Team4388/2023WayOfTheRobot
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AUTO RECORDING WORKS

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This commit is contained in:
aarav18
2023-02-10 20:53:33 -07:00
parent f9b237592f
commit b5a9f59c59
4 changed files with 194 additions and 18 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+18 -1
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@@ -7,6 +7,8 @@
package frc4388.robot;
import javax.print.attribute.standard.OrientationRequested;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
@@ -14,6 +16,8 @@ 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.commands.JoystickRecorder;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.utility.controller.DeadbandedXboxController;
import frc4388.utility.controller.IHandController;
@@ -76,7 +80,20 @@ public class RobotContainer {
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
.onTrue(new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive));
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
.whileTrue(new JoystickRecorder(m_robotSwerveDrive,
() -> getDeadbandedDriverController().getLeftX(),
() -> getDeadbandedDriverController().getLeftY(),
() -> getDeadbandedDriverController().getRightX(),
() -> getDeadbandedDriverController().getRightY()
))
.onFalse(new InstantCommand());
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(new JoystickPlayback(m_robotSwerveDrive));
// /* Operator Buttons */
// // interrupt button
// new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)