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This commit is contained in:
Ryan
2022-03-20 21:21:45 -06:00
parent e1668da5fd
commit 6012f99439
4 changed files with 15 additions and 13 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+11 -9
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@@ -267,8 +267,8 @@ public class RobotContainer {
.whenPressed(new InstantCommand(() -> m_robotClaws.toggleClaws(), m_robotClaws));
// X > Toggles extender in and out
new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
.whenPressed(new ExtenderIntakeGroup(m_robotIntake, m_robotExtender));
// new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
// .whenPressed(new ExtenderIntakeGroup(m_robotIntake, m_robotExtender));
// A > Spit Out Ball
new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
@@ -276,14 +276,16 @@ public class RobotContainer {
.whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.25)));
// Y > Full aim command
new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
.whileHeld(new Seek(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood, m_robotVisionOdometry));
// new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
// .whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood, m_robotVisionOdometry, false, false));
// .whileHeld(new Seek(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood, m_robotVisionOdometry));
//! Test Buttons
new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
.whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood, m_robotVisionOdometry, false, false));
// new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
// .whileHeld(new TrackTarget(m_robotSwerveDrive, m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry));
new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
.whileHeld(new TrackTarget(m_robotSwerveDrive, m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry));
// new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
// .whileHeld(new RunCommand(() -> m_robotClaws.setOpen(true)));
@@ -423,7 +425,7 @@ public class RobotContainer {
// * new SequentialCommandGroup(buildAuto(5.0, 5.0, "Path1", "Path2", "Path3")),
// * new RunCommand(() -> m_robotIntake.runAtOutput(0.5))));
return new SequentialCommandGroup(buildAuto(5.0, 5.0, "Move Forward")); // test command
return new SequentialCommandGroup(buildAuto(1.0, 1.0, new InstantCommand(() -> m_robotSwerveDrive.m_gyro.reset()), "Move Forward")); // test command
}
public static XboxController getDriverController() {