Team4388/2023WayOfTheRobot
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aarav18
2023-03-13 16:00:09 -06:00
parent 5521349510
commit 801619ef30
2 changed files with 37 additions and 21 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+20 -7
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@@ -7,6 +7,8 @@
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;
@@ -136,18 +138,29 @@ public class RobotContainer {
.onFalse(new InstantCommand());
// * Operator Buttons
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
// .onTrue(new InstantCommand(() -> System.out.println("Claw Button")));
.onTrue(new InstantCommand(() -> m_robotClaw.toggle()));
// new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
// // .onTrue(new InstantCommand(() -> System.out.println("Claw Button")));
// .onTrue(new InstantCommand(() -> m_robotClaw.toggle()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
.whileTrue(new RunCommand(() -> m_robotArm.m_pivot.set(TalonFXControlMode.Position, 200), m_robotArm));
new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
.whileTrue(new RunCommand(() -> m_robotArm.m_pivot.set(TalonFXControlMode.Position, 135), m_robotArm));
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
.whileTrue(new RunCommand(() -> m_robotArm.m_pivot.set(TalonFXControlMode.Position, 225), m_robotArm));
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));
// new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotArm.resetTeleSoftLimit(), m_robotArm));
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> {}, m_robotArm, m_robotSwerveDrive, m_robotClaw));
// new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
// .onTrue(new InstantCommand(() -> {}, m_robotArm, m_robotSwerveDrive, m_robotClaw));
}
/**