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

Merge branch 'swerve' of https://github.com/Team4388/2022NoWayHome into swerve

Browse Source
This commit is contained in:
evan
2022-03-05 11:22:35 -07:00
parent a5058b4ad8 3d6f9d606d
commit ca9b247955
10 changed files with 234 additions and 177 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/RobotContainer.java
+15 -18
View File
@@ -58,6 +58,7 @@ import frc4388.robot.Constants.LEDConstants;
import frc4388.robot.Constants.OIConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.robot.commands.AimToCenter;
import frc4388.robot.commands.Shoot;
import frc4388.robot.subsystems.BoomBoom;
import frc4388.robot.subsystems.Hood;
import frc4388.robot.subsystems.LED;
@@ -86,16 +87,12 @@ public class RobotContainer {
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront, m_robotMap.leftBack,
m_robotMap.rightFront, m_robotMap.rightBack, m_robotMap.gyro);
/*
* private final LED m_robotLED = new LED(m_robotMap.LEDController);
* private final BoomBoom m_robotBoomBoom = new
* BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight);
* private final Hood m_robotHood = new Hood();
* // private final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret);
* // private final Vision m_robotVison = new Vision(m_robotTurret,
* // m_robotBoomBoom);
* /* Controllers
*/
private final LED m_robotLED = new LED(m_robotMap.LEDController);
private final BoomBoom m_robotBoomBoom = new BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight);
private final Hood m_robotHood = new Hood();
private final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret);
private final Vision m_robotVision = new Vision(m_robotTurret, m_robotBoomBoom);
/* Controllers */
private final XboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
private final XboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
@@ -182,17 +179,17 @@ public class RobotContainer {
/* Operator Buttons */
// activates "Lit Mode"
/*
* new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
* new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
* .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
* .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
*
* new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
* .whenPressed(new InstantCommand());
*
* // activates "BoomBoom"
* new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
* .whenPressed(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0.1))
* .whenReleased(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0));
* // activates hood
* new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
* .whenPressed(() -> m_robotHood.runHood(0.5d))
* .whenReleased(() -> m_robotHood.runHood(0.d));
* new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
* .whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret,
* m_robotHood));
*/
}