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

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Ryan Manley
2022-04-09 10:43:10 -06:00
parent 1c9b403fb2 50986d400f
commit fe4cfc9321
1 changed files with 9 additions and 5 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+9 -5
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@@ -237,9 +237,13 @@ public class RobotContainer {
new JoystickButton(getDriverController(), XboxController.Button.kRightBumper.value)
.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)
.whenPressed(new InstantCommand(() -> switchControlMode()))
.whenReleased(new InstantCommand(() -> switchControlMode()));
.whenPressed(new InstantCommand(() -> currentControlMode = ControlMode.CLIMBER))
.whenReleased(new InstantCommand(() -> currentControlMode = ControlMode.SHOOTER));
new JoystickButton(getDriverController(), XboxController.Button.kB.value)
.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)
SequentialCommandGroup threeBallAuto = new SequentialCommandGroup(
idleDrumUntilShootingFirstBall(),
shoot(0.8), // TODO: optimize time
shoot(0.8),
brakeStorage(0.1),
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),
intakeWithPath2AndIdleShooterAndAimTurret,
shoot(4.0), // TODO: optimize time
shoot(4.0),
brakeStorage(0.1)
);