From 6570f81cf7899bf19b74d1cd9c2ac9ae0126f9a8 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Fri, 18 Mar 2022 23:11:30 -0600 Subject: [PATCH] swerve rotation test button --- src/main/java/frc4388/robot/RobotContainer.java | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index e5f83c6..9f46fa2 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -263,8 +263,12 @@ public class RobotContainer { new JoystickButton(getDriverController(), XboxController.Button.kLeftBumper.value) .whenPressed(() -> m_robotSwerveDrive.highSpeed(false)); // Right Bumper > Shift Up - new JoystickButton(getDriverController(), XboxController.Button.kRightBumper.value) - .whenPressed(() -> m_robotSwerveDrive.highSpeed(true)); + new JoystickButton(getDriverController(), XboxController.Button.kRightBumper.value) + .whenPressed(() -> m_robotSwerveDrive.highSpeed(true)); + + new JoystickButton(getDriverController(), XboxController.Button.kA.value) + .whileHeld(() -> m_robotSwerveDrive.driveWithInput(0.0, 0.0, 1.0, 0.0, true)) + .whenReleased(() -> m_robotSwerveDrive.stopModules()); /* Operator Buttons */