Team4388/2023WayOfTheRobot
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converstions and getState

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Ryan
2023-01-14 15:30:38 -07:00
parent 913061546f
commit 9adfdb8791
2 changed files with 31 additions and 1 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+8 -1
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@@ -34,6 +34,7 @@ public class RobotContainer {
/* Subsystems */
private final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront, m_robotMap.rightFront, m_robotMap.leftBack, m_robotMap.rightBack, m_robotMap.gyro);
private final LED m_robotLED = new LED(m_robotMap.LEDController);
/* Controllers */
private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
@@ -67,13 +68,19 @@ public class RobotContainer {
*/
private void configureButtonBindings() {
/* Driver Buttons */
// test command to spin the robot while pressing A on the driver controller
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> gyroRef.reset()));
/* Operator Buttons */
// activates "Lit Mode"
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whileTrue(new RunCommand(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW), m_robotLED))
.whileFalse(new RunCommand(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN), m_robotLED));
//New interupt button
new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
.onTrue(new InstantCommand());
}
/**