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.Command;
import edu.wpi.first.wpilibj2.command.ConditionalCommand; import edu.wpi.first.wpilibj2.command.ConditionalCommand;
import edu.wpi.first.wpilibj2.command.InstantCommand; 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.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.WaitCommand; import edu.wpi.first.wpilibj2.command.WaitCommand;
@@ -160,7 +161,8 @@ public class RobotContainer {
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()))
// toggleClaw.asProxy(), // toggleClaw.asProxy(),
// armToHome.asProxy() // armToHome.asProxy()
); );
@@ -313,12 +315,12 @@ public class RobotContainer {
// outtake // outtake
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON) // final 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())); .onFalse (new InstantCommand(() -> m_robotClaw.nospinnyspin()));
// intake // intake
new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON) // final 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())); .onFalse (new InstantCommand(() -> m_robotClaw.nospinnyspin()));
// arm to Home // arm to Home
src/main/java/frc4388/robot/RobotMap.java
+7 -1
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@@ -40,6 +40,7 @@ public class RobotMap {
configureLEDMotorControllers(); configureLEDMotorControllers();
configureDriveMotors(); configureDriveMotors();
configArmMotors(); configArmMotors();
configIntake();
} }
/* LED Subsystem */ /* LED Subsystem */
@@ -177,5 +178,10 @@ public class RobotMap {
Servo leftClaw = new Servo(0); Servo leftClaw = new Servo(0);
Servo rightClaw = new Servo(1); Servo rightClaw = new Servo(1);
CANSparkMax spinnyspin = new CANSparkMax(18, MotorType.kBrushless); CANSparkMax spinnyspin = new CANSparkMax(18, MotorType.kBrushless);
spinnyspin.setIdleMode(IdleMode.kBrake);
public void configIntake() {
spinnyspin.setIdleMode(IdleMode.kBrake);
}
// spinnyspin.setIdleMode(IdleMode.kBrake);
} }
src/main/java/frc4388/robot/subsystems/Claw.java
+2 -2
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@@ -79,7 +79,7 @@ public class Claw extends SubsystemBase {
return m_open; return m_open;
} }
public void yesspinnyspin() { public void intake() {
m_spinnyspin.set(0.2); m_spinnyspin.set(0.2);
} }
@@ -87,7 +87,7 @@ public class Claw extends SubsystemBase {
m_spinnyspin.set(0); m_spinnyspin.set(0);
} }
public void reversespinnyspin() { public void outtake() {
m_spinnyspin.set(-0.2); m_spinnyspin.set(-0.2);
} }