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extender rework new subsystem

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aarav18
2022-03-12 15:05:32 -07:00
parent 863af799e0
commit 64391c99c2
4 changed files with 83 additions and 51 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+8 -5
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@@ -67,6 +67,7 @@ import frc4388.robot.commands.Shoot;
import frc4388.robot.commands.TrackTarget;
import frc4388.robot.subsystems.BoomBoom;
import frc4388.robot.subsystems.Climber;
import frc4388.robot.subsystems.Extender;
import frc4388.robot.subsystems.Hood;
import frc4388.robot.subsystems.Intake;
import frc4388.robot.subsystems.LED;
@@ -98,7 +99,9 @@ public class RobotContainer {
// Subsystems
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront, m_robotMap.leftBack, m_robotMap.rightFront, m_robotMap.rightBack, m_robotMap.gyro);
public final Serializer m_robotSerializer = new Serializer(m_robotMap.serializerBelt, /*m_robotMap.serializerShooterBelt,*/ m_robotMap.serializerBeam);
public final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.extenderMotor, m_robotSerializer);
public final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotSerializer);
public final Extender m_robotExtender = new Extender(m_robotMap.extenderMotor);
public final Storage m_robotStorage = new Storage(m_robotMap.storageMotor);
// private final LED m_robotLED = new LED(m_robotMap.LEDController);
// public final BoomBoom m_robotBoomBoom = new BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight);
@@ -258,11 +261,11 @@ public class RobotContainer {
.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
.whileHeld(new RunCommand(() -> m_robotIntake.runExtender(1.0), m_robotIntake))
.whenReleased(new RunCommand(() -> m_robotIntake.runExtender(0.0), m_robotIntake));
.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(1.0), m_robotExtender))
.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
.whileHeld(new RunCommand(() -> m_robotIntake.runExtender(-1.0), m_robotIntake))
.whenReleased(new RunCommand(() -> m_robotIntake.runExtender(0.0), m_robotIntake));
.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender))
.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
// Right Bumper > Storage In
// new JoystickButton(getOperatorController(), XboxController.Button.kRightBumper.value)
// .whileHeld(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED)))