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SwerveDrive RobotContainer + JoystickButtons done

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aarav18
2023-01-14 13:29:41 -07:00
parent 258ba8c1c0
commit 1caadcc64c
1 changed files with 8 additions and 2 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+8 -2
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@@ -49,6 +49,12 @@ public class RobotContainer {
// drives the robot with a two-axis input from the driver controller
// continually sends updates to the Blinkin LED controller to keep the lights on
m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
m_robotSwerveDrive.setDefaultCommand(
new RunCommand(() -> m_robotSwerveDrive.driveWithInput(-getDriverController().getLeftXAxis(),
getDriverController().getLeftYAxis(),
-getDriverController().getRightXAxis(), false), m_robotSwerveDrive)
);
}
/**
@@ -64,8 +70,8 @@ public class RobotContainer {
/* Operator Buttons */
// activates "Lit Mode"
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
.whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
.whileTrue(new RunCommand(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW)))
.whileFalse(new RunCommand(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN)));
}
/**