Team4388/2022NoWayHome
1
0
Fork 0
mirror of https://github.com/Team4388/2022NoWayHome.git synced 2026-06-09 00:38:05 -06:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
Ryan Manley
2022-04-09 10:43:10 -06:00
parent 1c9b403fb2 50986d400f
commit fe4cfc9321
1 changed files with 9 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/RobotContainer.java
+9 -5
View File
@@ -237,9 +237,13 @@ public class RobotContainer {
new JoystickButton(getDriverController(), XboxController.Button.kRightBumper.value) new JoystickButton(getDriverController(), XboxController.Button.kRightBumper.value)
.whenPressed(() -> m_robotSwerveDrive.highSpeed(true)); .whenPressed(() -> m_robotSwerveDrive.highSpeed(true));
// new JoystickButton(getDriverController(), XboxController.Button.kA.value)
// .whenPressed(new InstantCommand(() -> switchControlMode()))
// .whenReleased(new InstantCommand(() -> switchControlMode()));
new JoystickButton(getDriverController(), XboxController.Button.kA.value) new JoystickButton(getDriverController(), XboxController.Button.kA.value)
.whenPressed(new InstantCommand(() -> switchControlMode())) .whenPressed(new InstantCommand(() -> currentControlMode = ControlMode.CLIMBER))
.whenReleased(new InstantCommand(() -> switchControlMode())); .whenReleased(new InstantCommand(() -> currentControlMode = ControlMode.SHOOTER));
new JoystickButton(getDriverController(), XboxController.Button.kB.value) new JoystickButton(getDriverController(), XboxController.Button.kB.value)
.whenPressed(new InstantCommand(() -> switchDriveMode())) .whenPressed(new InstantCommand(() -> switchDriveMode()))
@@ -560,14 +564,14 @@ public class RobotContainer {
// ! THREE BALL AUTO (ASSUMES ROBOT IS FACING DIRECTLY TOWARDS THE FIRST BALL OUTSIDE THE TARMAC, BUMPERS FLUSH WITH THE EDGE) // ! THREE BALL AUTO (ASSUMES ROBOT IS FACING DIRECTLY TOWARDS THE FIRST BALL OUTSIDE THE TARMAC, BUMPERS FLUSH WITH THE EDGE)
SequentialCommandGroup threeBallAuto = new SequentialCommandGroup( SequentialCommandGroup threeBallAuto = new SequentialCommandGroup(
idleDrumUntilShootingFirstBall(), idleDrumUntilShootingFirstBall(),
shoot(0.8), // TODO: optimize time shoot(0.8),
brakeStorage(0.1), brakeStorage(0.1),
intakeWithPathAndTrackTarget, intakeWithPathAndTrackTarget,
// intakeWithPath1(3.0), // * this line and the one underneath it can be replaced with intakeWithPathAndTrackTarget // intakeWithPath1(3.0), // * this line and the one underneath it can be replaced with intakeWithPathAndTrackTarget
shoot(0.8), // TODO: optimize time shoot(0.8),
brakeStorage(0.1), brakeStorage(0.1),
intakeWithPath2AndIdleShooterAndAimTurret, intakeWithPath2AndIdleShooterAndAimTurret,
shoot(4.0), // TODO: optimize time shoot(4.0),
brakeStorage(0.1) brakeStorage(0.1)
); );