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extender intake group command DONE

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This commit is contained in:
aarav18
2022-03-14 15:16:21 -06:00
parent a8733ce5a1
commit bc14a85fc7
7 changed files with 156 additions and 35 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+31 -12
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@@ -54,6 +54,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.NotifierCommand;
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
@@ -61,6 +62,7 @@ import frc4388.robot.Constants.OIConstants;
import frc4388.robot.Constants.StorageConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.robot.commands.AimToCenter;
import frc4388.robot.commands.ExtenderIntakeGroup;
import frc4388.robot.commands.RunMiddleSwitch;
import frc4388.robot.commands.Shoot;
import frc4388.robot.commands.TrackTarget;
@@ -237,8 +239,8 @@ public class RobotContainer {
// 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(new InstantCommand(() -> m_robotVisionOdometry.setLEDs(false), m_robotVisionOdometry));
// new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
// .whenPressed(new InstantCommand(() -> m_robotVisionOdometry.setLEDs(false), m_robotVisionOdometry));
@@ -260,9 +262,9 @@ 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.runDrumShooterVelocityPID(10000)))
.whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0)));
// new JoystickButton(getOperatorController(), XboxController.Button.kX.value) //20ft
// .whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(10000)))
// .whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0)));
new JoystickButton(getOperatorController(), XboxController.Button.kLeftBumper.value)
.whenPressed(new RunCommand(() -> m_robotStorage.runStorage(-0.9), m_robotStorage))
@@ -272,14 +274,26 @@ public class RobotContainer {
.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(0.9), m_robotStorage))
.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
// new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
// .whileHeld(new RunExtender(m_robotIntake, m_robotExtender, 0.5))
// .whenReleased(new RunCommand(() -> RunExtender.changeDirection(), m_robotIntake, m_robotExtender));
new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
.whenPressed(new ExtenderIntakeGroup(m_robotIntake, m_robotExtender));
// .whenReleased(new InstantCommand(() -> ExtenderIntakeGroup.changeDirection()));
// new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
// .whenPressed(new ParallelCommandGroup(
// new RunCommand(() -> m_robotIntake.m_intakeMotor.set(ExtenderIntakeGroup.direction * -0.2), m_robotIntake),
// new RunCommand(() -> m_robotExtender.m_extenderMotor.set(ExtenderIntakeGroup.direction * 0.5), m_robotExtender)))
// .whenReleased(new InstantCommand(() -> ExtenderIntakeGroup.changeDirection()));
// 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))
.whenReleased(new RunCommand(() -> m_robotExtender.switchDirection(), 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));
.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender))
@@ -314,10 +328,15 @@ public class RobotContainer {
new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftSwitch.value)
.whenPressed(new InstantCommand(() -> m_robotTurret.setTurretSoftLimits(false), m_robotTurret))
.whenPressed(new InstantCommand(() -> m_robotHood.setHoodSoftLimits(false), m_robotHood))
.whenPressed(new InstantCommand(() -> m_robotExtender.setExtenderSoftLimits(false), m_robotExtender))
.whenReleased(new InstantCommand(() -> m_robotTurret.setTurretSoftLimits(true), m_robotTurret))
.whenReleased(new InstantCommand(() -> m_robotHood.setHoodSoftLimits(true), m_robotHood))
.whenReleased(new InstantCommand(() -> m_robotExtender.setExtenderSoftLimits(true), m_robotExtender))
.whenReleased(new InstantCommand(() -> m_robotTurret.m_boomBoomRotateEncoder.setPosition(0), m_robotTurret))
.whenReleased(new InstantCommand(() -> m_robotHood.m_angleEncoder.setPosition(0), m_robotHood));
.whenReleased(new InstantCommand(() -> m_robotHood.m_angleEncoder.setPosition(0), m_robotHood))
.whenReleased(new InstantCommand(() -> m_robotExtender.m_extenderMotor.getEncoder().setPosition(0), m_robotExtender));
// new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftSwitch.value)
// .whileHeld(new RunCommand(() -> RunMiddleSwitch.setManual(true)))