Team4388/2023WayOfTheRobot
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Merge pull request #39 from Team4388/limelight

Browse Source 
Limelight --> Master
This commit is contained in:
Aarav Shah
2023-03-16 16:57:16 -06:00
committed by GitHub
parent 64ce9d223a 6b2ca9e433
commit 39640662d9
8 changed files with 284 additions and 42 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+11 -10
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@@ -7,10 +7,6 @@
package frc4388.robot;
import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
import edu.wpi.first.wpilibj.PWM;
import edu.wpi.first.wpilibj.Servo;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
@@ -21,9 +17,10 @@ import frc4388.robot.commands.AutoBalance;
import frc4388.robot.commands.JoystickPlayback;
import frc4388.robot.subsystems.Arm;
import frc4388.robot.subsystems.Claw;
import frc4388.robot.subsystems.Limelight;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.robot.commands.JoystickRecorder;
import frc4388.robot.commands.PivotCommand;
import frc4388.robot.commands.LimeAlign;
import frc4388.robot.commands.PlaybackChooser;
import frc4388.utility.controller.DeadbandedXboxController;
import frc4388.utility.controller.XboxController;
@@ -50,6 +47,8 @@ public class RobotContainer {
public final Claw m_robotClaw = new Claw(m_robotMap.servo);
public final Limelight m_limeLight = new Limelight();
/* Controllers */
private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
@@ -153,13 +152,15 @@ public class RobotContainer {
new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
.onTrue(new PivotCommand(m_robotArm, 135));
new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
.onTrue(new PivotCommand(m_robotArm, 210));
.onTrue(new InstantCommand(() -> m_limeLight.toggleLEDs(), m_limeLight));
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
.whileTrue(new LimeAlign(m_robotSwerveDrive, m_limeLight));
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> m_robotClaw.toggle()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)