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Merge branch 'Serializer' into Intake

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This commit is contained in:
‮Zach Wilke
2022-01-21 17:11:30 -07:00
parent 1e498bef56 23f9f7c5ba
commit 3b8aca334e
8 changed files with 232 additions and 143 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+9 -2
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@@ -12,6 +12,7 @@ import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.subsystems.Intake;
import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.Serializer;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.utility.LEDPatterns;
import frc4388.utility.controller.IHandController;
@@ -41,6 +42,8 @@ public class RobotContainer {
);
private final Intake m_robotIntake = new Intake(null, null);
private final Serializer m_robotSerializer = new Serializer(m_robotMap.serializerBelt, m_robotMap.serializerShooterBelt);
private final LED m_robotLED = new LED(m_robotMap.LEDController);
/* Controllers */
@@ -56,8 +59,8 @@ public class RobotContainer {
/* Default Commands */
// drives the swerve drive with a two-axis input from the driver controller
m_robotSwerveDrive.setDefaultCommand(
new RunCommand(() -> m_robotSwerveDrive.driveWithInput(getDriverController().getLeftXAxis(),
getDriverController().getLeftYAxis(), getDriverController().getRightXAxis(), false), m_robotSwerveDrive));
new RunCommand(() -> m_robotSwerveDrive.driveWithInput(-getDriverController().getLeftXAxis(),
getDriverController().getLeftYAxis(), -getDriverController().getRightXAxis(), false), m_robotSwerveDrive));
m_robotIntake.setDefaultCommand(
new RunCommand(() -> m_robotIntake.runWithTriggers(
@@ -88,6 +91,10 @@ public class RobotContainer {
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
.whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
.whenPressed(() -> m_robotSerializer.setSerializerStateWithBeam(true, m_robotSerializer.getBeam()))
.whenReleased(() -> m_robotSerializer.setSerializerStateWithBeam(false, m_robotSerializer.getBeam()));
}
/**