Team4388/2023WayOfTheRobot
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aarav18
2023-03-23 19:02:59 -06:00
parent 58a4c9a594
commit ff03d46a47
3 changed files with 14 additions and 6 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+5 -3
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@@ -17,6 +17,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.ConditionalCommand;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.WaitCommand;
@@ -160,7 +161,8 @@ public class RobotContainer {
private SequentialCommandGroup placeConeHigh = new SequentialCommandGroup(
new PivotCommand(m_robotArm, 178),
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()))
// toggleClaw.asProxy(),
// armToHome.asProxy()
);
@@ -313,12 +315,12 @@ public class RobotContainer {
// outtake
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON) // final
.whileTrue (new RunCommand(() -> m_robotClaw.reversespinnyspin()))
.whileTrue (new RunCommand(() -> m_robotClaw.outtake()))
.onFalse (new InstantCommand(() -> m_robotClaw.nospinnyspin()));
// intake
new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON) // final
.whileTrue (new RunCommand(() -> m_robotClaw.yesspinnyspin()))
.whileTrue (new RunCommand(() -> m_robotClaw.intake()))
.onFalse (new InstantCommand(() -> m_robotClaw.nospinnyspin()));
// arm to Home