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visionOdo

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ryan123rudder
2022-03-06 00:24:51 -07:00
parent f452b7cd7c
commit 9034e538de
5 changed files with 34 additions and 13 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+10 -1
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@@ -60,6 +60,7 @@ import frc4388.robot.Constants.StorageConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.robot.commands.AimToCenter;
import frc4388.robot.commands.Shoot;
import frc4388.robot.commands.TrackTarget;
import frc4388.robot.subsystems.BoomBoom;
import frc4388.robot.subsystems.Hood;
import frc4388.robot.subsystems.Intake;
@@ -132,7 +133,8 @@ public class RobotContainer {
// Turret default command
m_robotTurret.setDefaultCommand(new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry));
//m_robotTurret.setDefaultCommand(new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry));
m_robotTurret.setDefaultCommand(new RunCommand(() -> m_robotTurret.runTurretWithInput(getOperatorController().getLeftX())));
//Swerve Drive
m_robotSwerveDrive.setDefaultCommand(
@@ -226,6 +228,13 @@ public class RobotContainer {
new JoystickButton(getOperatorController(), XboxController.Button.kLeftBumper.value)
.whenPressed(() -> m_robotStorage.runStorage(-StorageConstants.STORAGE_SPEED))
.whenReleased(() -> m_robotStorage.runStorage(0.0));
//Shooter
new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
.whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood));
new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
.whenPressed(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotSwerveDrive, m_robotVisionOdometry));
}
/**