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Created Elevator Subsystem

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Added Elevator Subsystem with 2 modes. Use D-Pads for Top or Bottom and Bumpers for free mode.
This commit is contained in:
Michael Mikovsky
2025-01-17 19:53:14 -07:00
parent e8fe7a1d52
commit 32115fa977
4 changed files with 100 additions and 1 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+20
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@@ -39,6 +39,7 @@ import com.pathplanner.lib.commands.PathPlannerAuto;
// Subsystems
// import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.Vision;
import frc4388.robot.subsystems.Elevator;
import frc4388.robot.subsystems.SwerveDrive;
// Utilites
@@ -61,6 +62,7 @@ public class RobotContainer {
// private final LED m_robotLED = new LED();
public final Vision m_vision = new Vision(m_robotMap.camera);
public final Elevator m_robotELevator= new Elevator(m_robotMap.elevator);
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
// public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain);
@@ -191,6 +193,24 @@ public class RobotContainer {
new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
true, false))
.onFalse(new InstantCommand());
/*DPad for Level 1 and 2*/
new Trigger(() -> getDeadbandedOperatorController().getRawAxis(XboxController.TOP_BOTTOM_DPAD_AXIS) > 0.9)
.onTrue(new InstantCommand(() -> m_robotELevator.PIDLevel2()))
.onFalse(new InstantCommand(() -> m_robotELevator.elevatorStop()));
new Trigger(() -> getDeadbandedOperatorController().getRawAxis(XboxController.TOP_BOTTOM_DPAD_AXIS) > -0.9)
.onTrue(new InstantCommand(() -> m_robotELevator.PIDLevel1()))
.onFalse(new InstantCommand(() -> m_robotELevator.elevatorStop()));
/*Free Brid Mode With Bummpers*/
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotELevator.elevatorDown()))
.onFalse(new InstantCommand(() -> m_robotELevator.elevatorStop()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotELevator.elevatorUp()))
.onFalse(new InstantCommand(() -> m_robotELevator.elevatorStop()));
}
/**