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Monday Fixes

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This commit is contained in:
Ryan Manley
2022-03-08 16:14:34 -07:00
parent 931c0cbd12
commit dce8ab320c
6 changed files with 90 additions and 61 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+37 -20
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@@ -133,8 +133,8 @@ public class RobotContainer {
getDriverController().getLeftY(),
//getDriverController().getRightX(),
getDriverController().getRightX(),
getDriverController().getRightY(),
true),
//getDriverController().getRightY(),
false),
m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand"));
// Intake with Triggers
m_robotIntake.setDefaultCommand(
@@ -147,9 +147,9 @@ public class RobotContainer {
new RunCommand(() -> m_robotStorage.manageStorage(),
m_robotStorage).withName("Storage manageStorage defaultCommand"));*/
// Serializer Management
// m_robotSerializer.setDefaultCommand(
// new RunCommand(() -> m_robotSerializer.setSerializer(0.8),//m_robotSerializer.setSerializerStateWithBeam(),
// m_robotSerializer).withName("Serializer setSerializerStateWithBeam defaultCommand"));
m_robotSerializer.setDefaultCommand(
new RunCommand(() -> m_robotSerializer.setSerializer(getOperatorController().getLeftTriggerAxis() * 0.8),//m_robotSerializer.setSerializerStateWithBeam(),
m_robotSerializer).withName("Serializer setSerializerStateWithBeam defaultCommand"));
// Turret Manual
m_robotTurret.setDefaultCommand(
new RunCommand(() -> m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()),
@@ -194,11 +194,11 @@ public class RobotContainer {
// new JoystickButton(getDriverController(), XboxController.Button.kA.value)
// .whenPressed(() -> resetOdometry(new Pose2d(0, 0, new Rotation2d(0))));
new JoystickButton(getDriverController(), XboxController.Button.kX.value) //Temp
.whenPressed(() -> m_robotMap.leftFront.reset())
.whenPressed(() -> m_robotMap.rightFront.reset())
.whenPressed(() -> m_robotMap.leftBack.reset())
.whenPressed(() -> m_robotMap.rightBack.reset());
// new JoystickButton(getDriverController(), XboxController.Button.kX.value) //Temp
// .whenPressed(() -> m_robotMap.leftFront.reset())
// .whenPressed(() -> m_robotMap.rightFront.reset())
// .whenPressed(() -> m_robotMap.leftBack.reset())
// .whenPressed(() -> m_robotMap.rightBack.reset());
/* Operator Buttons */
@@ -209,22 +209,39 @@ public class RobotContainer {
new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
.whenPressed(() -> m_robotIntake.runExtender(false));*/
// new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
// .whenPressed(new InstantCommand(() -> m_robotTurret.m_boomBoomRotateEncoder.setPosition(0)));
new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
.whenPressed(new InstantCommand(() -> m_robotHood.m_angleEncoder.setPosition(0)));
new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
.whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.3)))
new JoystickButton(getOperatorController(), XboxController.Button.kA.value) //8ft
// .whenPressed(new InstantCommand(() -> m_robotTurret.m_boomBoomRotateEncoder.setPosition(0)));
// .whenPressed(() -> m_robotBoomBoom.increaseSpeed(0.025));
.whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.425)))
.whileHeld(new RunCommand(() -> m_robotHood.runAngleAdjustPID(-25)))
.whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.0)));
new JoystickButton(getOperatorController(), XboxController.Button.kB.value) //12ft
.whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.475)))
.whileHeld(new RunCommand(() -> m_robotHood.runAngleAdjustPID(-47.57)))
.whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.0)));
// .whenPressed(new InstantCommand(() -> m_robotHood.m_angleEncoder.setPosition(0)));
// .whenPressed(() -> m_robotBoomBoom.increaseSpeed(-0.025));
new JoystickButton(getOperatorController(), XboxController.Button.kY.value) //16ft
.whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.5)))
.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.runDrumShooter(0.525))).whileHeld(new RunCommand(() -> m_robotHood.runAngleAdjustPID(-96)))
.whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.0)));
// .whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.45)))
// .whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.0)));
new JoystickButton(getOperatorController(), XboxController.Button.kLeftBumper.value)
.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-0.75), m_robotStorage))
.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.kRightBumper.value)
.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(0.75), m_robotStorage))
.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(0.9), m_robotStorage))
.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
// Right Bumper > Storage In
// new JoystickButton(getOperatorController(), XboxController.Button.kRightBumper.value)