Team4388/2023WayOfTheRobot
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aprilrotalign works

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aarav18
2023-03-18 14:41:01 -06:00
parent 04777e3062
commit a3bc7b56b9
4 changed files with 94 additions and 21 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+4 -3
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@@ -7,7 +7,6 @@
package frc4388.robot;
import java.lang.StackWalker.Option;
import java.util.function.Consumer;
import edu.wpi.first.math.geometry.Translation2d;
@@ -29,7 +28,7 @@ import frc4388.robot.commands.Arm.PivotCommand;
import frc4388.robot.commands.Arm.TeleCommand;
import frc4388.robot.commands.Autos.AutoBalance;
import frc4388.robot.commands.Autos.PlaybackChooser;
import frc4388.robot.commands.Placement.DriveToLimeDistance;
import frc4388.robot.commands.Placement.AprilRotAlign;
import frc4388.robot.commands.Placement.LimeAlign;
import frc4388.robot.commands.Swerve.RotateToAngle;
import frc4388.utility.controller.DeadbandedXboxController;
@@ -263,8 +262,10 @@ public class RobotContainer {
.onFalse(interruptCommand.asProxy());
// toggle claw
// new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON) // final
// .onTrue(toggleClaw.asProxy());
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON) // final
.onTrue(toggleClaw.asProxy());
.whileTrue(new AprilRotAlign(m_robotSwerveDrive, m_robotLimeLight));
// kill soft limits
new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON) // final