Team4388/2023WayOfTheRobot
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swerve shtuff

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This commit is contained in:
aarav18
2023-01-20 21:04:58 -07:00
parent d0b94e7e94
commit 3697360963
6 changed files with 150 additions and 115 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+19 -12
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@@ -32,15 +32,15 @@ public class RobotContainer {
private final RobotMap m_robotMap = new RobotMap();
/* Subsystems */
private final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront, m_robotMap.rightFront, m_robotMap.leftBack, m_robotMap.rightBack, m_robotMap.gyro);
private final LED m_robotLED = new LED(m_robotMap.LEDController);
private final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront, m_robotMap.rightFront, m_robotMap.leftBack, m_robotMap.rightBack);//, m_robotMap.gyro);
// private final LED m_robotLED = new LED(m_robotMap.LEDController);
/* Controllers */
private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
public RobotGyro gyroRef = m_robotMap.gyro;
// public RobotGyro gyroRef = m_robotMap.gyro;
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
@@ -51,13 +51,20 @@ public class RobotContainer {
/* Default Commands */
// 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_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)
new RunCommand(() -> m_robotSwerveDrive.driveWithInput(-0.3*getDriverController().getLeftXAxis(),
0.3*getDriverController().getLeftYAxis(),
-0.3*getDriverController().getRightXAxis(), false), m_robotSwerveDrive)
);
// m_robotSwerveDrive.setDefaultCommand(
// new RunCommand(() -> m_robotSwerveDrive.runAllSteerMotors(0.2*getDriverController().getLeftYAxis()), m_robotSwerveDrive)
// );
// m_robotSwerveDrive.setDefaultCommand(
// new RunCommand(() -> m_robotSwerveDrive.leftBack.angleMotor.set(0.2*getDriverController().getRightYAxis()), m_robotSwerveDrive)
// );
}
/**
@@ -69,14 +76,14 @@ public class RobotContainer {
private void configureButtonBindings() {
/* Driver Buttons */
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> gyroRef.reset()));
// new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
// .onTrue(new InstantCommand(() -> gyroRef.reset()));
/* Operator Buttons */
// activates "Lit Mode"
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whileTrue(new RunCommand(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW), m_robotLED))
.whileFalse(new RunCommand(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN), m_robotLED));
// new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
// .whileTrue(new RunCommand(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW), m_robotLED))
// .whileFalse(new RunCommand(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN), m_robotLED));
//New interupt button
new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)