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Code Issues Packages Projects Releases Wiki Activity

Button Box Broken

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This commit is contained in:
Ryan Manley
2022-03-12 17:33:38 -07:00
parent 64391c99c2
commit d2381220bb
6 changed files with 75 additions and 4 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+46 -4
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@@ -82,6 +82,7 @@ import frc4388.utility.ListeningSendableChooser;
import frc4388.utility.PathPlannerUtil;
import frc4388.utility.Vector2D;
import frc4388.utility.PathPlannerUtil.Path.Waypoint;
import frc4388.utility.controller.ButtonBox;
import frc4388.utility.controller.DeadbandedXboxController;
/**
@@ -115,6 +116,7 @@ public class RobotContainer {
/* Controllers */
private final XboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
private final XboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
private final ButtonBox m_buttonFox = new ButtonBox(OIConstants.BUTTON_FOX_ID);
/* Autonomous */
private PathPlannerTrajectory loadedPathTrajectory = null;
@@ -221,6 +223,11 @@ public class RobotContainer {
// .whenPressed(() -> m_robotMap.leftBack.reset())
// .whenPressed(() -> m_robotMap.rightBack.reset());
/* Operator Buttons */
// X > Extend Intake
@@ -263,6 +270,7 @@ public class RobotContainer {
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)
.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender))
.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
@@ -283,6 +291,36 @@ public class RobotContainer {
//B > Shoot with Lime
// new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
// .whenPressed(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotSwerveDrive, m_robotVisionOdometry));
/* Button Box Buttons */
new JoystickButton(getButtonFox(), ButtonBox.Button.kLeftSwitch.value)
.whenPressed(new InstantCommand(() -> configureManualButtonBindings()))
.whenReleased(new InstantCommand(() -> configureButtonBindings()));
new JoystickButton(getButtonFox(), ButtonBox.Button.kMiddleSwitch.value)
.whileHeld(new RunCommand(() -> System.out.println("MiddleSwitch")));
new JoystickButton(getButtonFox(), ButtonBox.Button.kRightSwitch.value)
.whileHeld(new RunCommand(() -> System.out.println("RightSwitch")));
new JoystickButton(getButtonFox(), ButtonBox.Button.kLeftButton.value)
.whileHeld(new RunCommand(() -> System.out.println("LeftButton")));
new JoystickButton(getButtonFox(), ButtonBox.Button.kRightButton.value)
.whileHeld(new RunCommand(() -> System.out.println("RightButton")));
}
public void configureManualButtonBindings()
{
new JoystickButton(getButtonFox(), ButtonBox.Button.kMiddleSwitch.value)
.whileHeld(new RunCommand(() -> System.out.println("Deez Nuts")));
new JoystickButton(getButtonFox(), ButtonBox.Button.kRightSwitch.value)
.whileHeld(new RunCommand(() -> System.out.println("Inna mouth")));
}
/**
@@ -317,6 +355,14 @@ public class RobotContainer {
return m_driverXbox;
}
public XboxController getOperatorController() {
return m_operatorXbox;
}
public ButtonBox getButtonFox() {
return m_buttonFox;
}
/**
* Get odometry.
*
@@ -335,10 +381,6 @@ public class RobotContainer {
m_robotSwerveDrive.resetOdometry(pose);
}
public XboxController getOperatorController() {
return m_operatorXbox;
}
/**
* Creates a WatchKey for the path planner directory and registers it with the
* WatchService.