Team4388/2023WayOfTheRobot
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Merge branch 'master' into auto-placement

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This commit is contained in:
Aarav Shah
2023-03-22 19:38:18 -06:00
committed by GitHub
parent be16898943 0129594f89
commit 2b69f0b918
4 changed files with 129 additions and 10 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+11 -1
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@@ -10,7 +10,11 @@ package frc4388.robot;
import java.util.function.Consumer;
import edu.wpi.first.math.geometry.Translation2d;
import com.revrobotics.CANSparkMax;
import com.revrobotics.REVLibError;
import com.revrobotics.CANSparkMax.FaultID;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.ConditionalCommand;
import edu.wpi.first.wpilibj2.command.InstantCommand;
@@ -54,7 +58,7 @@ public class RobotContainer {
public final Arm m_robotArm = new Arm(m_robotMap.pivot, m_robotMap.tele, m_robotMap.pivotEncoder);
public final Claw m_robotClaw = new Claw(m_robotMap.servo);
public final Claw m_robotClaw = new Claw(m_robotMap.leftClaw, m_robotMap.rightClaw, m_robotMap.spinnyspin);
public final Limelight m_robotLimeLight = new Limelight();
@@ -283,6 +287,12 @@ public class RobotContainer {
// kill soft limits
new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON) // final
.onTrue(new InstantCommand(() -> m_robotArm.killSoftLimits()));
// SmartDashboard.putBoolean("isn't SparkMAX", );
new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
.onTrue (new InstantCommand(() -> m_robotClaw.yesspinnyspin()))
.onFalse (new InstantCommand(() -> m_robotClaw.nospinnyspin()));
//Arm to Home
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON) // final