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Added hooks and did code review stuff

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Arm will no longer teleport
This commit is contained in:
66945
2022-01-21 17:20:31 -07:00
parent e01ffd3329
commit ab2a3f6866
5 changed files with 85 additions and 16 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+10 -1
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@@ -11,6 +11,7 @@ import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.subsystems.Climber;
import frc4388.robot.subsystems.Hooks;
import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.utility.LEDPatterns;
@@ -43,6 +44,9 @@ public class RobotContainer {
private final LED m_robotLED = new LED(m_robotMap.LEDController);
private final Climber m_robotClimber = new Climber(m_robotMap.shoulder, m_robotMap.elbow, m_robotMap.gyro);
private final Hooks m_hooks = new Hooks(m_robotMap.leftHook, m_robotMap.rightHook);
/* Controllers */
private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
@@ -62,7 +66,8 @@ public class RobotContainer {
// 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));
getOperatorController().getLeftYAxis(),
getDriverJoystick().getRawButtonPressed(XboxController.A_BUTTON)), 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));
@@ -82,6 +87,10 @@ public class RobotContainer {
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
.whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON)
.whenPressed(() -> m_hooks.setOpen(true))
.whenReleased(() -> m_hooks.setOpen(false));
}
/**