Team4388/2022NoWayHome
1
0
Fork 0
mirror of https://github.com/Team4388/2022NoWayHome.git synced 2026-06-09 00:38:05 -06:00
Code Issues Packages Projects Releases Wiki Activity

shhhtufff

Browse Source
This commit is contained in:
aarav18
2022-03-12 22:19:42 -07:00
parent 42a8f0672e
commit ba9dce23af
6 changed files with 51 additions and 27 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/RobotContainer.java
+32 -12
View File
@@ -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 Hood m_robotHood = new Hood(m_robotMap.angleAdjusterMotor);
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);
private final WPI_TalonFX testElbowMotor = new WPI_TalonFX(30);
@@ -134,6 +134,7 @@ public class RobotContainer {
public boolean manual = false;
public static boolean softLimits = true;
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
@@ -174,8 +175,8 @@ public class RobotContainer {
m_robotTurret.setDefaultCommand(
new RunCommand(() -> m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()),
m_robotTurret).withName("Turret runTurretWithInput defaultCommand"));
// m_robotHood.setDefaultCommand(
// new RunCommand(() -> m_robotHood.runHood(getOperatorController().getLeftY() * 0.15), m_robotHood));
m_robotHood.setDefaultCommand(
new RunCommand(() -> m_robotHood.runHood(getOperatorController().getLeftY()), m_robotHood));
// m_robotTurret.setDefaultCommand(
// new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry));
@@ -228,11 +229,17 @@ public class RobotContainer {
/* Operator Buttons */
// X > Extend Intake
new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
.whenPressed(new InstantCommand(() -> m_robotVisionOdometry.setLEDs(true), m_robotVisionOdometry));
// Y > Retract Intake
// new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
// .whenPressed(new InstantCommand(() -> m_robotVisionOdometry.setLEDs(true), m_robotVisionOdometry));
// new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
// .whenPressed(new InstantCommand(() -> m_robotTurret.m_boomBoomRotateEncoder.setPosition(0), m_robotTurret));
new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
.whenPressed(new InstantCommand(() -> m_robotVisionOdometry.setLEDs(false), m_robotVisionOdometry));
// new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
// .whenPressed(() -> m_robotIntake.runExtender(false));
// .whenPressed(new InstantCommand(() -> m_robotVisionOdometry.setLEDs(false), m_robotVisionOdometry));
// new JoystickButton(getOperatorController(), XboxController.Button.kA.value) //8ft
// .whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.425)))
@@ -252,7 +259,7 @@ public class RobotContainer {
// .whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.0)));
new JoystickButton(getOperatorController(), XboxController.Button.kX.value) //20ft
.whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.1)))
.whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.2)))
// .whileHeld(new RunCommand(() -> m_robotHood.runAngleAdjustPID(-96)))
.whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.0)));
@@ -289,12 +296,21 @@ public class RobotContainer {
// .whenPressed(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotSwerveDrive, m_robotVisionOdometry));
/* Button Box Buttons */
new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftSwitch.value)
.whileHeld(new RunCommand(() -> RunMiddleSwitch.setManual(true)))
.whenReleased(new RunCommand(() -> RunMiddleSwitch.setManual(false)));
.whenPressed(new InstantCommand(() -> m_robotTurret.setTurretSoftLimits(false), m_robotTurret))
.whenPressed(new InstantCommand(() -> m_robotHood.setHoodSoftLimits(false), m_robotHood))
.whenReleased(new InstantCommand(() -> m_robotTurret.setTurretSoftLimits(true), m_robotTurret))
.whenReleased(new InstantCommand(() -> m_robotHood.setHoodSoftLimits(true), m_robotHood))
.whenReleased(new InstantCommand(() -> m_robotTurret.m_boomBoomRotateEncoder.setPosition(0), m_robotTurret))
.whenReleased(new InstantCommand(() -> m_robotHood.m_angleEncoder.setPosition(0), m_robotHood));
// new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftSwitch.value)
// .whileHeld(new RunCommand(() -> RunMiddleSwitch.setManual(true)))
// .whenReleased(new RunCommand(() -> RunMiddleSwitch.setManual(false)));
new JoystickButton(getButtonBox(), ButtonBox.Button.kMiddleSwitch.value)
.whileHeld(new RunMiddleSwitch());
// new JoystickButton(getButtonBox(), ButtonBox.Button.kMiddleSwitch.value)
// .whileHeld(new RunMiddleSwitch());
new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value)
.whileHeld(new RunCommand(() -> System.out.println("RightSwitch")));
@@ -350,6 +366,10 @@ public class RobotContainer {
this.manual = set;
}
public static void setSoftLimits(boolean set) {
softLimits = set;
}
/**
* Get odometry.
*