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commented out bunch of stuff in order to make turret work

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This commit is contained in:
Ryan Manley
2022-02-05 14:27:11 -07:00
parent d666e9eb9d
commit 3e43b50f04
5 changed files with 107 additions and 106 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+14 -15
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@@ -32,16 +32,16 @@ public class RobotContainer {
private final RobotMap m_robotMap = new RobotMap();
/* Subsystems */
private final SwerveDrive m_robotSwerveDrive = new SwerveDrive(
m_robotMap.leftFrontSteerMotor, m_robotMap.leftFrontWheelMotor,
m_robotMap.rightFrontSteerMotor, m_robotMap.rightFrontWheelMotor,
m_robotMap.leftBackSteerMotor, m_robotMap.leftBackWheelMotor,
m_robotMap.rightBackSteerMotor, m_robotMap.rightBackWheelMotor,
m_robotMap.leftFrontEncoder,
m_robotMap.rightFrontEncoder,
m_robotMap.leftBackEncoder,
m_robotMap.rightBackEncoder
);
// private final SwerveDrive m_robotSwerveDrive = new SwerveDrive(
// m_robotMap.leftFrontSteerMotor, m_robotMap.leftFrontWheelMotor,
// m_robotMap.rightFrontSteerMotor, m_robotMap.rightFrontWheelMotor,
// m_robotMap.leftBackSteerMotor, m_robotMap.leftBackWheelMotor,
// m_robotMap.rightBackSteerMotor, m_robotMap.rightBackWheelMotor,
// m_robotMap.leftFrontEncoder,
// m_robotMap.rightFrontEncoder,
// m_robotMap.leftBackEncoder,
// m_robotMap.rightBackEncoder
// );
private final LED m_robotLED = new LED(m_robotMap.LEDController);
private final BoomBoom m_robotBoomBoom = new BoomBoom();
@@ -60,9 +60,9 @@ 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));
// m_robotSwerveDrive.setDefaultCommand(
// new RunCommand(() -> m_robotSwerveDrive.driveWithInput(-getDriverController().getLeftXAxis(),
// getDriverController().getLeftYAxis(), -getDriverController().getRightXAxis(), false), m_robotSwerveDrive));
// continually sends updates to the Blinkin LED controller to keep the lights on
m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, m_robotLED));
@@ -72,8 +72,7 @@ public class RobotContainer {
//Turret default command
m_robotTurret.setDefaultCommand(
new RunCommand(() -> m_robotTurret.runShooterWithInput(getOperatorController().getLeftXAxis()), m_robotTurret)
);
new RunCommand(() -> m_robotTurret.runShooterWithInput(getOperatorController().getLeftXAxis()), m_robotTurret));
// m_robotTurret.setDefaultCommand(
// new RunCommand(() -> m_robotTurret.aimToCenter()));
}