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Added drive command

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This commit is contained in:
‮Zach Wilke
2021-12-02 17:51:06 -07:00
parent 097a972625
commit 429cdb60d9
2 changed files with 31 additions and 8 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+19 -1
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@@ -15,6 +15,7 @@ import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.subsystems.ArcadeDrive;
import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.utility.LEDPatterns;
import frc4388.utility.controller.IHandController;
import frc4388.utility.controller.XboxController;
@@ -34,6 +35,17 @@ public class RobotContainer {
private final ArcadeDrive m_robotArcadeDrive = new ArcadeDrive(m_robotMap.leftFrontMotor, m_robotMap.rightFrontMotor,
m_robotMap.leftBackMotor, m_robotMap.rightBackMotor, m_robotMap.driveTrain, m_robotMap.gyroDrive);
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);
/* Controllers */
@@ -47,10 +59,16 @@ public class RobotContainer {
configureButtonBindings();
/* Default Commands */
// drives the robot with a two-axis input from the driver controller
// drives the arcade drive with a two-axis input from the driver controller
m_robotArcadeDrive.setDefaultCommand(
new RunCommand(() -> m_robotArcadeDrive.driveWithInput(getDriverController().getLeftYAxis(),
getDriverController().getRightXAxis()), m_robotArcadeDrive));
// drives the arcade drive with a two-axis input from the driver controller
m_robotSwerveDrive.setDefaultCommand(
new RunCommand(() -> m_robotSwerveDrive.driveWithInput(getDriverController().getRightXAxis(),
getDriverController().getRightYAxis(), getDriverController().getLeftXAxis()), 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));
}