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This commit is contained in:
aarav18
2022-03-18 23:07:53 -06:00
parent e1ef2f8aff
commit 46396a704f
5 changed files with 63 additions and 53 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+7 -7
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@@ -173,8 +173,8 @@ public class RobotContainer {
// IK command
m_robotClimber.setDefaultCommand(
new RunCommand(() -> m_robotClimber.controlJointsWithInput(getOperatorController().getLeftX(),
getOperatorController().getRightY()), m_robotClimber).withName("Climber controlWithInput defaultCommand"));
new RunCommand(() -> m_robotClimber.setJointSpeeds(getOperatorController().getLeftX() * 10000,
getOperatorController().getRightY() * 10000), m_robotClimber).withName("Climber controlWithInput defaultCommand"));
// Swerve Drive with Input
m_robotSwerveDrive.setDefaultCommand(
@@ -226,11 +226,11 @@ public class RobotContainer {
// if (this.currentControlMode.equals(ControlMode.CLIMBER)) { m_robotHood.runHood(0); }
// }, m_robotHood));
m_robotClimber.setDefaultCommand(
// new RunCommand(() -> {
// if (this.currentMode.equals(Mode.SHOOTER)) { m_robotClimber.setMotors(0, 0); }
/*if (this.currentMode.equals(Mode.CLIMBER)) { */new RunCommand(() -> m_robotClimber.controlJointsWithInput(getOperatorController().getLeftX(),
getOperatorController().getRightY()), m_robotClimber).withName("Climber controlWithInput defaultCommand")); //}
// m_robotClimber.setDefaultCommand(
// // new RunCommand(() -> {
// // if (this.currentMode.equals(Mode.SHOOTER)) { m_robotClimber.setMotors(0, 0); }
// /*if (this.currentMode.equals(Mode.CLIMBER)) { */new RunCommand(() -> m_robotClimber.setMotors(getOperatorController().getLeftX(),
// getOperatorController().getRightY()), m_robotClimber).withName("Climber controlWithInput defaultCommand")); //}
// }, m_robotClimber));
// m_robotTurret.setDefaultCommand(