Team4388/2023WayOfTheRobot
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nunchuk's commands

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This commit is contained in:
Abhi Sachi
2023-02-06 19:16:51 -07:00
parent 6ab017be03
commit 1574d78c7f
1 changed files with 25 additions and 11 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+25 -11
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@@ -15,8 +15,10 @@ import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.commands.AutoBalance;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.utility.controller.DeadbandedNunchuks;
import frc4388.utility.controller.DeadbandedXboxController;
import frc4388.utility.controller.IHandController;
import frc4388.utility.controller.Nunchuks;
import frc4388.utility.controller.XboxController;
/**
@@ -39,8 +41,10 @@ public class RobotContainer {
// private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
// private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
// private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
// private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
private final DeadbandedNunchuks nunchuks = new DeadbandedNunchuks(OIConstants.NUNCHUKS_ID);
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
@@ -50,8 +54,12 @@ public class RobotContainer {
/* Default Commands */
// m_robotSwerveDrive.setDefaultCommand(new RunCommand(() ->
// m_robotSwerveDrive.driveWithInput(getDeadbandedDriverController().getLeft(), getDeadbandedDriverController().getRight(), true)
// , m_robotSwerveDrive).withName("SwerveDrive DefaultCommand"));
m_robotSwerveDrive.setDefaultCommand(new RunCommand(() ->
m_robotSwerveDrive.driveWithInput(getDeadbandedDriverController().getLeft(), getDeadbandedDriverController().getRight(), true)
m_robotSwerveDrive.driveWithInput(getDeadbandedNunchuks().getLeft(), getDeadbandedNunchuks().getRight(), true)
, m_robotSwerveDrive).withName("SwerveDrive DefaultCommand"));
// m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
@@ -69,15 +77,15 @@ public class RobotContainer {
private void configureButtonBindings() {
/* Driver Buttons */
new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
new JoystickButton(getDeadbandedNunchuks(), Nunchuks.Button.kLeftZ.value)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive));
// new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(), m_robotSwerveDrive));
// // .onFalse()
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
.onTrue(new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive));
// new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
// .onTrue(new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive));
// /* Operator Buttons */
// // interrupt button
@@ -102,13 +110,19 @@ public class RobotContainer {
// return m_driverXbox;
// }
public DeadbandedXboxController getDeadbandedDriverController() {
return this.m_driverXbox;
// public DeadbandedXboxController getDeadbandedDriverController() {
// return this.m_driverXbox;
// }
// public DeadbandedXboxController getDeadbandedOperatorController() {
// return this.m_operatorXbox;
// }
public DeadbandedNunchuks getDeadbandedNunchuks() {
return this.nunchuks;
}
public DeadbandedXboxController getDeadbandedOperatorController() {
return this.m_operatorXbox;
}
/**
* Add your docs here.