Team4388/2024AcrossTheRidgebotiverse
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intake stuff works, still need to create command for handoff (im geekin)

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Abhishrek05
2024-02-10 13:11:30 -07:00
parent 96d612b9a1
commit 91343469bd
4 changed files with 58 additions and 24 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+37 -22
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@@ -59,7 +59,9 @@ public class RobotContainer {
// private PlaybackChooser playbackChooser;
private PlaybackChooser playbackChooser = new PlaybackChooser(m_robotSwerveDrive)
.addOption("Taxi Auto", new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"))
.buildDisplay();
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
@@ -78,10 +80,8 @@ 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();
//SmartDashboard.putNumber("Velocity Output", m_robotIntake.getVelocity());
SmartDashboard.putNumber("Velocity Output", m_robotIntake.getVelocity());
// m_robotIntake.resetPostion();
}
@@ -97,6 +97,8 @@ public class RobotContainer {
new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive));
/* Auto Recording */
// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
// .whileTrue(new JoystickRecorder(m_robotSwerveDrive,
@@ -122,29 +124,42 @@ public class RobotContainer {
/* Operator Buttons */
new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter))
.onFalse(new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter));
// new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotIntake.spinIntakeMotor(), m_robotIntake))
// .onFalse(new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake));
// 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()))
// .onFalse(new InstantCommand(() -> m_robotIntake.stopIntakeMotors()));
// .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.RIGHT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.pidIn(), m_robotIntake))
.onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor(), m_robotIntake));
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.pidOut(), m_robotIntake))
.onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor(), m_robotIntake));
new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.spinIntakeMotor(), m_robotIntake))
.onFalse(new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake));
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_TRIGGER_AXIS)
.onTrue(new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake))
.onFalse(new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake));
new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_TRIGGER_AXIS)
.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter))
.onFalse(new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter));
}