Team4388/2024AcrossTheRidgebotiverse
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Abhishrek05
2024-02-22 19:56:56 -07:00
parent ef598ee7bf
commit 3e1b7188f8
3 changed files with 18 additions and 10 deletions
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src/main/java/frc4388/robot/Constants.java
+1 -1
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@@ -33,7 +33,7 @@ public final class Constants {
public static final double CORRECTION_MIN = 10;
public static final double CORRECTION_MAX = 50;
public static final double SLOW_SPEED = 0.8;
public static final double SLOW_SPEED = 0.4;
public static final double FAST_SPEED = 1.0;
public static final double TURBO_SPEED = 4.0;
src/main/java/frc4388/robot/RobotContainer.java
+16 -8
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@@ -78,8 +78,8 @@ public class RobotContainer {
private Command intakeToShootStuff = new ArmIntakeIn(m_robotIntake, m_robotShooter);
private SequentialCommandGroup intakeToShoot = new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.talonPIDIn()),
new InstantCommand(() -> m_robotShooter.spin())
new InstantCommand(() -> m_robotIntake.talonPIDIn())
//new InstantCommand(() -> m_robotShooter.spin())
);
// private SequentialCommandGroup outtakeToShootFull = new SequentialCommandGroup(
@@ -125,10 +125,10 @@ public class RobotContainer {
);
/* Autos */
private Command taxi = new InstantCommand(); // new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt");
private Command taxi = new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"); //new InstantCommand();
private Command startLeftMoveRight = new InstantCommand(); // new JoystickPlayback(m_robotSwerveDrive, "StartLeftMoveRight.txt");
private Command startRightMoveLeft = new InstantCommand(); // new JoystickPlayback(m_robotSwerveDrive, "StartRightMoveLeft.txt");
private Command interrupt = new InstantCommand(() -> {}, m_robotSwerveDrive, m_robotIntake, m_robotShooter);
private Command interrupt = new InstantCommand(() -> {}, m_robotIntake, m_robotShooter);
private SequentialCommandGroup oneNoteStartingSpeaker = new SequentialCommandGroup (
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
@@ -159,6 +159,11 @@ public class RobotContainer {
taxi.asProxy()
);
private SequentialCommandGroup emergencyRetract = new SequentialCommandGroup(
interrupt,
new InstantCommand(() -> m_robotIntake.talonPIDIn())
);
private SequentialCommandGroup twoNoteStartingFromSpeaker = new SequentialCommandGroup(
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
new WaitCommand(1).asProxy(),
@@ -272,11 +277,11 @@ public class RobotContainer {
//? /* Operator Buttons */
new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.talonPIDIn()))
.onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.talonPIDOut()))
.onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor()));
@@ -311,9 +316,12 @@ public class RobotContainer {
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_JOYSTICK_BUTTON)
.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter));
// new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_JOYSTICK_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotIntake.talonSpinIntakeMotor(), m_robotIntake))
// .onFalse(new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake));
new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_JOYSTICK_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.talonSpinIntakeMotor(), m_robotIntake))
.onFalse(new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake));
.onTrue(emergencyRetract);
}
src/main/java/frc4388/utility/RobotGyro.java
+1 -1
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@@ -99,7 +99,7 @@ public class RobotGyro implements Gyro {
resetZeroValues();
if (m_isGyroAPigeon) {
m_pigeon.setYaw(180);
m_pigeon.setYaw(0);
} else {
m_navX.reset();
}