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‮Zach Wilke
2022-01-28 17:59:25 -07:00
parent 1ceef732a2
commit 61819114e4
2 changed files with 7 additions and 8 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+5 -5
View File
@@ -88,13 +88,13 @@ public class RobotContainer {
.whenReleased(() -> m_robotIntake.runExtender(false));
// activates "Lit Mode"
// new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
// .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
// .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
.whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
.whenPressed(() -> m_robotSerializer.setSerializerState(true))
.whenReleased(() -> m_robotSerializer.setSerializerState(false));
.whenPressed(() -> m_robotSerializer.setSerializerStateWithBeam(true, m_robotSerializer.getBeam()))
.whenReleased(() -> m_robotSerializer.setSerializerStateWithBeam(false, m_robotSerializer.getBeam()));
}
/**
src/main/java/frc4388/robot/subsystems/Serializer.java
+2 -3
View File
@@ -15,7 +15,7 @@ public class Serializer extends SubsystemBase{
public Serializer(CANSparkMax serializerBelt, CANSparkMax serializerShooterBelt) {
m_serializerBelt = serializerBelt;
m_serializerShooterBelt = serializerShooterBelt;
//m_serializerBeam = new DigitalInput(Constants.SerializerConstants.SERIALIZER_BELT_BEAM);
m_serializerBeam = new DigitalInput(Constants.SerializerConstants.SERIALIZER_BELT_BEAM);
serializerState = false;
setSerializerState(serializerState);
@@ -24,8 +24,7 @@ public class Serializer extends SubsystemBase{
}
public boolean getBeam() {
System.out.println("oi");
return false;
return m_serializerBeam.get();
}
public void setSerializerStateWithBeam(boolean ctrlbutter, boolean beambroken) {
boolean total = ctrlbutter || beambroken;