Team4388/2023WayOfTheRobot
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added servo

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This commit is contained in:
Abhi
2023-02-14 17:15:49 -07:00
parent 56651aa456
commit ab7585d0a6
1 changed files with 18 additions and 5 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+18 -5
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@@ -8,6 +8,7 @@
package frc4388.robot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PWM;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
@@ -45,14 +46,20 @@ public class RobotContainer {
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
*/
PWM servo = new PWM(0);
public RobotContainer() {
// servo.setBounds(.25, 0, 0, 0, 0);
configureButtonBindings();
/* Default Commands */
m_robotSwerveDrive.setDefaultCommand(new RunCommand(() ->
m_robotSwerveDrive.driveWithInput(getDeadbandedDriverController().getLeft(), getDeadbandedDriverController().getRight(), true)
, m_robotSwerveDrive).withName("SwerveDrive DefaultCommand"));
// m_robotSwerveDrive.setDefaultCommand(new RunCommand(() ->
// m_robotSwerveDrive.driveWithInput(getDeadbandedDriverController().getLeft(), getDeadbandedDriverController().getRight(), true)
// , m_robotSwerveDrive).withName("SwerveDrive DefaultCommand"));
// m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> servo.setRaw((int) (getDeadbandedDriverController().getLeft().getX() * 128) - 64), m_robotSwerveDrive));
// m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
}
@@ -68,10 +75,16 @@ public class RobotContainer {
/* Driver Buttons */
new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive));
.onTrue(new InstantCommand(() -> {
System.out.println("Servo: 0");
servo.setRaw(1000);
}));
new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(), m_robotSwerveDrive));
.onTrue(new InstantCommand(() -> {
System.out.println("Servo: 255");
servo.setRaw(2000);
}));
// // .onFalse()
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)