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Update PIDs, move things to constants.

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This commit is contained in:
Michael Mikovsky
2025-01-14 17:32:35 -07:00
parent 882acc9b93
commit cfe3ece8e5
3 changed files with 28 additions and 27 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+3 -2
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@@ -18,6 +18,7 @@ import edu.wpi.first.wpilibj.GenericHID;
import frc4388.utility.controller.XboxController;
import frc4388.utility.controller.DeadbandedXboxController;
import frc4388.robot.Constants.OIConstants;
import frc4388.robot.Constants.SwerveDriveConstants.AutoConstants;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import edu.wpi.first.wpilibj2.command.button.Trigger;
@@ -166,7 +167,7 @@ public class RobotContainer {
// ? /* Operator Buttons */
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
.onTrue(new GotoPositionCommand(m_robotSwerveDrive, m_vision));
.onTrue(new GotoPositionCommand(m_robotSwerveDrive, m_vision, AutoConstants.targetpos));
new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> {}, m_robotSwerveDrive));
@@ -222,7 +223,7 @@ public class RobotContainer {
*/
public Command getAutonomousCommand() {
//return autoPlayback;
return new GotoPositionCommand(m_robotSwerveDrive, m_vision);
return new GotoPositionCommand(m_robotSwerveDrive, m_vision, AutoConstants.targetpos);
}
/**