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Update RobotContainer.java

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aarav18
2022-01-13 19:26:37 -07:00
parent a58ee0c795
commit e3954863cd
1 changed files with 7 additions and 0 deletions
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src/main/java/frc4388/robot/RobotContainer.java
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@@ -10,6 +10,7 @@ import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton; import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*; import frc4388.robot.Constants.*;
import frc4388.robot.subsystems.Intake;
import frc4388.robot.subsystems.LED; import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.SwerveDrive; import frc4388.robot.subsystems.SwerveDrive;
import frc4388.utility.LEDPatterns; import frc4388.utility.LEDPatterns;
@@ -39,6 +40,7 @@ public class RobotContainer {
m_robotMap.rightBackEncoder m_robotMap.rightBackEncoder
); );
private final Intake m_intake = new Intake(null, null);
private final LED m_robotLED = new LED(m_robotMap.LEDController); private final LED m_robotLED = new LED(m_robotMap.LEDController);
/* Controllers */ /* Controllers */
@@ -59,6 +61,7 @@ public class RobotContainer {
// continually sends updates to the Blinkin LED controller to keep the lights on // continually sends updates to the Blinkin LED controller to keep the lights on
m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, m_robotLED)); m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, m_robotLED));
// dri
} }
/** /**
@@ -71,6 +74,10 @@ public class RobotContainer {
/* Driver Buttons */ /* Driver Buttons */
/* Operator Buttons */ /* Operator Buttons */
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whenPressed(() -> m_intake.runExtender(true))
.whenReleased(() -> m_intake.runExtender(false));
// activates "Lit Mode" // activates "Lit Mode"
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON) new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW)) .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))