Team4388/2023WayOfTheRobot
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artificial soft limits

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This commit is contained in:
Abhishrek05
2023-03-14 14:26:47 -06:00
parent 29c6a29702
commit 03c938348f
3 changed files with 22 additions and 25 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+3 -2
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@@ -23,6 +23,7 @@ import frc4388.robot.subsystems.Arm;
import frc4388.robot.subsystems.Claw;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.robot.commands.JoystickRecorder;
import frc4388.robot.commands.PivotCommand;
import frc4388.robot.commands.PlaybackChooser;
import frc4388.utility.controller.DeadbandedXboxController;
import frc4388.utility.controller.XboxController;
@@ -145,13 +146,13 @@ public class RobotContainer {
new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
.whileTrue(new RunCommand(() -> m_robotArm.m_pivot.set(TalonFXControlMode.Position, 200), m_robotArm));
.whileTrue(new RunCommand(() -> new PivotCommand(m_robotArm, 135)));
new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
.whileTrue(new RunCommand(() -> m_robotArm.m_pivot.set(TalonFXControlMode.Position, 135), m_robotArm));
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
.whileTrue(new RunCommand(() -> m_robotArm.m_pivot.set(TalonFXControlMode.Position, 225), m_robotArm));
.onTrue(new InstantCommand(() -> m_robotClaw.toggle()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> m_robotArm.killSoftLimits()));