Team4388/2023WayOfTheRobot
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buttons final

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This commit is contained in:
Abhishrek05
2023-03-21 22:20:19 -06:00
parent 5d4bc56693
commit 367b9f55e9
1 changed files with 14 additions and 16 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+14 -16
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@@ -81,7 +81,7 @@ public class RobotContainer {
private Command emptyCommand = new InstantCommand(); private Command emptyCommand = new InstantCommand();
private Command interruptCommand = new InstantCommand(() -> {}, m_robotArm, m_robotSwerveDrive, m_robotClaw, m_robotLimeLight); private Command interruptCommand = new InstantCommand(() -> {}, m_robotArm, m_robotSwerveDrive, m_robotClaw, m_robotLimeLight);
private SequentialCommandGroup armToHome = new SequentialCommandGroup(new TeleCommand(m_robotArm, 0), new PivotCommand(m_robotArm, 0)); private SequentialCommandGroup armToHome = new SequentialCommandGroup(new TeleCommand(m_robotArm, 0), new PivotCommand(m_robotArm, 135));
private Command toggleClaw = new InstantCommand(() -> m_robotClaw.toggle(), m_robotClaw); private Command toggleClaw = new InstantCommand(() -> m_robotClaw.toggle(), m_robotClaw);
@@ -267,33 +267,31 @@ public class RobotContainer {
// * Operator Buttons // * Operator Buttons
// align (pole) // align (pole)
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON) // final new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON) // final
.onTrue(alignToPole) .onTrue(alignToPole)
.onFalse(interruptCommand.asProxy()); .onFalse(interruptCommand.asProxy());
// align (shelf) // align (shelf)
new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON) // final new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON) // final
.onTrue(alignToShelf) .onTrue(alignToShelf)
.onFalse(interruptCommand.asProxy()); .onFalse(interruptCommand.asProxy());
// toggle claw // toggle claw
// new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON) // final
// .onTrue(toggleClaw.asProxy());
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON) // final new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON) // final
.whileTrue(new AprilRotAlign(m_robotSwerveDrive, m_robotLimeLight)); .onTrue(toggleClaw.asProxy());
// kill soft limits // kill soft limits
new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON) // final new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON) // final
.onTrue(new InstantCommand(() -> m_robotArm.killSoftLimits())); .onTrue(new InstantCommand(() -> m_robotArm.killSoftLimits()));
// toggle limelight //Arm to Home
new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON) new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON) // final
.onTrue(new InstantCommand(() -> m_robotLimeLight.toggleLEDs(), m_robotLimeLight)); // final? .onTrue(armToHome.asProxy());
// interrupt button //Interupt Button
//new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON) new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON) // final
// .onTrue(placeConeHigh.asProxy()); .onTrue(interruptCommand.asProxy());
// .onTrue(interruptCommand.asProxy());
// place high // place high
new POVButton(getDeadbandedOperatorController(), 0) new POVButton(getDeadbandedOperatorController(), 0)