Team4388/2023WayOfTheRobot
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claw is correct now

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Aarav
2023-03-21 16:17:20 -06:00
parent 39640662d9
commit 0129594f89
4 changed files with 129 additions and 15 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+13 -4
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@@ -7,7 +7,12 @@
package frc4388.robot;
import com.revrobotics.CANSparkMax;
import com.revrobotics.REVLibError;
import com.revrobotics.CANSparkMax.FaultID;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
@@ -45,7 +50,7 @@ public class RobotContainer {
public final Arm m_robotArm = new Arm(m_robotMap.pivot, m_robotMap.tele, m_robotMap.pivotEncoder);
public final Claw m_robotClaw = new Claw(m_robotMap.servo);
public final Claw m_robotClaw = new Claw(m_robotMap.leftClaw, m_robotMap.rightClaw, m_robotMap.spinnyspin);
public final Limelight m_limeLight = new Limelight();
@@ -154,17 +159,21 @@ public class RobotContainer {
new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> m_limeLight.toggleLEDs(), m_limeLight));
new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
.whileTrue(new LimeAlign(m_robotSwerveDrive, m_limeLight));
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> m_robotClaw.toggle()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> m_robotArm.killSoftLimits()));
// SmartDashboard.putBoolean("isn't SparkMAX", );
new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
.onTrue (new InstantCommand(() -> m_robotClaw.yesspinnyspin()))
.onFalse (new InstantCommand(() -> m_robotClaw.nospinnyspin()));
// new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotArm.resetTeleSoftLimit(), m_robotArm));