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Added input controls

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This commit is contained in:
dj12ha
2022-01-20 17:10:07 -07:00
parent 50c83e98f2
commit 94a0af64d0
3 changed files with 21 additions and 2 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+6 -1
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@@ -42,7 +42,7 @@ public class RobotContainer {
private final LED m_robotLED = new LED(m_robotMap.LEDController);
private final Climber m_climber = new Climber(m_robotMap.shoulder, m_robotMap.elbow, m_robotMap.gyro);
private final Climber m_robotClimber = new Climber(m_robotMap.shoulder, m_robotMap.elbow, m_robotMap.gyro);
/* Controllers */
private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
@@ -59,6 +59,11 @@ public class RobotContainer {
new RunCommand(() -> m_robotSwerveDrive.driveWithInput(-getDriverController().getLeftXAxis(),
getDriverController().getLeftYAxis(), -getDriverController().getRightXAxis(), false), m_robotSwerveDrive));
// moves climber in xy space with two-axis input from the operator controller
m_robotClimber.setDefaultCommand(
new RunCommand(() -> m_robotClimber.controlWithInput(getOperatorController().getLeftXAxis(),
getOperatorController().getLeftYAxis()), m_robotClimber));
// continually sends updates to the Blinkin LED controller to keep the lights on
m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, m_robotLED));
}