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new hood controls

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This commit is contained in:
‮Aarav Shah
2022-02-17 19:38:49 -07:00
parent 0fedb240d7
commit dc93277517
4 changed files with 44 additions and 22 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+37 -20
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@@ -4,6 +4,9 @@
package frc4388.robot;
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;
import edu.wpi.first.wpilibj2.command.InstantCommand;
@@ -12,6 +15,7 @@ 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;
@@ -30,21 +34,22 @@ 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 BoomBoom m_robotBoomBoom = new BoomBoom();
private final Hood m_robotHood = new Hood();
private final Turret m_robotTurret = new Turret();
private final Vision m_robotVison = new Vision(m_robotTurret, m_robotBoomBoom);
@@ -60,19 +65,20 @@ 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(
new RunCommand(() -> m_robotTurret.runShooterWithInput(getOperatorController().getLeftXAxis()), m_robotTurret));
new RunCommand(() -> m_robotTurret.runShooterWithInput(getOperatorController().getLeftXAxis()), m_robotTurret)
);
// m_robotTurret.setDefaultCommand(
// new RunCommand(() -> m_robotTurret.aimToCenter()));
}
@@ -88,6 +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));
@@ -95,9 +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.