Team4388/2023WayOfTheRobot
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Aarav
2023-03-15 13:03:02 -06:00
parent f7b804680b
commit 29eeee1f7f
5 changed files with 24 additions and 19 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+4 -2
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@@ -17,6 +17,7 @@ import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.WaitCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.commands.AutoBalance;
@@ -122,7 +123,7 @@ public class RobotContainer {
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive));
new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.toggleGear(), m_robotSwerveDrive));
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.toggleGear(m_robotArm.getArmRotation()-135), m_robotSwerveDrive));
// // .onFalse()
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
@@ -164,8 +165,9 @@ public class RobotContainer {
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(new ParallelCommandGroup(
new InstantCommand(() -> m_robotClaw.toggle()),
new RunArmIn(m_robotArm),
new SequentialCommandGroup(
new RunArmIn(m_robotArm),
new WaitCommand(.25),
new PivotCommand(m_robotArm, 135)
)
));