Team4388/2023WayOfTheRobot
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fixed with annoying closure solution.

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Ask Aarav if there is a better solution
This commit is contained in:
Abhi
2023-01-17 19:05:40 -07:00
parent 50914581ca
commit cc5ddd8f30
2 changed files with 41 additions and 43 deletions
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src/main/java/frc4388/robot/RobotMap.java
+13 -15
View File
@@ -7,13 +7,11 @@
package frc4388.robot;
import com.ctre.phoenix.motorcontrol.InvertType;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.PigeonIMU;
import com.ctre.phoenix.sensors.CANCoder;
import com.ctre.phoenix.sensors.WPI_Pigeon2;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import frc4388.robot.Constants.LEDConstants;
import frc4388.utility.RobotGyro;
@@ -22,19 +20,19 @@ import frc4388.utility.RobotGyro;
* testing and modularization.
*/
public class RobotMap {
public RobotMap() {
configureLEDMotorControllers();
configureDriveMotors();
}
public RobotMap() {
configureLEDMotorControllers();
configureDriveMotorControllers();
}
/* LED Subsystem */
public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
/* LED Subsystem */
public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
void configureLEDMotorControllers() {
void configureLEDMotorControllers() {
}
}
void configureDriveMotorControllers() {
}
void configureDriveMotors() {
// config factory default
}
}
src/main/java/frc4388/utility/controller/XboxTriggerButton.java
+28 -28
View File
@@ -1,6 +1,7 @@
package frc4388.utility.controller;
import edu.wpi.first.wpilibj2.command.button.Button;
import edu.wpi.first.wpilibj2.command.button.Trigger;
import frc4388.utility.controller.XboxController;
/**
@@ -8,7 +9,7 @@ import frc4388.utility.controller.XboxController;
* buttons in {@link frc4388.robot.OI}. Checks to see if the given trigger
* exceeds a tolerance defined in {@link XboxController}.
*/
public class XboxTriggerButton extends Button {
public class XboxTriggerButton extends Trigger {
public static final int RIGHT_TRIGGER = 0;
public static final int LEFT_TRIGGER = 1;
public static final int RIGHT_AXIS_UP_TRIGGER = 2;
@@ -20,49 +21,48 @@ public class XboxTriggerButton extends Button {
public static final int LEFT_AXIS_RIGHT_TRIGGER = 8;
public static final int LEFT_AXIS_LEFT_TRIGGER = 9;
private XboxController m_controller;
private int m_trigger;
// private XboxController m_controller;
// private int m_trigger;
/**
* Creates a Trigger-Button mapped to a specific Xbox controller and trigger
*/
public XboxTriggerButton(XboxController controller, int trigger) {
m_controller = controller;
m_trigger = trigger;
super(() -> get(trigger, controller));
// m_controller = controller;
// m_trigger = trigger;
}
/** {@inheritDoc} */
// @Override
public boolean get() {
if (m_trigger == RIGHT_TRIGGER) {
return m_controller.getRightTrigger();
public static boolean get(int trigger, XboxController controller) {
if (trigger == RIGHT_TRIGGER) {
return controller.getRightTrigger();
}
else if (m_trigger == LEFT_TRIGGER) {
return m_controller.getLeftTrigger();
else if (trigger == LEFT_TRIGGER) {
return controller.getLeftTrigger();
}
else if (m_trigger == RIGHT_AXIS_UP_TRIGGER) {
return m_controller.getRightAxisUpTrigger();
else if (trigger == RIGHT_AXIS_UP_TRIGGER) {
return controller.getRightAxisUpTrigger();
}
else if (m_trigger == RIGHT_AXIS_DOWN_TRIGGER) {
return m_controller.getRightAxisDownTrigger();
else if (trigger == RIGHT_AXIS_DOWN_TRIGGER) {
return controller.getRightAxisDownTrigger();
}
else if (m_trigger == RIGHT_AXIS_RIGHT_TRIGGER) {
return m_controller.getRightAxisRightTrigger();
else if (trigger == RIGHT_AXIS_RIGHT_TRIGGER) {
return controller.getRightAxisRightTrigger();
}
else if (m_trigger == RIGHT_AXIS_LEFT_TRIGGER) {
return m_controller.getRightAxisLeftTrigger();
else if (trigger == RIGHT_AXIS_LEFT_TRIGGER) {
return controller.getRightAxisLeftTrigger();
}
else if (m_trigger == LEFT_AXIS_UP_TRIGGER) {
return m_controller.getLeftAxisUpTrigger();
else if (trigger == LEFT_AXIS_UP_TRIGGER) {
return controller.getLeftAxisUpTrigger();
}
else if (m_trigger == LEFT_AXIS_DOWN_TRIGGER) {
return m_controller.getLeftAxisDownTrigger();
else if (trigger == LEFT_AXIS_DOWN_TRIGGER) {
return controller.getLeftAxisDownTrigger();
}
else if (m_trigger == LEFT_AXIS_RIGHT_TRIGGER) {
return m_controller.getLeftAxisRightTrigger();
else if (trigger == LEFT_AXIS_RIGHT_TRIGGER) {
return controller.getLeftAxisRightTrigger();
}
else if (m_trigger == LEFT_AXIS_LEFT_TRIGGER) {
return m_controller.getLeftAxisLeftTrigger();
else if (trigger == LEFT_AXIS_LEFT_TRIGGER) {
return controller.getLeftAxisLeftTrigger();
}
return false;
}