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Added Endeffector and Gear Ratios

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Created Endeffector Subsystem and added Gear Ratios.
This commit is contained in:
Michael Mikovsky
2025-01-17 20:55:53 -07:00
parent faf17348c3
commit 453e0e54af
4 changed files with 94 additions and 5 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+13
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@@ -40,6 +40,7 @@ import com.pathplanner.lib.commands.PathPlannerAuto;
// import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.Vision;
import frc4388.robot.subsystems.Elevator;
import frc4388.robot.subsystems.Endeffector;
import frc4388.robot.subsystems.SwerveDrive;
// Utilites
@@ -63,6 +64,7 @@ public class RobotContainer {
public final Vision m_vision = new Vision(m_robotMap.camera);
public final Elevator m_robotELevator= new Elevator(m_robotMap.elevator);
public final Endeffector m_robotEndeffector = new Endeffector(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);
@@ -211,6 +213,17 @@ public class RobotContainer {
new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotELevator.elevatorUp()))
.onFalse(new InstantCommand(() -> m_robotELevator.elevatorStop()));
/*Endeffector Controls*/
new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> m_robotEndeffector.endeffectorTop()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> m_robotEndeffector.endeffectorMiddle()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> m_robotEndeffector.endeffectorBottom()));
}
/**