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basic climber code (DRIVE STILL NOT WORKING)

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This commit is contained in:
aarav18
2022-03-17 20:01:32 -06:00
parent d9b49b9673
commit 470552c575
3 changed files with 46 additions and 16 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+23 -13
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@@ -29,6 +29,7 @@ import java.util.regex.Matcher;
import java.util.regex.Pattern;
import java.util.stream.Collectors;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.diffplug.common.base.Errors;
import com.pathplanner.lib.PathPlanner;
@@ -114,9 +115,10 @@ public class RobotContainer {
public final Hood m_robotHood = new Hood(m_robotMap.angleAdjusterMotor);
public final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret);
public final VisionOdometry m_robotVisionOdometry = new VisionOdometry(m_robotSwerveDrive, m_robotTurret);
private final WPI_TalonFX testElbowMotor = new WPI_TalonFX(30);
private final WPI_TalonFX testShoulderMotor = new WPI_TalonFX(31);
public final Climber m_robotClimber = new Climber(testElbowMotor);
private final WPI_TalonFX testShoulderMotor = new WPI_TalonFX(30);
private final WPI_TalonFX testElbowMotor = new WPI_TalonFX(31);
public final Climber m_robotClimber = new Climber(testShoulderMotor, testElbowMotor);
// Controllers
private final XboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
@@ -145,7 +147,6 @@ public class RobotContainer {
*/
public RobotContainer() {
configureButtonBindings();
// testShoulderMotor.setNeutralMode(NeutralMode.Brake);
/* Default Commands */
// Swerve Drive with Input
@@ -170,9 +171,9 @@ public class RobotContainer {
// m_robotBoomBoom,
// m_robotTurret).withName("Storage ManageStorage defaultCommand"));
// m_robotClimber.setDefaultCommand(
// new RunCommand(() -> m_robotClimber.runWithInput(getOperatorController().getRightY() * 0.6), m_robotClimber)
// );
m_robotClimber.setDefaultCommand(
new RunCommand(() -> m_robotClimber.runBothMotorsWithInputs(getDriverController().getLeftY() * 0.1, getDriverController().getRightY() * 0.1), m_robotClimber)
);
// Storage Management
/*m_robotStorage.setDefaultCommand(
new RunCommand(() -> m_robotStorage.manageStorage(),
@@ -186,7 +187,6 @@ public class RobotContainer {
new RunCommand(() -> m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()),
m_robotTurret).withName("Turret runTurretWithInput defaultCommand"));
m_robotHood.setDefaultCommand(
new RunCommand(() -> m_robotHood.runHood(getOperatorController().getRightY()), m_robotHood));
// m_robotTurret.setDefaultCommand(
@@ -215,11 +215,19 @@ public class RobotContainer {
new JoystickButton(getDriverController(), XboxController.Button.kStart.value)
.whenPressed(m_robotSwerveDrive::resetGyro);
// Left Bumper > Shift Down
new JoystickButton(getDriverController(), XboxController.Button.kLeftBumper.value)
.whenPressed(() -> m_robotSwerveDrive.highSpeed(false));
// Right Bumper > Shift Up
new JoystickButton(getDriverController(), XboxController.Button.kRightBumper.value)
.whenPressed(() -> m_robotSwerveDrive.highSpeed(true));
// new JoystickButton(getDriverController(), XboxController.Button.kLeftBumper.value)
// .whenPressed(() -> m_robotSwerveDrive.highSpeed(false));
// // Right Bumper > Shift Up
// new JoystickButton(getDriverController(), XboxController.Button.kRightBumper.value)
// .whenPressed(() -> m_robotSwerveDrive.highSpeed(true));
new JoystickButton(getDriverController(), XboxController.Axis.kLeftTrigger.value)
.whileHeld(new RunCommand(() -> m_robotClimber.runShoulderWithInput(0.1), m_robotClimber))
.whenReleased(new RunCommand(() -> m_robotClimber.runShoulderWithInput(0.0)));
new JoystickButton(getDriverController(), XboxController.Axis.kRightTrigger.value)
.whileHeld(new RunCommand(() -> m_robotClimber.runShoulderWithInput(-0.1), m_robotClimber))
.whenReleased(new RunCommand(() -> m_robotClimber.runShoulderWithInput(0.0)));
// new JoystickButton(getDriverController(), XboxController.Button.kA.value)
// .whenPressed(() -> m_robotBoomBoom.increaseSpeed(0.025));
@@ -238,6 +246,8 @@ public class RobotContainer {
// .whenPressed(() -> m_robotMap.leftBack.reset())
// .whenPressed(() -> m_robotMap.rightBack.reset());
/* Operator Buttons */
// X > Extend Intake