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hook fixes

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This commit is contained in:
Ryan Manley
2022-03-05 14:21:48 -07:00
parent e7358d7eb5
commit 6a639544ae
6 changed files with 114 additions and 103 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+15 -12
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@@ -10,8 +10,8 @@ import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.subsystems.Claws;
import frc4388.robot.subsystems.Climber;
import frc4388.robot.subsystems.Hooks;
import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.utility.LEDPatterns;
@@ -29,7 +29,7 @@ public class RobotContainer {
/* RobotMap */
private final RobotMap m_robotMap = new RobotMap();
/* Subsystems */
/* Subsystems *//*
private final SwerveDrive m_robotSwerveDrive = new SwerveDrive(
m_robotMap.leftFrontSteerMotor, m_robotMap.leftFrontWheelMotor,
m_robotMap.rightFrontSteerMotor, m_robotMap.rightFrontWheelMotor,
@@ -39,13 +39,13 @@ public class RobotContainer {
m_robotMap.rightFrontEncoder,
m_robotMap.leftBackEncoder,
m_robotMap.rightBackEncoder
);
);*/
private final LED m_robotLED = new LED(m_robotMap.LEDController);
/*private final LED m_robotLED = new LED(m_robotMap.LEDController);
private final Climber m_robotClimber = new Climber(m_robotMap.shoulder, m_robotMap.elbow, m_robotMap.gyro, false);
private final Hooks m_hooks = new Hooks(m_robotMap.leftHook, m_robotMap.rightHook);
*/
private final Claws m_claws = new Claws(m_robotMap.leftClaw, m_robotMap.rightClaw);
/* Controllers */
private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
@@ -64,12 +64,12 @@ public class RobotContainer {
// getDriverController().getLeftYAxis(), -getDriverController().getRightXAxis(), false), m_robotSwerveDrive));
// moves climber in xy space with two-axis input from the operator controller
m_robotClimber.setDefaultCommand(
/*m_robotClimber.setDefaultCommand(
new RunCommand(() -> m_robotClimber.controlWithInput(getOperatorController().getLeftXAxis(),
getOperatorController().getLeftYAxis()), m_robotClimber));
// continually sends updates to the Blinkin LED controller to keep the lights on
m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, m_robotLED));
m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, m_robotLED));*/
}
/**
@@ -83,13 +83,16 @@ public class RobotContainer {
/* Operator Buttons */
// activates "Lit Mode"
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
/*new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
.whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
.whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));*/
new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON)
.whenPressed(() -> m_hooks.setOpen(true))
.whenReleased(() -> m_hooks.setOpen(false));
.whenPressed(() -> m_claws.setSpeed(0.5))
.whenReleased(() -> m_claws.setSpeed(0.0));
new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
.whenPressed(() -> m_claws.setSpeed(-0.5))
.whenReleased(() -> m_claws.setSpeed(0.0));
}
/**