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This commit is contained in:
Ryan Manley
2022-03-06 14:51:20 -07:00
parent a86823712b
commit e39d6d8675
2 changed files with 8 additions and 8 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+5 -5
View File
@@ -95,10 +95,10 @@ public class RobotContainer {
private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.extenderMotor, m_robotSerializer);
// private final Storage m_robotStorage = new Storage(m_robotMap.storageMotor, m_robotMap.beamIntake, m_robotMap.beamShooter);
// 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(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight);
private final Hood m_robotHood = new Hood(m_robotMap.angleAdjusterMotor);
private final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret);
private final VisionOdometry m_robotVisionOdometry = new VisionOdometry(m_robotSwerveDrive, m_robotTurret);
private final VisionOdometry m_robotVisionOdometry = new VisionOdometry(m_robotSwerveDrive, m_robotTurret);*/
/* Controllers */
private final XboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
@@ -147,7 +147,7 @@ public class RobotContainer {
m_robotStorage).withName("Storage manageStorage defaultCommand"));*/
// Serializer Management
m_robotSerializer.setDefaultCommand(
new RunCommand(() -> m_robotSerializer.setSerializer(0.25),//m_robotSerializer.setSerializerStateWithBeam(),
new RunCommand(() -> m_robotSerializer.setSerializer(0.8),//m_robotSerializer.setSerializerStateWithBeam(),
m_robotSerializer).withName("Serializer setSerializerStateWithBeam defaultCommand"));
// Turret Manual
/*m_robotTurret.setDefaultCommand(
@@ -223,11 +223,11 @@ public class RobotContainer {
// .whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-StorageConstants.STORAGE_SPEED)))
// .whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0)));
// A > Shoot with Odo
new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
/*new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
.whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood));
// B > Shoot with Lime
new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
.whenPressed(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotSwerveDrive, m_robotVisionOdometry));
.whenPressed(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotSwerveDrive, m_robotVisionOdometry));*/
}
/**
src/main/java/frc4388/robot/subsystems/Intake.java
+3 -3
View File
@@ -54,13 +54,13 @@ public class Intake extends SubsystemBase {
* @param rightTrigger Right Trigger to Run +
*/
public void runWithTriggers(double leftTrigger, double rightTrigger) {
m_intakeMotor.set((rightTrigger - leftTrigger) * 0.25);
m_intakeMotor.set((rightTrigger - leftTrigger) * 0.3);
}
/**
* Runs The Extender
* Runs The Extender-
* @param extended Wether the Extender Is Extended
*/
public void runExtender(boolean extended) { //TODO: Do not bring intake in if there is a ball in the extender (check if intake being in brakes the beam brake?)
public void runExtender(boolean extended) {
if (!m_serializer.getBeam() && !extended) return;
double extenderMotorSpeed = extended ? 0.25d : -0.25d;
m_extenderMotor.set(extenderMotorSpeed);