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This commit is contained in:
Ryan Manley
2022-03-06 18:14:49 -07:00
parent b2b1451761
commit 8ca6a83bf0
2 changed files with 13 additions and 13 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+13 -10
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@@ -96,9 +96,9 @@ public class RobotContainer {
// private final Storage m_robotStorage = new Storage(m_robotMap.storageMotor, m_robotMap.beamIntake, m_robotMap.beamShooter);
// private final LED m_robotLED = new LED(m_robotMap.LEDController);
private 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 Hood m_robotHood = new Hood(m_robotMap.angleAdjusterMotor);
private final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret);
// private final VisionOdometry m_robotVisionOdometry = new VisionOdometry(m_robotSwerveDrive, m_robotTurret);*/
/* Controllers */
private final XboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
@@ -150,10 +150,11 @@ public class RobotContainer {
new RunCommand(() -> m_robotSerializer.setSerializer(0.8),//m_robotSerializer.setSerializerStateWithBeam(),
m_robotSerializer).withName("Serializer setSerializerStateWithBeam defaultCommand"));
// Turret Manual
/*m_robotTurret.setDefaultCommand(
new RunCommand(() -> m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()),
m_robotTurret).withName("Turret runTurretWithInput defaultCommand"));*/
m_robotTurret.setDefaultCommand(
new RunCommand(() -> m_robotTurret.runTurretWithInput(getOperatorController().getLeftX() * 0.1),
m_robotTurret).withName("Turret runTurretWithInput defaultCommand"));
m_robotHood.setDefaultCommand(
new RunCommand(() -> m_robotHood.runHood(getOperatorController().getRightY() * 0.1), m_robotHood));
// m_robotTurret.setDefaultCommand(
// new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry));
@@ -209,18 +210,20 @@ public class RobotContainer {
/* Operator Buttons */
// X > Extend Intake
new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
/*new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
.whenPressed(() -> m_robotIntake.runExtender(true));
// Y > Retract Intake
new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
.whenPressed(() -> m_robotIntake.runExtender(false));
.whenPressed(() -> m_robotIntake.runExtender(false));*/
new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
.whenPressed(new InstantCommand(() -> m_robotTurret.m_boomBoomRotateEncoder.setPosition(0)));
new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
.whenPressed(new InstantCommand(() -> m_robotHood.m_angleEncoder.setPosition(0)));
new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
.whenPressed(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.05)));
// Right Bumper > Storage In
// new JoystickButton(getOperatorController(), XboxController.Button.kRightBumper.value)
// .whileHeld(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED)))