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climber subsystem 3.0

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aarav18
2022-03-20 18:09:16 -06:00
parent 7f1061ab9a
commit 70e681c7d7
5 changed files with 133 additions and 538 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+6 -5
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@@ -113,7 +113,7 @@ public class RobotContainer {
public final RobotMap m_robotMap = new RobotMap();
/* Subsystems */
public final Climber m_robotClimber = new Climber(m_robotMap.shoulder, m_robotMap.elbow, m_robotMap.gyro, false);
public final Climber m_robotClimber = new Climber(m_robotMap.elbow);
public final Claws m_robotClaws = new Claws(m_robotMap.leftClaw, m_robotMap.rightClaw);
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);
@@ -235,7 +235,7 @@ public class RobotContainer {
}, m_robotHood));
m_robotClimber.setDefaultCommand(
new RunCommand(() -> m_robotClimber.setMotors(0.0, getOperatorController().getRightY() * 0.5)
new RunCommand(() -> m_robotClimber.setMotors(getOperatorController().getRightY() * 0.5)
, m_robotClimber));
// m_robotTurret.setDefaultCommand(
@@ -293,8 +293,11 @@ public class RobotContainer {
new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
.whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood, m_robotVisionOdometry, false, false));
// new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
// .whileHeld(new TrackTarget(m_robotSwerveDrive, m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry));
new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
.whileHeld(new TrackTarget(m_robotSwerveDrive, m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry));
.whileHeld(new AimToCenter(m_robotTurret, m_robotVisionOdometry, m_robotSwerveDrive::getOdometry));
new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
.whileHeld(new Seek(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood, m_robotVisionOdometry));
@@ -359,7 +362,6 @@ public class RobotContainer {
.whenPressed(new InstantCommand(() -> m_robotHood.calibrationSpeed = 0.3, m_robotHood))
.whenPressed(new InstantCommand(() -> m_robotExtender.setExtenderSoftLimits(false), m_robotExtender))
.whenPressed(new InstantCommand(() -> m_robotClimber.setClimberSoftLimits(false), m_robotClimber))
.whenReleased(new InstantCommand(() -> m_robotTurret.setTurretSoftLimits(true), m_robotTurret))
.whenReleased(new InstantCommand(() -> m_robotTurret.calibrationSpeed = 1.0, m_robotTurret))
@@ -368,7 +370,6 @@ public class RobotContainer {
.whenReleased(new InstantCommand(() -> m_robotHood.calibrationSpeed = 1.0, m_robotHood))
.whenReleased(new InstantCommand(() -> m_robotExtender.setExtenderSoftLimits(true), m_robotExtender))
.whenReleased(new InstantCommand(() -> m_robotClimber.setClimberSoftLimits(true), m_robotClimber))
.whenReleased(new InstantCommand(() -> m_robotTurret.m_boomBoomRotateEncoder.setPosition(0), m_robotTurret))
.whenReleased(new InstantCommand(() -> m_robotHood.m_angleEncoder.setPosition(0), m_robotHood))