Team4388/2023WayOfTheRobot
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Revert "Arm command --> Master"

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This commit is contained in:
Aarav Shah
2023-03-16 16:33:07 -06:00
committed by GitHub
parent eb2a54992b
commit e8d5eb1d6d
8 changed files with 44 additions and 122 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+5 -19
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@@ -14,10 +14,7 @@ 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.WaitCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.commands.AutoBalance;
@@ -28,7 +25,6 @@ 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;
@@ -89,8 +85,8 @@ public class RobotContainer {
.withName("SwerveDrive DefaultCommand"));
m_robotArm.setDefaultCommand(new RunCommand(() -> {
m_robotArm.setRotVel(getDeadbandedOperatorController().getLeftY(), false);
m_robotArm.setTeleVel(getDeadbandedOperatorController().getRightY(), false);
m_robotArm.setRotVel(getDeadbandedOperatorController().getLeftY());
m_robotArm.setTeleVel(getDeadbandedOperatorController().getRightY());
}, m_robotArm)
.withName("Arm DefaultCommand"));
@@ -123,7 +119,7 @@ public class RobotContainer {
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive));
new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.toggleGear(m_robotArm.getArmRotation()-135), m_robotSwerveDrive));
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.toggleGear(), m_robotSwerveDrive));
// // .onFalse()
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
@@ -153,23 +149,13 @@ public class RobotContainer {
.onTrue(new PivotCommand(m_robotArm, 135));
new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
.onTrue(new PivotCommand(m_robotArm, 225));
.onTrue(new PivotCommand(m_robotArm, 210));
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> m_robotClaw.toggle(), m_robotClaw));
.onTrue(new InstantCommand(() -> m_robotClaw.toggle()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> m_robotArm.killSoftLimits()));
// TODO: put this into a variable
new JoystickButton(getDeadbandedOperatorController(), 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));