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fixes

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This commit is contained in:
Ryan Manley
2022-03-12 14:59:21 -07:00
parent 89ba3afb00
commit 79435399a3
9 changed files with 103 additions and 83 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+22 -15
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@@ -100,11 +100,10 @@ public class RobotContainer {
public final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.extenderMotor, m_robotSerializer);
public final Storage m_robotStorage = new Storage(m_robotMap.storageMotor);
// private final LED m_robotLED = new LED(m_robotMap.LEDController);
public final BoomBoom m_robotBoomBoom = new BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight);
public final Hood m_robotHood = new Hood(m_robotMap.angleAdjusterMotor);
// public final BoomBoom m_robotBoomBoom = new BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight);
// public final Hood m_robotHood = new Hood(m_robotMap.angleAdjusterMotor);
public final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret);
private final VisionOdometry m_robotVisionOdometry = new VisionOdometry(m_robotSwerveDrive, m_robotTurret);
private final WPI_TalonFX testElbowMotor = new WPI_TalonFX(30);
private final WPI_TalonFX testShoulderMotor = new WPI_TalonFX(31);
public final Climber m_robotClimber = new Climber(testElbowMotor);
@@ -133,7 +132,7 @@ public class RobotContainer {
*/
public RobotContainer() {
configureButtonBindings();
testShoulderMotor.setNeutralMode(NeutralMode.Brake);
// testShoulderMotor.setNeutralMode(NeutralMode.Brake);
/* Default Commands */
// Swerve Drive with Input
@@ -152,9 +151,9 @@ public class RobotContainer {
getOperatorController().getLeftTriggerAxis(),
getOperatorController().getRightTriggerAxis()),
m_robotIntake).withName("Intake runWithTriggers defaultCommand"));
m_robotClimber.setDefaultCommand(
new RunCommand(() -> m_robotClimber.runWithInput(getOperatorController().getRightY() * 0.6), m_robotClimber)
);
// m_robotClimber.setDefaultCommand(
// new RunCommand(() -> m_robotClimber.runWithInput(getOperatorController().getRightY() * 0.6), m_robotClimber)
// );
// Storage Management
/*m_robotStorage.setDefaultCommand(
new RunCommand(() -> m_robotStorage.manageStorage(),
@@ -167,8 +166,8 @@ public class RobotContainer {
m_robotTurret.setDefaultCommand(
new RunCommand(() -> m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()),
m_robotTurret).withName("Turret runTurretWithInput defaultCommand"));
m_robotHood.setDefaultCommand(
new RunCommand(() -> m_robotHood.runHood(getOperatorController().getLeftY() * 0.15), m_robotHood));
// m_robotHood.setDefaultCommand(
// new RunCommand(() -> m_robotHood.runHood(getOperatorController().getLeftY() * 0.15), m_robotHood));
// m_robotTurret.setDefaultCommand(
// new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry));
@@ -201,11 +200,11 @@ public class RobotContainer {
new JoystickButton(getDriverController(), XboxController.Button.kRightBumper.value)
.whenPressed(() -> m_robotSwerveDrive.highSpeed(true));
new JoystickButton(getDriverController(), XboxController.Button.kA.value)
.whenPressed(() -> m_robotBoomBoom.increaseSpeed(0.025));
// new JoystickButton(getDriverController(), XboxController.Button.kA.value)
// .whenPressed(() -> m_robotBoomBoom.increaseSpeed(0.025));
new JoystickButton(getDriverController(), XboxController.Button.kB.value)
.whenPressed(() -> m_robotBoomBoom.increaseSpeed(-0.025));
// new JoystickButton(getDriverController(), XboxController.Button.kB.value)
// .whenPressed(() -> m_robotBoomBoom.increaseSpeed(-0.025));
// .whileHeld(new RunCommand(() -> testElbowMotor.set(-0.2)))
// .whenReleased(new RunCommand(() -> testElbowMotor.set(0)));
@@ -256,6 +255,13 @@ public class RobotContainer {
new JoystickButton(getOperatorController(), XboxController.Button.kRightBumper.value)
.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_robotIntake.runExtender(1.0), m_robotIntake))
.whenReleased(new RunCommand(() -> m_robotIntake.runExtender(0.0), m_robotIntake));
new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
.whileHeld(new RunCommand(() -> m_robotIntake.runExtender(-1.0), m_robotIntake))
.whenReleased(new RunCommand(() -> m_robotIntake.runExtender(0.0), m_robotIntake));
// Right Bumper > Storage In
// new JoystickButton(getOperatorController(), XboxController.Button.kRightBumper.value)
// .whileHeld(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED)))
@@ -265,13 +271,14 @@ 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));*/
//B > Shoot with Lime
new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
.whenPressed(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotSwerveDrive, m_robotVisionOdometry));
// new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
// .whenPressed(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotSwerveDrive, m_robotVisionOdometry));
}
/**