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Done Test code

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Co-Authored-By: 76842 <90875734+76842@users.noreply.github.com>
This commit is contained in:
aarav18
2022-01-25 17:17:07 -07:00
parent 9112c87156
commit f1f1de18bb
5 changed files with 46 additions and 37 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+10 -10
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@@ -29,7 +29,7 @@ public class RobotContainer {
/* RobotMap */
private final RobotMap m_robotMap = new RobotMap();
/* Subsystems */
/* Subsystems
private final SwerveDrive m_robotSwerveDrive = new SwerveDrive(
m_robotMap.leftFrontSteerMotor, m_robotMap.leftFrontWheelMotor,
m_robotMap.rightFrontSteerMotor, m_robotMap.rightFrontWheelMotor,
@@ -40,7 +40,7 @@ public class RobotContainer {
m_robotMap.leftBackEncoder,
m_robotMap.rightBackEncoder
);
*/
private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.extenderMotor);
private final Serializer m_robotSerializer = new Serializer(m_robotMap.serializerBelt, m_robotMap.serializerShooterBelt);
@@ -58,9 +58,9 @@ 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));
m_robotIntake.setDefaultCommand(
new RunCommand(() -> m_robotIntake.runWithTriggers(
@@ -88,13 +88,13 @@ public class RobotContainer {
.whenReleased(() -> m_robotIntake.runExtender(false));
// activates "Lit Mode"
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
.whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
// new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
// .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
// .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
.whenPressed(() -> m_robotSerializer.setSerializerStateWithBeam(true, m_robotSerializer.getBeam()))
.whenReleased(() -> m_robotSerializer.setSerializerStateWithBeam(false, m_robotSerializer.getBeam()));
.whenPressed(() -> m_robotSerializer.setSerializerState(true))
.whenReleased(() -> m_robotSerializer.setSerializerState(false));
}
/**