Team4388/2023WayOfTheRobot
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cone mid alomst done

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Aarav
2023-03-23 18:18:58 -06:00
parent 357adf860b
commit 4e922e5f35
3 changed files with 30 additions and 25 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+15 -14
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@@ -34,6 +34,7 @@ import frc4388.robot.commands.Autos.AutoBalance;
import frc4388.robot.commands.Autos.PlaybackChooser;
import frc4388.robot.commands.Placement.AprilRotAlign;
import frc4388.robot.commands.Placement.LimeAlign;
import frc4388.robot.commands.Swerve.JoystickPlayback;
import frc4388.robot.commands.Swerve.JoystickRecorder;
import frc4388.robot.commands.Swerve.RotateToAngle;
import frc4388.utility.controller.DeadbandedXboxController;
@@ -163,8 +164,8 @@ public class RobotContainer {
);
private SequentialCommandGroup placeConeMid = new SequentialCommandGroup(
new PivotCommand(m_robotArm, 0),
new TeleCommand(m_robotArm, 0),
new PivotCommand(m_robotArm, 189),
new TeleCommand(m_robotArm, 34500),
toggleClaw.asProxy(),
armToHome.asProxy()
);
@@ -264,8 +265,8 @@ public class RobotContainer {
// m_robotSwerveDrive.setToSlow();
// }));
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.setToSlow()));
// new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.setToSlow()));
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
.onTrue(new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive)); // final
@@ -279,11 +280,11 @@ public class RobotContainer {
// () -> getDeadbandedDriverController().getLeftY(),
// () -> getDeadbandedDriverController().getRightX(),
// () -> getDeadbandedDriverController().getRightY(),
// "Blue1Path.txt"))
// "Red1Balance.txt"))
// .onFalse(new InstantCommand());
// new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
// .onTrue(new JoystickPlayback(m_robotSwerveDrive, "Blue1Path.txt"))
// .onTrue(new JoystickPlayback(m_robotSwerveDrive, "Red1Balance.txt"))
// .onFalse(new InstantCommand());
// * Operator Buttons
@@ -307,22 +308,22 @@ public class RobotContainer {
.onTrue(new InstantCommand(() -> m_robotArm.killSoftLimits()));
// outtake
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_TRIGGER_AXIS) // final
.onTrue (new InstantCommand(() -> m_robotClaw.reversespinnyspin()))
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON) // final
.whileTrue (new RunCommand(() -> m_robotClaw.reversespinnyspin()))
.onFalse (new InstantCommand(() -> m_robotClaw.nospinnyspin()));
// intake
new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_TRIGGER_AXIS) // final
.onTrue (new InstantCommand(() -> m_robotClaw.yesspinnyspin()))
new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON) // final
.whileTrue (new RunCommand(() -> m_robotClaw.yesspinnyspin()))
.onFalse (new InstantCommand(() -> m_robotClaw.nospinnyspin()));
// arm to Home
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON) // final
.onTrue(armToHome.asProxy());
// new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON) // final
// .onTrue(armToHome.asProxy());
// interupt
new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON) // final
.onTrue(interruptCommand.asProxy());
// new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON) // final
// .onTrue(interruptCommand.asProxy());
// // place high