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some aimtocenter stuff, unfinished + has errors

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This commit is contained in:
evan
2022-02-24 18:12:57 -07:00
parent f97c7d8b9d
commit 449a3dc8c4
4 changed files with 187 additions and 135 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+27 -23
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@@ -14,6 +14,7 @@ import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.commands.AimToCenter;
import frc4388.robot.subsystems.BoomBoom;
import frc4388.robot.subsystems.Hood;
//import frc4388.robot.subsystems.Intake;
@@ -37,23 +38,25 @@ public class RobotContainer {
private final RobotMap m_robotMap = new RobotMap();
private final TalonFX m_testMotor = new TalonFX(2);
/* 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
);
*/
/*
* 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 LED m_robotLED = new LED(m_robotMap.LEDController);
private final BoomBoom m_robotBoomBoom = new BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight);
private final Hood m_robotHood = new Hood();
private final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret);
private final Vision m_robotVison = new Vision(m_robotTurret, m_robotBoomBoom);
private final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_)
/* Controllers */
private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
@@ -78,7 +81,7 @@ public class RobotContainer {
//Turret default command
m_robotTurret.setDefaultCommand(
new RunCommand(() -> m_robotTurret.runTurretWithInput(getOperatorController().getLeftXAxis()), m_robotTurret));
new AimToCenter(m_robotTurret, m_drive)
// m_robotTurret.setDefaultCommand(
// new RunCommand(() -> m_robotTurret.aimToCenter()));
}
@@ -101,21 +104,22 @@ public class RobotContainer {
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
.whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
// activates "BoomBoom"
new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
.whenPressed(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0.1))
.whenReleased(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0));
// activates "BoomBoom"
new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
.whenPressed(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0.1))
.whenReleased(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0));
/* Driver Buttons */
//activates intake
// activates intake
new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON);
// .whenPressed() -> m_robot
/*operator button*/
//activates hood
// .whenPressed() -> m_robot
/* operator button */
// activates hood
new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON)
.whenPressed(() -> m_robotHood.runHood(0.5d))
.whenReleased(() -> m_robotHood.runHood(0.d));
.whenPressed(() -> m_robotHood.runHood(0.5d))
.whenReleased(() -> m_robotHood.runHood(0.d));
// new JoystickButton(getOperatorJoystick());
}
/**
* Use this to pass the autonomous command to the main {@link Robot} class.
*