Team4388/2023WayOfTheRobot
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This commit is contained in:
66945
2023-03-15 09:53:52 -06:00
parent 02b5f62d3c
commit b5bc547898
3 changed files with 64 additions and 4 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+15 -2
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@@ -14,7 +14,9 @@ import edu.wpi.first.wpilibj.Servo;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.commands.AutoBalance;
@@ -25,6 +27,7 @@ import frc4388.robot.subsystems.SwerveDrive;
import frc4388.robot.commands.JoystickRecorder;
import frc4388.robot.commands.PivotCommand;
import frc4388.robot.commands.PlaybackChooser;
import frc4388.robot.commands.RunArmIn;
import frc4388.utility.controller.DeadbandedXboxController;
import frc4388.utility.controller.XboxController;
@@ -149,13 +152,23 @@ public class RobotContainer {
.onTrue(new PivotCommand(m_robotArm, 135));
new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
.onTrue(new PivotCommand(m_robotArm, 210));
.onTrue(new PivotCommand(m_robotArm, 225));
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> m_robotClaw.toggle()));
.onTrue(new InstantCommand(() -> m_robotClaw.toggle(), m_robotClaw));
new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> m_robotArm.killSoftLimits()));
// TODO: put this into a variable
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(new ParallelCommandGroup(
new InstantCommand(() -> m_robotClaw.toggle()),
new SequentialCommandGroup(
new RunArmIn(m_robotArm),
new PivotCommand(m_robotArm, 135)
)
));
// new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotArm.resetTeleSoftLimit(), m_robotArm));