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Merge branch 'testRoboReveal' of https://github.com/Team4388/2022NoWayHome into testRoboReveal

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This commit is contained in:
aarav18
2022-03-20 01:43:04 -06:00
parent e34a89a46f 94dd0797cf
commit 5d83a1292f
1 changed files with 16 additions and 10 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+16 -10
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@@ -178,13 +178,21 @@ public class RobotContainer {
// Swerve Drive with Input
m_robotSwerveDrive.setDefaultCommand(
new RunCommand(() -> m_robotSwerveDrive.driveWithInput(
getDriverController().getLeftX(),
getDriverController().getLeftY(),
getDriverController().getRightX(),
getDriverController().getRightY(),
true),
m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand"));
new RunCommand(() -> {
if (this.currentControlMode.equals(ControlMode.SHOOTER)) {
m_robotSwerveDrive.driveWithInput( getDriverController().getLeftX(),
getDriverController().getLeftY(),
getDriverController().getRightX(),
getDriverController().getRightY(),
true); }
if (this.currentControlMode.equals(ControlMode.CLIMBER)) {
m_robotSwerveDrive.driveWithInput( 0,
0,
0,
0,
true);
}}
, m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand"));
// Intake with Triggers
m_robotIntake.setDefaultCommand(
@@ -215,9 +223,7 @@ public class RobotContainer {
m_robotTurret.setDefaultCommand(
new RunCommand(() -> {
if (this.currentControlMode.equals(ControlMode.SHOOTER)) {
if (this.currentTurretMode.equals(TurretMode.MANUAL)) { m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()); }
}
if (this.currentControlMode.equals(ControlMode.SHOOTER)) { m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()); }
if (this.currentControlMode.equals(ControlMode.CLIMBER)) { m_robotTurret.runTurretWithInput(0); }
}, m_robotTurret));