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can now drive while Shoot.java was running

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This commit is contained in:
aarav18
2022-03-20 15:24:48 -06:00
parent e39c81d556
commit 896bbc011c
4 changed files with 25 additions and 23 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+19 -20
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@@ -131,8 +131,8 @@ public class RobotContainer {
// public final Climber m_robotClimber = new Climber(testShoulderMotor, testElbowMotor);
// Controllers
private final XboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
private final XboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
private final static XboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
private final static XboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
private final ButtonBox m_buttonBox = new ButtonBox(OIConstants.BUTTON_BOX_ID);
// Autonomous
@@ -270,31 +270,29 @@ public class RobotContainer {
new JoystickButton(getDriverController(), XboxController.Button.kRightBumper.value)
.whenPressed(() -> m_robotSwerveDrive.highSpeed(true));
new JoystickButton(getDriverController(), XboxController.Button.kA.value)
.whileHeld(() -> m_robotSwerveDrive.driveWithInput(0.0, 0.0, 0.2, true))
.whenReleased(() -> m_robotSwerveDrive.stopModules());
// new JoystickButton(getDriverController(), XboxController.Button.kA.value)
// .whileHeld(() -> m_robotSwerveDrive.driveWithInput(0.0, 0.0, 0.2, true))
// .whenReleased(() -> m_robotSwerveDrive.stopModules());
new JoystickButton(getDriverController(), XboxController.Button.kB.value)
.whileHeld(new AimToCenter(m_robotTurret, m_robotVisionOdometry, m_robotSwerveDrive::getOdometry))
.whenReleased(new InstantCommand(() -> m_robotTurret.runTurretWithInput(0.0), m_robotTurret));
// new JoystickButton(getDriverController(), XboxController.Button.kB.value)
// .whileHeld(new AimToCenter(m_robotTurret, m_robotVisionOdometry, m_robotSwerveDrive::getOdometry))
// .whenReleased(new InstantCommand(() -> m_robotTurret.runTurretWithInput(0.0), m_robotTurret));
// new JoystickButton(getDriverController(), XboxController.Button.kY.value)
// .whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood, false));
// .whenReleased(new InstantCommand(() -> m_robotTurret.runTurretWithInput(0.0), m_robotTurret))
// .whenReleased(() -> m_robotSwerveDrive.stopModules());
new JoystickButton(getDriverController(), XboxController.Button.kX.value)
.whileHeld(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry))
.whenReleased(new InstantCommand(() -> m_robotTurret.runTurretWithInput(0.0), m_robotTurret))
.whenReleased(new InstantCommand(() -> m_robotHood.runHood(0.0), m_robotHood))
.whenReleased(new InstantCommand(() -> m_robotBoomBoom.runDrumShooter(0.0), m_robotBoomBoom));
// new JoystickButton(getDriverController(), XboxController.Button.kX.value)
// .whileHeld(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry))
// .whenReleased(new InstantCommand(() -> m_robotTurret.runTurretWithInput(0.0), m_robotTurret))
// .whenReleased(new InstantCommand(() -> m_robotHood.runHood(0.0), m_robotHood))
// .whenReleased(new InstantCommand(() -> m_robotBoomBoom.runDrumShooter(0.0), m_robotBoomBoom));
/* Operator Buttons */
new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
.whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood, false));
//!.whenReleased(new InstantCommand(() -> m_robotTurret.runTurretWithInput(0.0), m_robotTurret))
//!.whenReleased(() -> m_robotSwerveDrive.stopModules());
// new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
// .whileHeld(new RunCommand(() -> m_robotClaws.setOpen(true)));
@@ -340,9 +338,10 @@ public class RobotContainer {
//B > Shoot with Lime
new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
.whileHeld(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry))
.whenReleased(new InstantCommand(() -> m_robotVisionOdometry.setLEDs(false)))
.whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0)));
// .whileHeld(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry))
// .whenReleased(new InstantCommand(() -> m_robotVisionOdometry.setLEDs(false)))
.whenPressed(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.25)))
.whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.0)));
// .whileHeld%
/* Button Box Buttons */
@@ -414,11 +413,11 @@ public class RobotContainer {
return null;
}
public XboxController getDriverController() {
public static XboxController getDriverController() {
return m_driverXbox;
}
public XboxController getOperatorController() {
public static XboxController getOperatorController() {
return m_operatorXbox;
}