Team4388/2026KPopRobotHunters
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Intake

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This commit is contained in:
Shatcar
2026-03-30 18:57:14 -06:00
parent 3fe5d0e5a1
commit 9021f480be
10 changed files with 159 additions and 28 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+16 -2
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@@ -378,11 +378,14 @@ public class RobotContainer {
new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Retracting);
}))
.onFalse(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Idle);
}));
new Trigger(() -> getDeadbandedDriverController().getPOV() == 90)
new Trigger(() -> getDeadbandedOperatorController().getPOV() == 90)
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.ExtendingIdle);
}))
@@ -390,13 +393,24 @@ public class RobotContainer {
m_robotIntake.setMode(IntakeMode.Idle);
}));
new Trigger(() -> getDeadbandedDriverController().getPOV() == 270)
new Trigger(() -> getDeadbandedOperatorController().getPOV() == 270)
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Retracting);
}))
.onFalse(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Idle);
}));
new Trigger(() -> getDeadbandedOperatorController().getPOV() == 0)
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Bouncing);
}))
.onFalse(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Idle);
}));
// .onFalse(new InstantCommand(() -> {
// m_robotIntake.setMode(IntakeMode.Idle);
// }));