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Created Climber Subsystem

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Added Climber Subsystem and bound the Climber Subsystem to the D-Pad
This commit is contained in:
C4llSqin
2025-02-28 19:53:44 -07:00
parent 1763225d53
commit b882b4da73
4 changed files with 64 additions and 13 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+10
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@@ -61,6 +61,7 @@ import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.Vision;
import frc4388.robot.subsystems.Elevator.CoordinationState;
import frc4388.robot.subsystems.Lidar;
import frc4388.robot.subsystems.Climber;
import frc4388.robot.subsystems.Elevator;
// import frc4388.robot.subsystems.Endeffector;
import frc4388.robot.subsystems.SwerveDrive;
@@ -91,6 +92,7 @@ public class RobotContainer {
public final Lidar m_lidar = new Lidar();
public final Elevator m_robotElevator = new Elevator(m_robotMap.elevator, m_robotMap.endeffector, m_robotMap.basinLimitSwitch, m_robotMap.endeffectorLimitSwitch, m_robotLED);
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
public final Climber m_robotClimber = new Climber(m_robotMap.climber);
// public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain);
@@ -542,6 +544,14 @@ public class RobotContainer {
new Trigger(() -> getDeadbandedOperatorController().getPOV() == 0 && !operatorManualMode)
.onTrue(rightAlgaeRemove);
new Trigger(() -> getDeadbandedOperatorController().getPOV() == 90)
.onTrue(new InstantCommand(() -> m_robotClimber.climberOut()))
.onFalse(new InstantCommand(() -> m_robotClimber.stopClimber()));
new Trigger(() -> getDeadbandedOperatorController().getPOV() == 270)
.onTrue(new InstantCommand(() -> m_robotClimber.climberIn()))
.onFalse(new InstantCommand(() -> m_robotClimber.stopClimber()));
// ? /* Programer Buttons (Controller 3)*/
// * /* Auto Recording */