Team4388/RiseOfRidgebotics2020
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Debugging ramsete controller

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This commit is contained in:
Keenan D. Buckley
2020-02-14 08:32:32 -07:00
parent 03daeed506
commit 0e696c73ed
4 changed files with 26 additions and 16 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+6 -5
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@@ -31,6 +31,7 @@ import frc4388.robot.Constants.*;
import frc4388.robot.commands.DriveStraightAtVelocityPID;
import frc4388.robot.commands.DriveStraightToPositionMM;
import frc4388.robot.commands.DriveStraightToPositionPID;
import frc4388.robot.commands.DriveWithJoystick;
import frc4388.robot.commands.DriveWithJoystickUsingDeadAssistPID;
import frc4388.robot.commands.RunClimberWithTriggers;
import frc4388.robot.commands.RunExtenderOutIn;
@@ -77,7 +78,7 @@ public class RobotContainer {
/* Default Commands */
// drives the robot with a two-axis input from the driver controller
m_robotDrive.setDefaultCommand(new DriveWithJoystickUsingDeadAssistPID(m_robotDrive, getDriverController()));
m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, getDriverController()));
// drives intake with input from triggers on the opperator controller
m_robotIntake.setDefaultCommand(new RunIntakeWithTriggers(m_robotIntake, getOperatorController()));
// drives climber with input from triggers on the opperator controller
@@ -126,7 +127,7 @@ public class RobotContainer {
// resets the yaw of the pigeon
new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
.whenPressed(new DriveStraightToPositionMM(m_robotDrive, 72));
.whileHeld(new RunCommand(() -> m_robotDrive.tankDriveVelocity(1, 1), m_robotDrive));
// turn 45 degrees
new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
@@ -184,11 +185,11 @@ public class RobotContainer {
new Pose2d(0, 0, new Rotation2d(0)),
// Pass through these two interior waypoints, making an 's' curve path
List.of(
new Translation2d(1, 1),
new Translation2d(2, -1)
new Translation2d(2, 0)
//new Translation2d(4, -2)
),
// End 3 meters straight ahead of where we started, facing forward
new Pose2d(3, 0, new Rotation2d(0)),
new Pose2d(4, 0, new Rotation2d(0)),
// Pass config
config);