Team4388/2023WayOfTheRobot
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non field relative, but secretly field relative rotation
Arm speeds
This commit is contained in:
Aarav
2023-03-06 16:35:20 -07:00
parent 9111eefe68
commit 7d7d9898c9
5 changed files with 66 additions and 18 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+8
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@@ -15,6 +15,7 @@ import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.commands.AutoBalance;
import frc4388.robot.commands.JoystickPlayback;
import frc4388.robot.subsystems.Arm;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.robot.commands.JoystickRecorder;
@@ -128,6 +129,10 @@ public class RobotContainer {
"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)
@@ -135,6 +140,9 @@ public class RobotContainer {
servo.setRaw(servo_open ? 1000 : 2000);
servo_open = !servo_open;
}));
new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotArm.resetTeleSoftLimit()));
}
/**