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Ryan
2022-03-25 16:14:39 -06:00
parent 430f855d7e
commit 7fb8d767e4
2 changed files with 27 additions and 15 deletions
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src/main/java/frc4388/robot/Constants.java
+1 -1
View File
@@ -37,7 +37,7 @@ public final class Constants {
public static final double LOOP_TIME = 0.02; public static final double LOOP_TIME = 0.02;
public static final class SwerveDriveConstants { public static final class SwerveDriveConstants {
public static final double ROTATION_SPEED = 2.0; public static final double ROTATION_SPEED = 2.3;
public static final double WIDTH = 23.75; public static final double WIDTH = 23.75;
public static final double HEIGHT = 23.75; public static final double HEIGHT = 23.75;
public static final double JOYSTICK_TO_METERS_PER_SECOND_FAST = 11; public static final double JOYSTICK_TO_METERS_PER_SECOND_FAST = 11;
src/main/java/frc4388/robot/RobotContainer.java
+26 -14
View File
@@ -226,12 +226,22 @@ public class RobotContainer {
configureButtonBindings(); configureButtonBindings();
/* Default Commands */ /* Default Commands */
// Swerve Drive with Input // Swerve Drive with Input
m_robotSwerveDrive.setDefaultCommand( m_robotSwerveDrive.setDefaultCommand(
new RunCommand(() -> m_robotSwerveDrive.driveWithInput( getDriverController().getLeftX(), new RunCommand(() -> {
getDriverController().getLeftY(), if (currentDriveMode.equals(DriveMode.ON)) {
getDriverController().getRightX(), m_robotSwerveDrive.driveWithInput( getDriverController().getLeftX(),
getDriverController().getRightY(), getDriverController().getLeftY(),
true), m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand")); getDriverController().getRightX(),
getDriverController().getRightY(),
true); }
if (currentDriveMode.equals(DriveMode.OFF)) {
m_robotSwerveDrive.driveWithInput( 0,
0,
0,
0,
false);
}}
, m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand"));
// Intake with Triggers // Intake with Triggers
m_robotIntake.setDefaultCommand( m_robotIntake.setDefaultCommand(
@@ -256,7 +266,7 @@ public class RobotContainer {
// Hood Manual // Hood Manual
m_robotHood.setDefaultCommand( m_robotHood.setDefaultCommand(
new RunCommand(() -> { new RunCommand(() -> {
if (RobotContainer.currentControlMode.equals(ControlMode.SHOOTER)) { m_robotHood.runHood(getOperatorController().getRightY()); } if (RobotContainer.currentControlMode.equals(ControlMode.SHOOTER)) { m_robotHood.runHood(getOperatorController().getLeftY()); }
if (RobotContainer.currentControlMode.equals(ControlMode.CLIMBER)) { m_robotHood.runHood(0); } if (RobotContainer.currentControlMode.equals(ControlMode.CLIMBER)) { m_robotHood.runHood(0); }
}, m_robotHood)); }, m_robotHood));
@@ -302,6 +312,8 @@ public class RobotContainer {
.whenPressed(() -> m_robotSwerveDrive.highSpeed(true)); .whenPressed(() -> m_robotSwerveDrive.highSpeed(true));
new JoystickButton(getDriverController(), XboxController.Button.kA.value)
.whenPressed(new InstantCommand());
//! Operator Buttons //! Operator Buttons
@@ -384,13 +396,13 @@ public class RobotContainer {
new JoystickButton(getButtonBox(), ButtonBox.Button.kMiddleSwitch.value) new JoystickButton(getButtonBox(), ButtonBox.Button.kMiddleSwitch.value)
.whenPressed(new InstantCommand(() -> currentControlMode = ControlMode.CLIMBER)) .whenPressed(new InstantCommand(() -> currentControlMode = ControlMode.CLIMBER))
.whenReleased(new InstantCommand(() -> currentControlMode = ControlMode.SHOOTER)); .whenReleased(new InstantCommand(() -> currentControlMode = ControlMode.SHOOTER));
new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value) // new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value)
.whenPressed(new InstantCommand(() -> currentControlMode = ControlMode.CLIMBER)) // .whenPressed(new InstantCommand(() -> currentControlMode = ControlMode.))
.whenReleased(new InstantCommand(() -> currentControlMode = ControlMode.SHOOTER)); // .whenReleased(new InstantCommand(() -> currentControlMode = ControlMode.SHOOTER));
// new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value) new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value)
// .whileHeld(new InstantCommand(() -> currentDriveMode = DriveMode.OFF)) .whileHeld(new InstantCommand(() -> currentDriveMode = DriveMode.OFF))
// .whenReleased(new InstantCommand(() -> currentDriveMode = DriveMode.ON)); .whenReleased(new InstantCommand(() -> currentDriveMode = DriveMode.ON));
// Left Button > Extender In // Left Button > Extender In
new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftButton.value) new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftButton.value)
@@ -489,7 +501,7 @@ public class RobotContainer {
// ! DRIVE BACKWARDS AND SHOOT (HOPEFULLY) // ! DRIVE BACKWARDS AND SHOOT (HOPEFULLY)
return new SequentialCommandGroup( new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive), // * reset gyro before moving return new SequentialCommandGroup( new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive), // * reset gyro before moving
new DriveWithInputForTime(m_robotSwerveDrive, new double[] {1.0, 0.0, 0.0, 0.0}, (4.0 * 12) / distancePerSecond),//0.269), // * go backwards three feet new DriveWithInputForTime(m_robotSwerveDrive, new double[] {1.0, 0.0, 0.0, 0.0}, (5.0 * 12) / distancePerSecond),//0.269), // * go backwards three feet
new InstantCommand(() -> m_robotSwerveDrive.stopModules(), m_robotSwerveDrive), // * brake new InstantCommand(() -> m_robotSwerveDrive.stopModules(), m_robotSwerveDrive), // * brake
weirdAutoShootingGroup, // * shoot weirdAutoShootingGroup, // * shoot