Team4388/2024AcrossTheRidgebotiverse
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made PID, commented out all of the auto stuff cuz it broke the code (im tweakin)

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Abhishrek05
2024-02-09 22:01:27 -07:00
parent 7947f74a66
commit 0efe73e316
4 changed files with 81 additions and 24 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+26 -8
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@@ -8,6 +8,7 @@
package frc4388.robot;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
@@ -56,7 +57,9 @@ public class RobotContainer {
private Command taxi = new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt");
private PlaybackChooser playbackChooser;
// private PlaybackChooser playbackChooser;
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
@@ -75,9 +78,12 @@ public class RobotContainer {
// continually sends updates to the Blinkin LED controller to keep the lights on
m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
playbackChooser = new PlaybackChooser(m_robotSwerveDrive)
.addOption("Taxi Auto", new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"))
.buildDisplay();
// playbackChooser = new PlaybackChooser(m_robotSwerveDrive)
// .addOption("Taxi Auto", new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"))
// .buildDisplay();
//SmartDashboard.putNumber("Velocity Output", m_robotIntake.getVelocity());
// m_robotIntake.resetPostion();
}
/**
@@ -123,6 +129,18 @@ public class RobotContainer {
// new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
// .onTrue(new InstantCommand(() -> new RotateIntakeToPosition(m_robotIntake, 360).execute(), m_robotIntake))
// .onFalse(new InstantCommand(() -> new RotateIntakeToPosition(m_robotIntake, 0).execute(), m_robotShooter));
new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.rotateArmIn()))
.onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.rotateArmOut()))
.onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.pidIn()))
.onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
// new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotIntake.spinIntakeMotor()))
@@ -135,10 +153,10 @@ public class RobotContainer {
*
* @return the command to run in autonomous
*/
public Command getAutonomousCommand() {
// no auto
return playbackChooser.getCommand();
}
// public Command getAutonomousCommand() {
// no auto
// return playbackChooser.getCommand();
// }
/**
* Add your docs here.