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Removed Redundant Arcade Drive Code and Added some more verbose comments

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This commit is contained in:
Ryan
2022-01-11 11:27:26 -07:00
parent 731310fbc8
commit 430dd2d6aa
4 changed files with 22 additions and 140 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+8 -13
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@@ -32,9 +32,6 @@ public class RobotContainer {
private final RobotMap m_robotMap = new RobotMap();
/* Subsystems */
//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,
@@ -59,12 +56,8 @@ public class RobotContainer {
configureButtonBindings();
/* Default Commands */
// 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 swerve drive with a two-axis input from the driver controller
// drives the swerve drive with a two-axis input from the driver controller, with a one dimensional rotational axis
m_robotSwerveDrive.setDefaultCommand(
new RunCommand(() -> m_robotSwerveDrive.driveWithInput(getDriverController().getLeftXAxis(),
getDriverController().getLeftYAxis(), getDriverController().getRightXAxis(), false), m_robotSwerveDrive));
@@ -80,13 +73,15 @@ public class RobotContainer {
* passing it to a {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
*/
private void configureButtonBindings() {
/**TODO
* Decide on button layout
* Add buttons for all functions
* /
/* Driver Buttons */
// test command to spin the robot while pressing A on the driver controller
//new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
//.whileHeld(() -> m_robotArcadeDrive.driveWithInput(0, 1));
/* Operator Buttons */
// activates "Lit Mode"
// activates "Lit Mode"
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
.whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
@@ -98,7 +93,7 @@ public class RobotContainer {
* @return the command to run in autonomous
*/
public Command getAutonomousCommand() {
// no auto
// no auto :(
return new InstantCommand();
}