Team4388/2024AcrossTheRidgebotiverse
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rumble, next motion controls

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Abhishrek05
2024-03-12 10:37:36 -06:00
parent 5b2893c3e2
commit 5aa9a10ca2
1 changed files with 6 additions and 3 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+6 -3
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@@ -11,6 +11,7 @@ import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.GenericHID.RumbleType;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
@@ -84,8 +85,10 @@ public class RobotContainer {
private Command intakeToShootStuff = new ArmIntakeIn(m_robotIntake, m_robotShooter);
private Command interrupt = new InstantCommand(() -> {}, m_robotIntake, m_robotShooter);
private SequentialCommandGroup intakeToShoot = new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.talonPIDIn())
private ParallelCommandGroup intakeToShoot = new ParallelCommandGroup(
new InstantCommand(() -> m_robotIntake.talonPIDIn()),
new InstantCommand(() -> m_robotShooter.idle()),
new InstantCommand(() -> m_driverXbox.setRumble(null, 1.0)).andThen(new WaitCommand(1)).andThen(new InstantCommand(() -> m_driverXbox.setRumble(null, 0.0)))
//new InstantCommand(() -> m_robotShooter.spin())
);
@@ -119,7 +122,7 @@ public class RobotContainer {
private SequentialCommandGroup i = new SequentialCommandGroup(
intakeToShootStuff, intakeToShoot,
intakeToShootStuff, intakeToShoot,
new InstantCommand(() -> m_robotShooter.idle())
);