Team4388/RiseOfRidgebotics2020
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Update RobotContainer.java

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This commit is contained in:
aarav18
2021-09-23 17:24:16 -06:00
parent d44a35ca02
commit 1308811491
1 changed files with 14 additions and 11 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+14 -11
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@@ -290,12 +290,13 @@ public class RobotContainer {
.whenPressed(new InstantCommand(() -> m_robotClimber.setSafetyPressed(), m_robotClimber))
.whenReleased(new InstantCommand(() -> m_robotClimber.setSafetyNotPressed(), m_robotClimber));
/*
// starts tracking target
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whileHeld(new TrackTarget(m_robotShooterAim))
.whileHeld(new RunCommand(() -> m_robotShooterHood.runAngleAdjustPID(m_robotShooterHood.addFireAngle())))
.whenReleased(new InstantCommand(() -> m_robotLime.limeOff()));
*/
//.whileHeld(new RunCommand(() -> m_robotShooterAim.runshooterRotatePID()));
//.whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(11000)));
//.whileHeld(new HoldTarget(m_robotShooter, m_robotShooterAim))
@@ -309,19 +310,20 @@ public class RobotContainer {
new JoystickButton(getOperatorJoystick(), XboxController.START_BUTTON)
.whileHeld(new CalibrateShooter(m_robotShooter, m_robotShooterAim, m_robotShooterHood));
new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
.whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false)
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood), false)
//.whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET))
.whenReleased(new InstantCommand(() -> m_robotLime.limeOff()));
//Run drum
/*
new JoystickManualButton(getOperatorJoystick(), XboxController.B_BUTTON, false)
.whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false)
.whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood), false)
//.whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET))
.whenReleased(new InstantCommand(() -> m_robotLime.limeOff()));
*/
//Run drum manual
new JoystickManualButton(getOperatorJoystick(), XboxController.B_BUTTON, true)
.whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(10000)))
@@ -454,19 +456,19 @@ public class RobotContainer {
"GSC_BBLUE"
};
m_galacticSearch = new GalacticSearch(m_robotLime, m_robotIntake, buildPaths(galacticSearchPaths));
String[] sixBallTopPaths = new String[]{
"6BallTop"
};
m_sixBallTop = new SixBallTop(m_robotShooterHood, m_robotStorage, m_robotIntake, m_robotShooter, m_robotShooterAim, m_robotDrive, buildPaths(sixBallTopPaths));
/*
String[] eightBallMidPaths = new String[]{
"2BallOffensive",
"LoopFrom2BallOffensive"
};
m_eightBallMid = new EightBallMid(m_robotShooterHood, m_robotStorage, m_robotIntake, m_robotShooter, m_robotShooterAim, m_robotDrive, buildPaths(eightBallMidPaths));
String[] fiveBallBottomPaths = new String[]{
"5BallBottom1",
"5BallBottom2",
@@ -478,12 +480,13 @@ public class RobotContainer {
"getOffLine1"
};
m_offTheLine = new OffTheLine(m_robotShooterHood, m_robotStorage, m_robotIntake, m_robotShooter, m_robotShooterAim, m_robotDrive, buildPaths(fiveBallBottomPaths));
Command[] autos = {m_sixBallTop, m_eightBallMid, m_fiveBallBottom, m_offTheLine};
autoCommandChooser.setDefaultOption("sixBallTop", m_sixBallTop);
for (int i = 1; i < autos.length; i++) {
autoCommandChooser.addOption(autos[i].toString().substring(2), autos[i]);
}
*/
}
public void idenPath()
@@ -504,7 +507,7 @@ public class RobotContainer {
try {
SmartDashboard.putNumber("Trajectory Total Time", m_totalTimeAuto);
return autoCommandChooser.getSelected();
//return autoCommandChooser.getSelected();
//Legacy Autos
//return m_sixBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
@@ -515,7 +518,7 @@ public class RobotContainer {
//At Home Challenges Autos
//return m_slalom.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
//return m_barrel.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
return m_barrel.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
//return m_barrelStart.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
//return m_sequentialTest.andThen(() -> m_robotDrive.tankDriveVelocity(0,0));
//return m_galacticSearch.andThen(() -> m_robotDrive.tankDriveVelocity(0,0));