClawType.LEFT, true))
.whenPressed(new RunClaw(m_claws, ClawType.RIGHT, true));
.whileHeld(new RunCommand(() -> m_robotClaws.runClaw(ClawType.LEFT, 0.2)))
.whenReleased(new RunCommand(() -> m_robotClaws.runClaw(ClawType.LEFT, 0.0)));
new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
.whenPressed(new RunClaw(m_claws, ClawType.LEFT, false))
.whenPressed(new RunClaw(m_claws, ClawType.RIGHT, false));
.whileHeld(new RunCommand(() -> m_robotClaws.runClaw(ClawType.LEFT, -0.2)))
.whenReleased(new RunCommand(() -> m_robotClaws.runClaw(ClawType.LEFT, 0.0)));
new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
.whileHeld(new RunCommand(() -> m_robotClaws.runClaw(ClawType.RIGHT, 0.2)))
.whenReleased(new RunCommand(() -> m_robotClaws.runClaw(ClawType.RIGHT, 0.0)));
new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
.whileHeld(new RunCommand(() -> m_robotClaws.runClaw(ClawType.RIGHT, -0.2)))
.whenReleased(new RunCommand(() -> m_robotClaws.runClaw(ClawType.RIGHT, 0.0)));
/*
* // activates "BoomBoom"