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reset gyro

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This commit is contained in:
Ryan Manley
2022-03-06 11:23:40 -07:00
parent e871afa4a4
commit 645f4bfe07
1 changed files with 5 additions and 2 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+5 -2
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@@ -177,9 +177,11 @@ public class RobotContainer {
/* Driver Buttons */
// Start > Calibrate Odometry
new JoystickButton(getDriverController(), XboxController.Button.kStart.value)
.whenPressed(m_robotSwerveDrive::resetGyro)
new JoystickButton(getDriverController(), XboxController.Button.kBack.value)
.whenPressed(() -> resetOdometry(new Pose2d(0, 0, new Rotation2d(0))));
// Start > Calibrate Odometry
new JoystickButton(getDriverController(), XboxController.Button.kStart.value)
.whenPressed(m_robotSwerveDrive::resetGyro);
// Left Bumper > Shift Down
new JoystickButton(getDriverController(), XboxController.Button.kLeftBumper.value)
.whenPressed(() -> m_robotSwerveDrive.highSpeed(false));
@@ -190,6 +192,7 @@ public class RobotContainer {
new JoystickButton(getDriverController(), XboxController.Button.kA.value)
.whileHeld( new RunCommand(() -> m_robotSerializer.setSerializer(0.25)))
.whenReleased(new RunCommand(() -> m_robotSerializer.setSerializer(0.0)));
new JoystickButton(getDriverController(), XboxController.Button.kB.value)
.whileHeld(new RunCommand(() -> m_robotSerializer.setSerializer(-0.25)))
.whenReleased(new RunCommand(() -> m_robotSerializer.setSerializer(0.0)));