Team4388/2023WayOfTheRobot
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Aarav
2023-03-11 14:03:36 -07:00
parent dfc6978186
commit 5521349510
7 changed files with 143 additions and 30 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+6 -12
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@@ -67,8 +67,6 @@ public class RobotContainer {
// private Command taxi = new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt");
private PlaybackChooser playbackChooser;
private PWM servo = new PWM(0);
private boolean servo_open = true;
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
*/
@@ -117,8 +115,8 @@ public class RobotContainer {
new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive));
// new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(), m_robotSwerveDrive));
new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.toggleGear(), m_robotSwerveDrive));
// // .onFalse()
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
@@ -138,16 +136,12 @@ public class RobotContainer {
.onFalse(new InstantCommand());
// * Operator Buttons
// TODO: use the claw subsystem
// new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
// .onTrue(new InstantCommand(() -> {
// servo.setRaw(servo_open ? 1000 : 2000);
// servo_open = !servo_open;
// }));
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
// .onTrue(new InstantCommand(() -> System.out.println("Claw Button")));
.onTrue(new InstantCommand(() -> m_robotClaw.toggle()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> m_robotArm.killSoftLimits()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotArm.resetTeleSoftLimit(), m_robotArm));