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AimToCenter finished

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This commit is contained in:
Ryan Manley
2022-02-24 19:18:05 -07:00
parent 449a3dc8c4
commit 5f1bed26cd
2 changed files with 28 additions and 4 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+13 -3
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@@ -56,7 +56,18 @@ public class RobotContainer {
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_)
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);
/* Controllers */
private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
@@ -80,8 +91,7 @@ public class RobotContainer {
*/
//Turret default command
m_robotTurret.setDefaultCommand(
new AimToCenter(m_robotTurret, m_drive)
m_robotTurret.setDefaultCommand(new AimToCenter(m_robotTurret, m_robotSwerveDrive));
// m_robotTurret.setDefaultCommand(
// new RunCommand(() -> m_robotTurret.aimToCenter()));
}