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Merge branch 'testRoboReveal' of https://github.com/Team4388/2022NoWayHome into testRoboReveal

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aarav18
2022-03-18 15:16:17 -06:00
parent 1693d320e5 517053ea50
commit 73f4aa12e4
7 changed files with 78 additions and 27 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+22 -9
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@@ -61,7 +61,6 @@ import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.subsystems.Claws;
import frc4388.robot.commands.RunClaw;
import frc4388.robot.subsystems.ClimberRewrite;
import frc4388.robot.subsystems.Claws.ClawType;
import frc4388.robot.Constants.OIConstants;
@@ -69,6 +68,7 @@ import frc4388.robot.Constants.ShooterConstants;
import frc4388.robot.Constants.StorageConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.robot.commands.ButtonBoxCommands.RunMiddleSwitch;
import frc4388.robot.commands.ClimberCommands.RunClaw;
// import frc4388.robot.commands.ButtonBoxCommands.TurretManual;
import frc4388.robot.commands.ExtenderIntakeCommands.ExtenderIntakeGroup;
import frc4388.robot.commands.ShooterCommands.AimToCenter;
@@ -158,9 +158,9 @@ public class RobotContainer {
/* Default Commands */
// moves climber in xy space with two-axis input from the operator controller
m_robotClimber.setDefaultCommand(
new RunCommand(() -> m_robotClimber.setMotors(-getOperatorController().getRightX() * 0.7, -getOperatorController().getRightY() * 0.7),
m_robotClimber));
// m_robotClimber.setDefaultCommand(
// new RunCommand(() -> m_robotClimber.setMotors(-getOperatorController().getRightX() * 0.7, -getOperatorController().getRightY() * 0.7),
// m_robotClimber));
// IK command
@@ -206,8 +206,8 @@ public class RobotContainer {
new RunCommand(() -> m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()),
m_robotTurret).withName("Turret runTurretWithInput defaultCommand"));
// m_robotHood.setDefaultCommand(
// new RunCommand(() -> m_robotHood.runHood(getOperatorController().getRightY()), m_robotHood));
m_robotHood.setDefaultCommand(
new RunCommand(() -> m_robotHood.runHood(getOperatorController().getRightY()), m_robotHood));
// m_robotTurret.setDefaultCommand(
// new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry));
@@ -318,8 +318,22 @@ public class RobotContainer {
.whenReleased(new InstantCommand(() -> ExtenderIntakeGroup.setDirectionToOut(), m_robotIntake, m_robotExtender))
.whenReleased(new InstantCommand(() -> m_robotClimber.setEncoders(0), m_robotClimber));
// new JoystickButton(getButtonBox(), ButtonBox.Button.kMiddleSwitch.value)
// .whileHeld(new TurretManual(m_robotTurret));
new JoystickButton(getButtonBox(), ButtonBox.Button.kMiddleSwitch.value)
.whenPressed(new InstantCommand(() -> m_robotTurret.setDefaultCommand(null)))
.whenPressed(new InstantCommand(() -> m_robotHood.setDefaultCommand(null)))
.whenPressed(new InstantCommand(() -> m_robotClimber.setDefaultCommand(
new RunCommand(() -> m_robotClimber.setMotors(-getOperatorController().getLeftY(), -getOperatorController().getRightY()), m_robotClimber))))
.whenReleased(new InstantCommand(() -> m_robotClimber.setDefaultCommand(null)))
.whenReleased(new InstantCommand(() -> m_robotTurret.setDefaultCommand(
new RunCommand(() -> m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()), m_robotTurret))))
.whenReleased(new InstantCommand(() -> m_robotHood.setDefaultCommand(
new RunCommand(() -> m_robotHood.runHood(getOperatorController().getRightY()), m_robotHood))));
// .whenPressed(new InstantCommand(() -> this.currentMode = CurrentMode.CLIMBER))
// .whenReleased(new InstantCommand(() -> this.currentMode = CurrentMode.TURRET));
// .whenReleased(EnableClimber()));
// control turret manual mode
// new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value)
@@ -407,7 +421,6 @@ public class RobotContainer {
* Finally, adds the existing path files to the auto chooser
*/
private void autoInit() {
try {
WatchKey watchKey = PATHPLANNER_DIRECTORY.register(FileSystems.getDefault().newWatchService(),
StandardWatchEventKinds.ENTRY_CREATE, StandardWatchEventKinds.ENTRY_MODIFY,