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shoot working no optimization

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This commit is contained in:
aarav18
2022-03-20 14:25:38 -06:00
parent 0eca600135
commit e39c81d556
6 changed files with 120 additions and 96 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+25 -20
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@@ -179,19 +179,19 @@ public class RobotContainer {
// Swerve Drive with Input
m_robotSwerveDrive.setDefaultCommand(
new RunCommand(() -> {
if (RobotContainer.currentControlMode.equals(ControlMode.SHOOTER)) {
// if (RobotContainer.currentControlMode.equals(ControlMode.SHOOTER)) {
m_robotSwerveDrive.driveWithInput( getDriverController().getLeftX(),
getDriverController().getLeftY(),
getDriverController().getRightX(),
getDriverController().getRightY(),
true); }
if (RobotContainer.currentControlMode.equals(ControlMode.CLIMBER)) {
m_robotSwerveDrive.driveWithInput( 0,
0,
0,
0,
true);
}}
true); //}
// if (RobotContainer.currentControlMode.equals(ControlMode.CLIMBER)) {
// m_robotSwerveDrive.driveWithInput( 0,
// 0,
// 0,
// 0,
// true);
}//}
, m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand"));
// Intake with Triggers
@@ -278,24 +278,29 @@ public class RobotContainer {
.whileHeld(new AimToCenter(m_robotTurret, m_robotVisionOdometry, m_robotSwerveDrive::getOdometry))
.whenReleased(new InstantCommand(() -> m_robotTurret.runTurretWithInput(0.0), m_robotTurret));
new JoystickButton(getDriverController(), XboxController.Button.kY.value)
.whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood, false));
//!.whenReleased(new InstantCommand(() -> m_robotTurret.runTurretWithInput(0.0), m_robotTurret))
//!.whenReleased(() -> m_robotSwerveDrive.stopModules());
new JoystickButton(getDriverController(), XboxController.Button.kX.value)
// new JoystickButton(getDriverController(), XboxController.Button.kY.value)
// .whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood, false));
// .whenReleased(new InstantCommand(() -> m_robotTurret.runTurretWithInput(0.0), m_robotTurret))
// .whenReleased(() -> m_robotSwerveDrive.stopModules());
new JoystickButton(getDriverController(), XboxController.Button.kX.value)
.whileHeld(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry))
.whenReleased(new InstantCommand(() -> m_robotTurret.runTurretWithInput(0.0), m_robotTurret))
.whenReleased(new InstantCommand(() -> m_robotHood.runHood(0.0), m_robotHood))
.whenReleased(new InstantCommand(() -> m_robotBoomBoom.runDrumShooter(0.0), m_robotBoomBoom));
/* Operator Buttons */
/* Operator Buttons */
new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
.whileHeld(new RunCommand(() -> m_robotClaws.setOpen(true)));
.whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood, false));
//!.whenReleased(new InstantCommand(() -> m_robotTurret.runTurretWithInput(0.0), m_robotTurret))
//!.whenReleased(() -> m_robotSwerveDrive.stopModules());
new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
.whileHeld(new RunCommand(() -> m_robotClaws.setOpen(false)));
// new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
// .whileHeld(new RunCommand(() -> m_robotClaws.setOpen(true)));
// new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
// .whileHeld(new RunCommand(() -> m_robotClaws.setOpen(false)));
// new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
// .whenPressed(new InstantCommand(() -> m_robotVisionOdometry.setLEDs(false), m_robotVisionOdometry));