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Code Issues Packages Projects Releases Wiki Activity

manual and normal button box switching

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aarav18
2022-03-12 19:01:16 -07:00
parent 17fdcc00f6
commit 74b13a3b9d
3 changed files with 70 additions and 34 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+8 -25
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@@ -32,6 +32,7 @@ import java.util.stream.Collectors;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.diffplug.common.base.Errors;
import com.fasterxml.jackson.databind.jsonFormatVisitors.JsonObjectFormatVisitor;
import com.pathplanner.lib.PathPlanner;
import com.pathplanner.lib.PathPlannerTrajectory;
import com.pathplanner.lib.PathPlannerTrajectory.PathPlannerState;
@@ -51,6 +52,7 @@ import edu.wpi.first.wpilibj.Filesystem;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.RobotBase;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.PS4Controller.Button;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
@@ -63,6 +65,7 @@ import frc4388.robot.Constants.OIConstants;
import frc4388.robot.Constants.StorageConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.robot.commands.AimToCenter;
import frc4388.robot.commands.RunMiddleSwitch;
import frc4388.robot.commands.Shoot;
import frc4388.robot.commands.TrackTarget;
import frc4388.robot.subsystems.BoomBoom;
@@ -226,11 +229,6 @@ public class RobotContainer {
// .whenPressed(() -> m_robotMap.leftBack.reset())
// .whenPressed(() -> m_robotMap.rightBack.reset());
/* Operator Buttons */
// X > Extend Intake
@@ -263,7 +261,7 @@ public class RobotContainer {
// .whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.0)));
new JoystickButton(getOperatorController(), XboxController.Button.kLeftBumper.value)
.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-0.9), m_robotStorage))
.whenPressed(new RunCommand(() -> m_robotStorage.runStorage(-0.9), m_robotStorage))
.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
new JoystickButton(getOperatorController(), XboxController.Button.kRightBumper.value)
@@ -286,7 +284,6 @@ public class RobotContainer {
// .whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-StorageConstants.STORAGE_SPEED)))
// .whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0)));
// A > Shoot with Odo
/*new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
.whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood));*/
@@ -297,11 +294,11 @@ public class RobotContainer {
/* Button Box Buttons */
new JoystickButton(getButtonFox(), ButtonBox.Button.kLeftSwitch.value)
.whenPressed(new RunCommand(() -> setManual(true)))
.whenReleased(new RunCommand(() -> setManual(false)));
.whileHeld(new RunCommand(() -> RunMiddleSwitch.setManual(true)))
.whenReleased(new RunCommand(() -> RunMiddleSwitch.setManual(false)));
// new JoystickButton(getButtonFox(), ButtonBox.Button.kMiddleSwitch.value)
// .whileHeld(new RunCommand(() -> System.out.println("MiddleSwitch")));
new JoystickButton(getButtonFox(), ButtonBox.Button.kMiddleSwitch.value)
.whileHeld(new RunMiddleSwitch());
new JoystickButton(getButtonFox(), ButtonBox.Button.kRightSwitch.value)
.whileHeld(new RunCommand(() -> System.out.println("RightSwitch")));
@@ -313,20 +310,6 @@ public class RobotContainer {
.whileHeld(new RunCommand(() -> System.out.println("RightButton")));
}
public void configureManualButtonBindings() {
new JoystickButton(getButtonFox(), ButtonBox.Button.kMiddleSwitch.value)
.whileHeld(new RunCommand(() -> System.out.println("MANUAL")));
}
public void configureAutomaticButtonBindings() {
new JoystickButton(getButtonFox(), ButtonBox.Button.kMiddleSwitch.value)
.whileHeld(new RunCommand(() -> System.out.println("AUTOMATIC")));
}
/**
* Use this to pass the autonomous command to the main {@link Robot} class.
*