Team4388/RiseOfRidgebotics2020
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Ugly but functional

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ryan123rudder
2020-02-25 20:01:24 -07:00
parent 716dc83480
commit 011146b9ec
9 changed files with 94 additions and 38 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+9 -4
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@@ -59,6 +59,7 @@ import frc4388.robot.commands.StorageOutake;
import frc4388.robot.commands.StoragePrepAim;
import frc4388.robot.subsystems.Camera;
import frc4388.robot.subsystems.Leveler;
import frc4388.robot.subsystems.LimeLight;
import frc4388.robot.subsystems.Storage;
import frc4388.utility.LEDPatterns;
import frc4388.utility.controller.IHandController;
@@ -85,6 +86,7 @@ public class RobotContainer {
/* Cameras */
private final Camera m_robotCameraFront = new Camera("front", 0, 160, 120, 40);
private final Camera m_robotCameraBack = new Camera("back", 1, 160, 120, 40);
private final LimeLight m_robotLime = new LimeLight();
/* Controllers */
private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
@@ -111,6 +113,8 @@ public class RobotContainer {
m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController()));
// moves the drum not
m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooter(0), m_robotShooter));
//turns limelight off
//m_robotLime.setDefaultCommand(new RunCommand(() -> m_robotLime.limeOff(), m_robotLime));
}
@@ -140,10 +144,11 @@ public class RobotContainer {
// shoots one ball
new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON)
.whenPressed(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotStorage), false)
.whenReleased(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(0, m_robotShooter.m_shooterFalcon.getSelectedSensorVelocity())));
//.whenReleased(new InstantCommand(() -> m_robotShooterAim.runShooterWithInput(0), m_robotShooterAim));
.whileHeld(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotStorage), false);
//.whenReleased(new RunCommand(() -> m_robotLime.limeOff()));
//.whenReleased(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(0, m_robotShooter.m_shooterFalcon.getSelectedSensorVelocity())))
//.whenReleased(new RunCommand(() -> m_robotShooterAim.limeOff()))
//.whenReleased(new RunCommand(() -> m_robotShooterAim.runShooterWithInput(0)));
// extends or retracts the extender
new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
.whenPressed(new RunExtenderOutIn(m_robotIntake));