Team4388/2026KPopRobotHunters
1
0
Fork 0
mirror of https://github.com/Team4388/2026KPopRobotHunters.git synced 2026-06-09 08:48:05 -06:00
Code Issues Packages Projects Releases Wiki Activity

control changes

Browse Source
This commit is contained in:
Michael Mikovsky
2026-02-25 15:33:01 -08:00
parent a09a039cb8
commit 3d22607e5a
2 changed files with 27 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/RobotContainer.java
+23 -10
View File
@@ -241,21 +241,36 @@ public class RobotContainer {
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive));
//Operator Controls
// new Trigger(() -> getDeadbandedOperatorController().getRightTriggerAxis() >= 0.5)
// .onTrue(new InstantCommand(() -> {
// m_robotIntake.setMode(IntakeMode.Extended);
// }));
//allow shooting with right trigger
new Trigger(() -> getDeadbandedOperatorController().getRightTriggerAxis() >= 0.5)
.onTrue(new InstantCommand(() -> {
m_robotShooter.allowShooting();
})).onFalse(new InstantCommand(() -> {
m_robotShooter.denyShooting();
}));
new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Extended);
}));
new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Retracted);
}));
//set shooter ready (rev) with left trigger hold
new Trigger(() -> getDeadbandedOperatorController().getLeftTriggerAxis() >= 0.5)
.onTrue(new InstantCommand(() -> {
m_robotShooter.spinUpShooting();
m_robotIntake.setMode(IntakeMode.Idle);
m_robotIntake.rollerStop();
}))
.onFalse(new InstantCommand(() -> {
m_robotShooter.spinUpIdle();
}));
@@ -275,9 +290,7 @@ public class RobotContainer {
new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> {
m_robotShooter.allowShooting();
})).onFalse(new InstantCommand(() -> {
m_robotShooter.denyShooting();
m_robotIntake.setMode(IntakeMode.Retracted);
}));
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
src/main/java/frc4388/robot/subsystems/intake/Intake.java
+4
View File
@@ -40,6 +40,10 @@ public class Intake extends SubsystemBase {
return mode;
}
public void rollerStop(){
io.setRollerOutput(state, 0);
}
// public enum FieldZone {
// // The robot should aim at the hub