Team4388/2023WayOfTheRobot
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tele no PID, cube high/mid needs further testing

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This commit is contained in:
Abhishrek05
2023-03-17 17:00:34 -06:00
parent cce3e52412
commit 035a76a32b
3 changed files with 36 additions and 20 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+13 -9
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@@ -114,16 +114,19 @@ public class RobotContainer {
};
// TODO: find actual values
private SequentialCommandGroup placeConeHigh = new SequentialCommandGroup(
new PivotCommand(m_robotArm, 0),
new TeleCommand(m_robotArm, 0),
toggleClaw.asProxy(),
armToHome.asProxy()
);
private SequentialCommandGroup placeConeHigh =
new SequentialCommandGroup(
// new InstantCommand(() -> System.out.println("Placing cone high")),
new PivotCommand(m_robotArm, 64 + 135),
new InstantCommand(() -> m_robotArm.setRotVel(0)),
new TeleCommand(m_robotArm, 95642),
toggleClaw.asProxy(),
armToHome.asProxy()
);
private SequentialCommandGroup placeConeMid = new SequentialCommandGroup(
new PivotCommand(m_robotArm, 0),
new TeleCommand(m_robotArm, 0),
new PivotCommand(m_robotArm, 70 + 135),
new TeleCommand(m_robotArm, 32866),
toggleClaw.asProxy(),
armToHome.asProxy()
);
@@ -247,7 +250,8 @@ public class RobotContainer {
// interrupt button
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(interruptCommand.asProxy());
.onTrue(placeConeHigh.asProxy());
// .onTrue(interruptCommand.asProxy());
// place high
new POVButton(getDeadbandedOperatorController(), 0)