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aldifh

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This commit is contained in:
aarav18
2022-03-25 16:14:32 -06:00
parent 430f855d7e
commit ff15a16f64
1 changed files with 50 additions and 2 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+50 -2
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@@ -301,7 +301,13 @@ public class RobotContainer {
new JoystickButton(getDriverController(), XboxController.Button.kRightBumper.value)
.whenPressed(() -> m_robotSwerveDrive.highSpeed(true));
new JoystickButton(getDriverController(), XboxController.Axis.kLeftTrigger.value)
.whenPressed(new InstantCommand(() -> switchControlMode()))
.whenReleased(new InstantCommand(() -> switchControlMode()));
new JoystickButton(getDriverController(), XboxController.Axis.kRightTrigger.value)
.whenPressed(new InstantCommand(() -> switchDriveMode()))
.whenReleased(new InstantCommand(() -> switchDriveMode()));
//! Operator Buttons
@@ -357,6 +363,33 @@ public class RobotContainer {
//! Button Box Buttons
// Left Switch > Disables soft limits on press, release resets encoders (all for turret, hood, climber, and extender)
SmartDashboard.putData("BB LEFT ON", new ParallelCommandGroup(
new InstantCommand(() -> m_robotTurret.setTurretSoftLimits(false), m_robotTurret),
new InstantCommand(() -> m_robotTurret.calibrationSpeed = 0.3, m_robotTurret),
new InstantCommand(() -> m_robotHood.setHoodSoftLimits(false), m_robotHood),
new InstantCommand(() -> m_robotHood.calibrationSpeed = 0.3, m_robotHood),
new InstantCommand(() -> m_robotExtender.setExtenderSoftLimits(false), m_robotExtender)
));
SmartDashboard.putData("BB LEFT OFF", new ParallelCommandGroup(
new InstantCommand(() -> m_robotTurret.setTurretSoftLimits(true), m_robotTurret),
new InstantCommand(() -> m_robotTurret.calibrationSpeed = 1.0, m_robotTurret),
new InstantCommand(() -> m_robotHood.setHoodSoftLimits(true), m_robotHood),
new InstantCommand(() -> m_robotHood.calibrationSpeed = 1.0, m_robotHood),
new InstantCommand(() -> m_robotExtender.setExtenderSoftLimits(true), m_robotExtender),
new InstantCommand(() -> m_robotTurret.m_boomBoomRotateEncoder.setPosition(0), m_robotTurret),
new InstantCommand(() -> m_robotHood.m_angleEncoder.setPosition(0), m_robotHood),
new InstantCommand(() -> m_robotExtender.setEncoder(0), m_robotExtender),
new InstantCommand(() -> ExtenderIntakeGroup.setDirectionToOut(), m_robotIntake, m_robotExtender),
new InstantCommand(() -> m_robotClimber.setEncoders(0), m_robotClimber)
));
new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftSwitch.value)
.whenPressed(new InstantCommand(() -> m_robotTurret.setTurretSoftLimits(false), m_robotTurret))
.whenPressed(new InstantCommand(() -> m_robotTurret.calibrationSpeed = 0.3, m_robotTurret))
@@ -494,7 +527,6 @@ public class RobotContainer {
weirdAutoShootingGroup, // * shoot
new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), 0.5)); // * stop running storage
//);
// ! TWO BALL AUTO (HOPEFULLY)
// return new SequentialCommandGroup( new ExtenderIntakeGroup(m_robotIntake, m_robotExtender), // * extend out, in preparation of running intake
@@ -508,7 +540,7 @@ public class RobotContainer {
// new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID((180.0 / Math.PI) * Math.atan2(-(82.83 / 2.00) + 15.56, -(219.25 / 2.00) - 40.44 + 10.00)), m_robotTurret), 1.0, true), // * aim with turret to target
// weirdAutoShootingGroup, // * shoot
// new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), 0.5)); // * stop running storage
// new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), 0.5)))); // * stop running storage
// ! DRIVE OFF LINE, THEN SHOOT BALL (HOPEFULLY)
// return new SequentialCommandGroup( new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive), // * reset gyro before moving
@@ -570,6 +602,22 @@ public class RobotContainer {
}
public void switchControlMode() {
if (currentControlMode == ControlMode.SHOOTER) {
currentControlMode = ControlMode.CLIMBER;
} else {
currentControlMode = ControlMode.SHOOTER;
}
}
public void switchDriveMode() {
if (currentDriveMode == DriveMode.ON) {
currentDriveMode = DriveMode.OFF;
} else {
currentDriveMode = DriveMode.ON;
}
}
public static XboxController getDriverController() {
return m_driverXbox;
}