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Merge branch 'testRoboReveal' of https://github.com/Team4388/2022NoWayHome into testRoboReveal

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66945
2022-03-20 16:25:54 -06:00
parent 5d9d3ac1f1 da8fac3377
commit f4b7ab1264
2 changed files with 17 additions and 11 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+15 -10
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@@ -74,6 +74,7 @@ import frc4388.robot.commands.ClimberCommands.RunClimberPath;
// import frc4388.robot.commands.ButtonBoxCommands.TurretManual; // import frc4388.robot.commands.ButtonBoxCommands.TurretManual;
import frc4388.robot.commands.ExtenderIntakeCommands.ExtenderIntakeGroup; import frc4388.robot.commands.ExtenderIntakeCommands.ExtenderIntakeGroup;
import frc4388.robot.commands.ShooterCommands.AimToCenter; import frc4388.robot.commands.ShooterCommands.AimToCenter;
import frc4388.robot.commands.ShooterCommands.Seek;
import frc4388.robot.commands.ShooterCommands.Shoot; import frc4388.robot.commands.ShooterCommands.Shoot;
import frc4388.robot.commands.ShooterCommands.TrackTarget; import frc4388.robot.commands.ShooterCommands.TrackTarget;
import frc4388.robot.commands.StorageCommands.ManageStorage; import frc4388.robot.commands.StorageCommands.ManageStorage;
@@ -283,18 +284,22 @@ public class RobotContainer {
// .whenReleased(new InstantCommand(() -> m_robotTurret.runTurretWithInput(0.0), m_robotTurret)) // .whenReleased(new InstantCommand(() -> m_robotTurret.runTurretWithInput(0.0), m_robotTurret))
// .whenReleased(() -> m_robotSwerveDrive.stopModules()); // .whenReleased(() -> m_robotSwerveDrive.stopModules());
new JoystickButton(getDriverController(), XboxController.Button.kX.value) // .whenReleased(new InstantCommand(() -> m_robotTurret.runTurretWithInput(0.0), m_robotTurret))
.whileHeld(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry)); // .whenReleased(new InstantCommand(() -> m_robotHood.runHood(0.0), m_robotHood))
// .whenReleased(new InstantCommand(() -> m_robotTurret.runTurretWithInput(0.0), m_robotTurret)) // .whenReleased(new InstantCommand(() -> m_robotBoomBoom.runDrumShooter(0.0), m_robotBoomBoom));
// .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) new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
.whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood, m_robotVisionOdometry, false, false)); .whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood, m_robotVisionOdometry, false, false));
// new JoystickButton(getDriverController(), XboxController.Button.kX.value)
// .whileHeld(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry));
// new JoystickButton(getOperatorController(), XboxController.Button.kY.value) new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
.whileHeld(new Seek(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood, m_robotVisionOdometry));
// new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
// .whileHeld(new RunCommand(() -> m_robotClaws.setOpen(true))); // .whileHeld(new RunCommand(() -> m_robotClaws.setOpen(true)));
// new JoystickButton(getOperatorController(), XboxController.Button.kB.value) // new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
src/main/java/frc4388/robot/commands/ShooterCommands/Shoot.java
+2 -1
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@@ -76,6 +76,7 @@ public class Shoot extends CommandBase {
this.drum = drum; this.drum = drum;
this.turret = turret; this.turret = turret;
this.hood = hood; this.hood = hood;
this.visionOdometry = visionOdometry;
this.toShoot = toShoot; this.toShoot = toShoot;
this.endsWithLimelight = endsWithLimelight; this.endsWithLimelight = endsWithLimelight;
@@ -188,7 +189,7 @@ public class Shoot extends CommandBase {
// ? should stop the turret and the swerve // ? should stop the turret and the swerve
////this.swerve.stopModules(); ////this.swerve.stopModules();
////this.turret.runTurretWithInput(0); this.turret.runTurretWithInput(0.0);
if (this.toShoot) { if (this.toShoot) {
this.hood.runHood(0.0); this.hood.runHood(0.0);