Team4388/2026KPopRobotHunters
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Update gear ratios

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This commit is contained in:
mimigamin
2026-03-19 14:21:46 -06:00
parent 85fe11c8bd
commit 73c3849569
10 changed files with 126 additions and 40 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+21 -13
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@@ -233,20 +233,20 @@ public class RobotContainer {
//TEST - > Defense: X position on wheels and swerve drive pid on position
new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
// .whileTrue(new RunCommand(() -> {
// m_robotSwerveDrive.defenseXPosition();
// }, m_robotSwerveDrive))
// .onFalse(new InstantCommand(() -> {
// m_robotSwerveDrive.stopDefenseXPosition();
.onTrue(new InstantCommand(() -> {
currentPose = m_robotSwerveDrive.getCurrentPose();
}))
.whileTrue(new RunCommand(() -> {
m_stayInPosition.goToTargetPose(currentPose);
.whileTrue(new RunCommand(() -> {
m_robotSwerveDrive.defenseXPosition();
}, m_robotSwerveDrive))
.onFalse(new InstantCommand(() -> {
m_robotSwerveDrive.softStop();
.onFalse(new InstantCommand(() -> {
m_robotSwerveDrive.stopDefenseXPosition();
// .onTrue(new InstantCommand(() -> {
// currentPose = m_robotSwerveDrive.getCurrentPose();
// }))
// .whileTrue(new RunCommand(() -> {
// m_stayInPosition.goToTargetPose(currentPose);
// }, m_robotSwerveDrive))
// .onFalse(new InstantCommand(() -> {
// m_robotSwerveDrive.softStop();
}));
@@ -352,6 +352,14 @@ public class RobotContainer {
// m_robotClimber.toggleDeployed();
// }));
new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> {
m_robotShooter.indexerStalled();
}))
.onFalse(new InstantCommand(() -> {
m_robotShooter.spinUpIdle();
}));
}