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Cleanup extender commands

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This commit is contained in:
nathanrsxtn
2022-04-20 16:38:30 -06:00
parent 78965a3381
commit 91ab5650a3
15 changed files with 111 additions and 194 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+5 -5
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@@ -6,7 +6,6 @@ package frc4388.robot;
import java.util.HashMap;
import java.util.Map;
import java.util.logging.Logger;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
@@ -25,6 +24,7 @@ import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilderImpl;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.ConditionalCommand;
import edu.wpi.first.wpilibj2.command.PrintCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
@@ -33,10 +33,11 @@ import frc4388.robot.Constants.OIConstants;
import frc4388.robot.Constants.StorageConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.robot.commands.AutonomousBuilder;
import frc4388.robot.commands.PathRecorder;
import frc4388.robot.commands.ExtenderIntakeCommands.ExtenderIntakeGroup;
import frc4388.robot.commands.extender.DeployExtender;
import frc4388.robot.commands.extender.RetractExtender;
import frc4388.robot.commands.shooter.TrackTarget;
import frc4388.robot.commands.shuffleboard.CommandSchedule;
import frc4388.robot.commands.shuffleboard.PathRecorder;
import frc4388.robot.commands.shuffleboard.ShooterTuner;
import frc4388.robot.subsystems.BoomBoom;
import frc4388.robot.subsystems.Camera;
@@ -264,7 +265,7 @@ public class RobotContainer {
button.whenPressed(m_robotClaws::toggleClaws, m_robotClaws);
} else if (binding == XboxController.Button.kX) {
/* X > Toggle Extender Deployment */
button.whenPressed(new ExtenderIntakeGroup(m_robotIntake, m_robotExtender));
button.whenPressed(new ConditionalCommand(new DeployExtender(m_robotExtender, m_robotIntake), new RetractExtender(m_robotExtender), m_robotExtender::isRetracted));
} else if (binding == XboxController.Button.kY) {
/* Y > Track Target */
button.whileHeld(new TrackTarget(m_robotVisionOdometry, m_robotTurret, m_robotHood, m_robotBoomBoom));
@@ -328,7 +329,6 @@ public class RobotContainer {
button.whenReleased(() -> m_robotTurret.m_boomBoomRotateEncoder.setPosition(0), m_robotTurret);
button.whenReleased(() -> m_robotHood.m_angleEncoder.setPosition(0), m_robotHood);
button.whenReleased(() -> m_robotExtender.setEncoder(0), m_robotExtender);
button.whenReleased(ExtenderIntakeGroup::setDirectionToOut, m_robotIntake, m_robotExtender);
button.whenReleased(() -> m_robotClimber.setEncoders(0), m_robotClimber);
} else if (binding == ButtonBox.Button.kRightButton) {
/* Right Button > Extender Out */