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

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Abhishrek05
2022-02-19 10:57:33 -07:00
parent ed8cf1443c 006f38d786
commit dc103ad646
5 changed files with 48 additions and 24 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+34 -19
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@@ -5,6 +5,8 @@
package frc4388.robot;
import com.revrobotics.CANSparkMax;
import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
import com.ctre.phoenix.motorcontrol.can.TalonFX;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj2.command.Command;
@@ -14,6 +16,7 @@ import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.subsystems.BoomBoom;
import frc4388.robot.subsystems.Hood;
//import frc4388.robot.subsystems.Intake;
import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.robot.subsystems.Turret;
@@ -32,23 +35,24 @@ import frc4388.utility.controller.XboxController;
public class RobotContainer {
/* RobotMap */
private final RobotMap m_robotMap = new RobotMap();
private final TalonFX m_testMotor = new TalonFX(2);
/* Subsystems */
// private final SwerveDrive m_robotSwerveDrive = new SwerveDrive(
// m_robotMap.leftFrontSteerMotor, m_robotMap.leftFrontWheelMotor,
// m_robotMap.rightFrontSteerMotor, m_robotMap.rightFrontWheelMotor,
// m_robotMap.leftBackSteerMotor, m_robotMap.leftBackWheelMotor,
// m_robotMap.rightBackSteerMotor, m_robotMap.rightBackWheelMotor,
// m_robotMap.leftFrontEncoder,
// m_robotMap.rightFrontEncoder,
// m_robotMap.leftBackEncoder,
// m_robotMap.rightBackEncoder
// );
/* Subsystems
private final SwerveDrive m_robotSwerveDrive = new SwerveDrive(
m_robotMap.leftFrontSteerMotor, m_robotMap.leftFrontWheelMotor,
m_robotMap.rightFrontSteerMotor, m_robotMap.rightFrontWheelMotor,
m_robotMap.leftBackSteerMotor, m_robotMap.leftBackWheelMotor,
m_robotMap.rightBackSteerMotor, m_robotMap.rightBackWheelMotor,
m_robotMap.leftFrontEncoder,
m_robotMap.rightFrontEncoder,
m_robotMap.leftBackEncoder,
m_robotMap.rightBackEncoder
);
*/
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();
private final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret);
private final Vision m_robotVison = new Vision(m_robotTurret, m_robotBoomBoom);
/* Controllers */
private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
@@ -62,15 +66,15 @@ public class RobotContainer {
/* Default Commands */
// drives the swerve drive with a two-axis input from the driver controller
// m_robotSwerveDrive.setDefaultCommand(
// new RunCommand(() -> m_robotSwerveDrive.driveWithInput(-getDriverController().getLeftXAxis(),
// getDriverController().getLeftYAxis(), -getDriverController().getRightXAxis(), false), m_robotSwerveDrive));
/*m_robotSwerveDrive.setDefaultCommand(
new RunCommand(() -> m_robotSwerveDrive.driveWithInput(-getDriverController().getLeftXAxis(),
getDriverController().getLeftYAxis(), -getDriverController().getRightXAxis(), false), m_robotSwerveDrive));
// continually sends updates to the Blinkin LED controller to keep the lights on
m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, m_robotLED));
*/
//Turret default command
m_robotTurret.setDefaultCommand(
@@ -90,6 +94,10 @@ public class RobotContainer {
/* Operator Buttons */
// activates "Lit Mode"
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.whileHeld(() -> m_testMotor.set(TalonFXControlMode.PercentOutput, 0.5));
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
.whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
@@ -97,9 +105,16 @@ public class RobotContainer {
new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
.whenPressed(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0.1))
.whenReleased(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0));
/* Driver Buttons */
//activates intake
new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON);
// .whenPressed() -> m_robot
/*operator button*/
//activates hood
new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON)
.whenPressed(() -> m_robotHood.runHood(0.5d))
.whenReleased(() -> m_robotHood.runHood(0.d));
// new JoystickButton(getOperatorJoystick());
}
/**
* Use this to pass the autonomous command to the main {@link Robot} class.