Team4388/2024AcrossTheRidgebotiverse
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created arm PID, changed IDs, fixed swerve (im tweakin) (pushkar has a mental disability)

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Abhishrek05
2024-02-06 19:24:32 -07:00
parent c7e3106d31
commit dbd9540fda
5 changed files with 59 additions and 11 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+8 -4
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@@ -16,6 +16,7 @@ import frc4388.robot.Constants.OIConstants;
import frc4388.robot.commands.Autos.PlaybackChooser;
import frc4388.robot.commands.Swerve.JoystickPlayback;
import frc4388.robot.commands.Swerve.JoystickRecorder;
import frc4388.robot.commands.Intake.RotateIntakeToPosition;
import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.robot.subsystems.Shooter;
@@ -46,7 +47,7 @@ public class RobotContainer {
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);
/* Controllers */
@@ -115,11 +116,14 @@ public class RobotContainer {
/* Operator Buttons */
new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter))
.onFalse(new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter));
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
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.spinIntakeMotor()))
.onFalse(new InstantCommand(() -> m_robotIntake.stopIntakeMotors()));