Team4388/2023WayOfTheRobot
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aarav18
2023-03-24 08:03:37 -06:00
parent ff03d46a47
commit d373f25d94
3 changed files with 21 additions and 21 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+17 -17
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@@ -135,34 +135,34 @@ public class RobotContainer {
private SequentialCommandGroup placeCubeHigh = private SequentialCommandGroup placeCubeHigh =
new SequentialCommandGroup( new SequentialCommandGroup(
new PivotCommand(m_robotArm, 60 + 135), new PivotCommand(m_robotArm, 60 + 135),
new InstantCommand(() -> m_robotArm.setRotVel(0)), new WaitCommand(0.3),
new TeleCommand(m_robotArm, 90000), new TeleCommand(m_robotArm, 90000)
toggleClaw.asProxy(), // toggleClaw.asProxy(),
armToHome.asProxy() // armToHome.asProxy()
); );
private SequentialCommandGroup placeCubeMid = new SequentialCommandGroup( private SequentialCommandGroup placeCubeMid = new SequentialCommandGroup(
new PivotCommand(m_robotArm, 55 + 135), new PivotCommand(m_robotArm, 55 + 135),
new InstantCommand(() -> m_robotArm.setRotVel(0)), new WaitCommand(0.3),
new TeleCommand(m_robotArm, 28000), new TeleCommand(m_robotArm, 28000)
toggleClaw.asProxy(), // toggleClaw.asProxy(),
armToHome.asProxy() // armToHome.asProxy()
); );
private SequentialCommandGroup placeCubeLow = new SequentialCommandGroup( private SequentialCommandGroup placeCubeLow = new SequentialCommandGroup(
new TimedCommand(() -> new RunCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0.0, -0.2), new Translation2d(0.0, 0.0), true), m_robotSwerveDrive), 0.7), new TimedCommand(() -> new RunCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0.0, -0.2), new Translation2d(0.0, 0.0), true), m_robotSwerveDrive), 0.7),
new PivotCommand(m_robotArm, 70 + 135), new PivotCommand(m_robotArm, 70 + 135),
new InstantCommand(() -> m_robotArm.setRotVel(0)), new WaitCommand(0.3),
new TeleCommand(m_robotArm, 28000), new TeleCommand(m_robotArm, 28000)
toggleClaw.asProxy(), // toggleClaw.asProxy(),
armToHome.asProxy() // armToHome.asProxy()
); );
private SequentialCommandGroup placeConeHigh = new SequentialCommandGroup( private SequentialCommandGroup placeConeHigh = new SequentialCommandGroup(
new PivotCommand(m_robotArm, 178), new PivotCommand(m_robotArm, 178),
new WaitCommand(0.3), new WaitCommand(0.3),
new TeleCommand(m_robotArm, 56000), new TeleCommand(m_robotArm, 56000)
new ParallelRaceGroup(new InstantCommand(() -> m_robotClaw.toggle()), new RunCommand(() -> m_robotClaw.outtake())) // new ParallelRaceGroup(new InstantCommand(() -> m_robotClaw.toggle()), new RunCommand(() -> m_robotClaw.outtake()))
// toggleClaw.asProxy(), // toggleClaw.asProxy(),
// armToHome.asProxy() // armToHome.asProxy()
); );
@@ -304,10 +304,10 @@ public class RobotContainer {
.onFalse(interruptCommand.asProxy()); .onFalse(interruptCommand.asProxy());
// toggle claw // toggle claw
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON) // final
.onTrue(toggleClaw.asProxy());
// new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON) // final // new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON) // final
// .onTrue(new InstantCommand(() -> m_robotClaw.setAngle(45), m_robotClaw)); // .onTrue(toggleClaw.asProxy());
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON) // final
.onTrue(new InstantCommand(() -> m_robotClaw.setAngle(45), m_robotClaw));
// kill soft limits // kill soft limits
new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON) // final new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON) // final
src/main/java/frc4388/robot/commands/Placement/AprilRotAlign.java
+2 -2
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@@ -26,13 +26,13 @@ public class AprilRotAlign extends PelvicInflammatoryDisease {
@Override @Override
public double getError() { public double getError() {
System.out.println("Pipeline: " + lime.getCamera().getPipelineIndex()); // System.out.println("Pipeline: " + lime.getCamera().getPipelineIndex());
double err = 0.0; double err = 0.0;
try { try {
err = lime.getAprilSkew(); err = lime.getAprilSkew();
} catch (NullPointerException ex) { } catch (NullPointerException ex) {
System.out.println("CANT SEE APRIL POINT"); // System.out.println("CANT SEE APRIL POINT");
} }
return err; return err;
src/main/java/frc4388/robot/subsystems/Arm.java
+2 -2
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@@ -147,8 +147,8 @@ public class Arm extends SubsystemBase {
tele_reset = true; tele_reset = true;
} }
SmartDashboard.putNumber("Pivot CANCoder", getArmRotation()); // SmartDashboard.putNumber("Pivot CANCoder", getArmRotation());
SmartDashboard.putNumber("Tele Encoder", getArmLength()); // SmartDashboard.putNumber("Tele Encoder", getArmLength());
// double x = Math.cos(Math.toRadians(degrees)); // double x = Math.cos(Math.toRadians(degrees));
} }