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Ryan Manley
2022-03-12 20:39:05 -07:00
parent 17fdcc00f6
commit ae9890f34b
5 changed files with 56 additions and 52 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+5 -5
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@@ -105,7 +105,7 @@ public class RobotContainer {
public final Storage m_robotStorage = new Storage(m_robotMap.storageMotor);
// private final LED m_robotLED = new LED(m_robotMap.LEDController);
// public final BoomBoom m_robotBoomBoom = new BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight);
public final BoomBoom m_robotBoomBoom = new BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight);
// public final Hood m_robotHood = new Hood(m_robotMap.angleAdjusterMotor);
public final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret);
private final VisionOdometry m_robotVisionOdometry = new VisionOdometry(m_robotSwerveDrive, m_robotTurret);
@@ -152,7 +152,7 @@ public class RobotContainer {
//getDriverController().getRightX(),
getDriverController().getRightX(),
// getDriverController().getRightY(),
false),
true),
m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand"));
// Intake with Triggers
m_robotIntake.setDefaultCommand(
@@ -257,10 +257,10 @@ public class RobotContainer {
// .whileHeld(new RunCommand(() -> m_robotHood.runAngleAdjustPID(-55.55)))
// .whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.0)));
// new JoystickButton(getOperatorController(), XboxController.Button.kX.value) //20ft
// .whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.525)))
new JoystickButton(getOperatorController(), XboxController.Button.kX.value) //20ft
.whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.1)))
// .whileHeld(new RunCommand(() -> m_robotHood.runAngleAdjustPID(-96)))
// .whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.0)));
.whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.0)));
new JoystickButton(getOperatorController(), XboxController.Button.kLeftBumper.value)
.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-0.9), m_robotStorage))