Team4388/2024AcrossTheRidgebotiverse
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more stuff (im tweakin)

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Abhishrek05
2024-01-26 18:10:29 -07:00
parent 41ff4fb1a8
commit 07e3d589d4
3 changed files with 28 additions and 10 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+9 -3
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@@ -44,6 +44,8 @@ public class RobotContainer {
m_robotMap.gyro);
private final Shooter m_robotShooter = new Shooter(m_robotMap.leftShooter, m_robotMap.rightShooter);
private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.pivotMotor);
//private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.pivotMotor);
@@ -110,12 +112,16 @@ public class RobotContainer {
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
/* Operator Buttons */
new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter))
.onFalse(new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter));
/* Operator Buttons */
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.spinIntakeMotor()))
.onFalse(new InstantCommand(() -> m_robotIntake.stopIntakeMotors()));
}
src/main/java/frc4388/robot/RobotMap.java
+7 -4
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@@ -11,10 +11,13 @@ import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.CANCoder;
import com.ctre.phoenix.sensors.WPI_Pigeon2;
import com.ctre.phoenix6.hardware.TalonFX;
import com.revrobotics.CANSparkLowLevel;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import edu.wpi.first.wpilibj.motorcontrol.Talon;
import frc4388.robot.Constants.LEDConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.robot.Constants.ShooterConstants;
@@ -63,12 +66,12 @@ public class RobotMap {
public final CANCoder rightBackEncoder = new CANCoder(SwerveDriveConstants.IDs.RIGHT_BACK_ENCODER_ID);
/* Shooter Subsystem */
public final WPI_TalonFX leftShooter = new WPI_TalonFX(ShooterConstants.LEFT_SHOOTER_ID);
public final WPI_TalonFX rightShooter = new WPI_TalonFX(ShooterConstants.RIGHT_SHOOTER_ID);
public final TalonFX leftShooter = new TalonFX(ShooterConstants.LEFT_SHOOTER_ID);
public final TalonFX rightShooter = new TalonFX(ShooterConstants.RIGHT_SHOOTER_ID);
/* Intake Subsystem */
// public final CANSparkMax intakeMotor = new CANSparkMax(IntakeConstants.INTAKE_MOTOR_ID, MotorType.kBrushless);
// public final CANSparkMax pivotMotor = new CANSparkMax(IntakeConstants.PIVOT_MOTOR_ID, MotorType.kBrushless);
public final CANSparkMax intakeMotor = new CANSparkMax(IntakeConstants.INTAKE_MOTOR_ID, CANSparkLowLevel.MotorType.kBrushless);
public final CANSparkMax pivotMotor = new CANSparkMax(IntakeConstants.PIVOT_MOTOR_ID, CANSparkLowLevel.MotorType.kBrushless);
void configureLEDMotorControllers() {
}
src/main/java/frc4388/robot/subsystems/Intake.java
+12 -3
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@@ -21,17 +21,26 @@ public class Intake extends SubsystemBase {
this.pivot = pivot;
}
//hanoff
public void spinIntakeMotor() {
intakeMotor.set(IntakeConstants.INTAKE_SPEED);
}
public void rotateArmIn() { //handoff
//Rotate robot in for handoff
public void rotateArmIn() {
//TODO
pivot.set(IntakeConstants.PIVOT_SPEED);
}
public void rotateArmOut() { //intake
//Rotates robot out for intake
public void rotateArmOut() {
//TODO
spinIntakeMotor();
pivot.set(-IntakeConstants.INTAKE_SPEED);
}
public void stopIntakeMotors() {
intakeMotor.set(0);
}
public void rotateArm() {