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Code Issues Packages Projects Releases Wiki Activity

track target distance regression WORKS

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This commit is contained in:
66945
2022-03-14 16:56:32 -06:00
parent 9e33a7ce5d
commit abc2e8b05f
5 changed files with 18 additions and 11 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+11 -6
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@@ -59,6 +59,7 @@ import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.OIConstants;
import frc4388.robot.Constants.ShooterConstants;
import frc4388.robot.Constants.StorageConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.robot.commands.AimToCenter;
@@ -291,11 +292,11 @@ public class RobotContainer {
// new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
// .whenPressed(new InstantCommand(() -> m_robotExtender.m_extenderMotor.getEncoder().setPosition(0)));
new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(1.0), m_robotExtender))
.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
// new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
// .whileHeld(new RunCommand(() -> m_robotExtender.runExtender(1.0), m_robotExtender))
// .whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender))
.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
@@ -317,10 +318,14 @@ public class RobotContainer {
// A > Shoot with Odo
/*new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
.whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood));*/
new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
.whenPressed(new RunCommand(() -> m_robotTurret.runshooterRotatePID(-44 * ShooterConstants.TURRET_DEGREES_PER_ROT), m_robotTurret));
//B > Shoot with Lime
// new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
// .whileHeld(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry));
new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
.whileHeld(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry))
.whenReleased(new InstantCommand(() -> m_robotVisionOdometry.setLEDs(false)));
/* Button Box Buttons */