Team4388/2023WayOfTheRobot
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FINAL OFFSETS ARE IN CODE

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This commit is contained in:
aarav18
2023-01-31 19:24:12 -07:00
parent 37cc280c6e
commit b96caa78cd
5 changed files with 42 additions and 16 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+17 -5
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@@ -7,6 +7,11 @@
package frc4388.robot;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.math.trajectory.TrajectoryConfig;
import edu.wpi.first.math.trajectory.TrajectoryGenerator;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
@@ -75,7 +80,6 @@ public class RobotContainer {
// m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand"));
}
/**
* Use this method to define your button->command mappings. Buttons can be
@@ -95,11 +99,14 @@ public class RobotContainer {
// .whileTrue(new RunCommand(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW), m_robotLED))
// .whileFalse(new RunCommand(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN), m_robotLED));
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.whileTrue(new RunCommand(() -> m_robotSwerveDrive.rotateCANCodersToAngle(0), m_robotSwerveDrive));
// new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
// .whileTrue(new RunCommand(() -> m_robotSwerveDrive.rotateCANCodersToAngle(0), m_robotSwerveDrive));
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetCANCoders(0), m_robotSwerveDrive));
// new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetCANCoders(0), m_robotSwerveDrive));
// new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
// .onTrue()
//New interupt button
new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
@@ -113,6 +120,11 @@ public class RobotContainer {
*/
public Command getAutonomousCommand() {
// no auto
// TrajectoryConfig trajConfig = new TrajectoryConfig(1, 1).setKinematics(m_robotSwerveDrive.getKinematics()); // TODO: make these AutoConstants
// Trajectory traj = TrajectoryGenerator.generateTrajectory(
// new Pose2d(0, 0, new Rotation2d(0)), null, null, trajConfig);
return new InstantCommand();
}