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drum pid + tentative shooting values + get voltage

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Ryan Manley
2022-03-13 17:02:55 -06:00
parent 362fb579a9
commit 68c69d7262
9 changed files with 55 additions and 26 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+18 -6
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@@ -259,9 +259,11 @@ public class RobotContainer {
// .whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.0)));
new JoystickButton(getOperatorController(), XboxController.Button.kX.value) //20ft
.whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.25)))
.whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(10000)))
// .whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.6)))
// .whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.0)));
// .whileHeld(new RunCommand(() -> m_robotHood.runAngleAdjustPID(-96)))
.whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.0)));
.whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0)));
new JoystickButton(getOperatorController(), XboxController.Button.kLeftBumper.value)
.whenPressed(new RunCommand(() -> m_robotStorage.runStorage(-0.9), m_robotStorage))
@@ -271,13 +273,23 @@ public class RobotContainer {
.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(0.9), m_robotStorage))
.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
// new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
// .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_robotExtender.runExtender(-1.0), m_robotExtender))
// .whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(1.0), m_robotExtender))
.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
.whenPressed(new InstantCommand(() -> m_robotBoomBoom.updateOffset(500), m_robotBoomBoom));
new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender))
.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
.whenPressed(new InstantCommand(() -> m_robotBoomBoom.updateOffset(-500), m_robotBoomBoom));
// new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
// .whileHeld(new InstantCommand(() -> 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)))