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Tested elevator

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This commit is contained in:
C4llSiqn
2025-01-20 14:35:34 -07:00
parent 453e0e54af
commit d341b6a7d7
3 changed files with 28 additions and 30 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+10 -7
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@@ -64,7 +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 Endeffector m_robotEndeffector = new Endeffector(m_robotMap.endeffector);
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
// public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain);
@@ -197,11 +197,11 @@ public class RobotContainer {
.onFalse(new InstantCommand());
/*DPad for Level 1 and 2*/
new Trigger(() -> getDeadbandedOperatorController().getRawAxis(XboxController.TOP_BOTTOM_DPAD_AXIS) > 0.9)
new Trigger(() -> getDeadbandedOperatorController().getRawAxis(XboxController.RIGHT_TRIGGER_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)
new Trigger(() -> getDeadbandedOperatorController().getRawAxis(XboxController.LEFT_TRIGGER_AXIS) > 0.9)
.onTrue(new InstantCommand(() -> m_robotELevator.PIDLevel1()))
.onFalse(new InstantCommand(() -> m_robotELevator.elevatorStop()));
@@ -217,13 +217,16 @@ public class RobotContainer {
/*Endeffector Controls*/
new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> m_robotEndeffector.endeffectorTop()));
.onTrue(new InstantCommand(() -> m_robotEndeffector.PIDTop()))
.onFalse(new InstantCommand(() -> m_robotEndeffector.endEffectorStop()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> m_robotEndeffector.endeffectorMiddle()));
.onTrue(new InstantCommand(() -> m_robotEndeffector.PIDMiddle()))
.onFalse(new InstantCommand(() -> m_robotEndeffector.endEffectorStop()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> m_robotEndeffector.endeffectorBottom()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotEndeffector.PIDBottom()))
.onFalse(new InstantCommand(() -> m_robotEndeffector.endEffectorStop()));;
}
/**