Team4388/2023WayOfTheRobot
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I, Aarav Shah, endorse war crimes in various 3rd world countries

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Aarav
2023-03-06 18:36:32 -07:00
parent 7d7d9898c9
commit 018bde231b
4 changed files with 81 additions and 2 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+13 -1
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@@ -8,6 +8,7 @@
package frc4388.robot;
import edu.wpi.first.wpilibj.PWM;
import edu.wpi.first.wpilibj.Servo;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
@@ -17,6 +18,7 @@ import frc4388.robot.Constants.*;
import frc4388.robot.commands.AutoBalance;
import frc4388.robot.commands.JoystickPlayback;
import frc4388.robot.subsystems.Arm;
import frc4388.robot.subsystems.Claw;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.robot.commands.JoystickRecorder;
import frc4388.robot.commands.PlaybackChooser;
@@ -43,6 +45,8 @@ 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);
/* Controllers */
private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
@@ -135,14 +139,22 @@ public class RobotContainer {
// * Operator Buttons
// TODO: use the claw subsystem
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> {
servo.setRaw(servo_open ? 1000 : 2000);
servo_open = !servo_open;
}));
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> m_robotClaw.setClaw(servo_open)));
servo_open = !servo_open;
new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotArm.resetTeleSoftLimit()));
.onTrue(new InstantCommand(() -> m_robotArm.resetTeleSoftLimit(), m_robotArm));
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> {}, m_robotArm, m_robotSwerveDrive /* claw */));
}
/**