Team4388/2023WayOfTheRobot
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fixes for driving

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This commit is contained in:
Aarav
2023-03-16 12:58:55 -06:00
parent 11046d9dd9
commit 6ab8b13056
4 changed files with 90 additions and 19 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+21 -13
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@@ -122,25 +122,33 @@ 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.toggleGear(m_robotArm.getArmRotation()-135), m_robotSwerveDrive));
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.setToTurbo()))
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast()));
// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
// .whileTrue(new InstantCommand(() -> m_robotSwerveDrive.setToTurbo()));
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.setToSlow()));
// // .onFalse()
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
.onTrue(new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive));
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
.whileTrue(new JoystickRecorder(m_robotSwerveDrive,
() -> getDeadbandedDriverController().getLeftX(),
() -> getDeadbandedDriverController().getLeftY(),
() -> getDeadbandedDriverController().getRightX(),
() -> getDeadbandedDriverController().getRightY(),
"Blue1Path.txt"))
.onFalse(new InstantCommand());
// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
// .whileTrue(new JoystickRecorder(m_robotSwerveDrive,
// () -> getDeadbandedDriverController().getLeftX(),
// () -> getDeadbandedDriverController().getLeftY(),
// () -> getDeadbandedDriverController().getRightX(),
// () -> getDeadbandedDriverController().getRightY(),
// "Blue1Path.txt"))
// .onFalse(new InstantCommand());
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(new JoystickPlayback(m_robotSwerveDrive, "Blue1Path.txt"))
.onFalse(new InstantCommand());
// new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
// .onTrue(new JoystickPlayback(m_robotSwerveDrive, "Blue1Path.txt"))
// .onFalse(new InstantCommand());
// * Operator Buttons
// new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)