Team4388/RiseOfRidgebotics2020
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Merge branch 'master-updates' into buckmeister's-wacky-code-changes

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This commit is contained in:
Keenan D. Buckley
2020-03-03 01:25:22 -07:00
parent faf9346f6e 694ab7482f
commit 14c3ea82a5
4 changed files with 19 additions and 22 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+14 -14
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@@ -93,7 +93,7 @@ public class RobotContainer {
/* Passing Drive and Pneumatics Subsystems */
m_robotPneumatics.passRequiredSubsystem(m_robotDrive);
m_robotDrive.passRequiredSubsystem(m_robotPneumatics);
m_robotShooter.passRequiredSubsystem(m_robotShooterHood, m_robotShooterAim);
m_robotShooterHood.passRequiredSubsystem(m_robotShooter);
m_robotShooterAim.passRequiredSubsystem(m_robotShooter);
@@ -102,10 +102,10 @@ public class RobotContainer {
/* Default Commands */
// drives the robot with a two-axis input from the driver controller
m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, m_robotPneumatics, getDriverController()));
//m_robotDrive.setDefaultCommand(new DriveWithJoystickUsingDeadAssistPID(m_robotDrive, m_robotPneumatics, getDriverController()));
// drives intake with input from triggers on the opperator controller
m_robotIntake.setDefaultCommand(new RunIntakeWithTriggers(m_robotIntake, getOperatorController()));
// runs the turret with joystick
@@ -134,7 +134,7 @@ public class RobotContainer {
// A driver test button
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.whenPressed(new DriveStraightToPositionMM(m_robotDrive, m_robotPneumatics, 24.0));
// B driver test button
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
.whenPressed(new TurnDegrees(m_robotDrive, 90));
@@ -146,7 +146,7 @@ public class RobotContainer {
// X driver test button
new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
.whenPressed(new InstantCommand());
/* Driver Buttons */
@@ -201,12 +201,12 @@ public class RobotContainer {
//Calibrates turret and hood
new JoystickButton(getOperatorJoystick(), XboxController.START_BUTTON)
.whileHeld(new CalibrateShooter(m_robotShooter, m_robotShooterAim, m_robotShooterHood));
//Prepares storage for intaking
new XboxTriggerButton(m_operatorXbox, XboxTriggerButton.LEFT_TRIGGER)
.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-0.8)))
.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0)));
//Runs storage to outtake
new XboxTriggerButton(m_operatorXbox, XboxTriggerButton.RIGHT_TRIGGER)
.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(0.8)))
@@ -257,7 +257,7 @@ public class RobotContainer {
config);
// 10 = 20, 20 = 35, 30 = 53.5
// (0,10) = (8,22)
return exampleTrajectory;
}
@@ -265,11 +265,11 @@ public class RobotContainer {
RamseteCommand ramseteCommand = new RamseteCommand(
trajectory,
m_robotDrive::getPose,
new RamseteController(),
new RamseteController(),
DriveConstants.kDriveKinematics,
m_robotDrive::tankDriveVelocity,
m_robotDrive);
return ramseteCommand;
}
@@ -290,7 +290,7 @@ public class RobotContainer {
}
/**
*
*
*/
public void resetOdometry() {
m_robotDrive.resetGyroAngles();
@@ -304,7 +304,7 @@ public class RobotContainer {
public IHandController getDriverController() {
return m_driverXbox;
}
/**
* Used for analog inputs like triggers and axises.
* @return The IHandController interface for the Operator Controller.
@@ -313,7 +313,7 @@ public class RobotContainer {
{
return m_operatorXbox;
}
/**
* Gets the {@link edu.wpi.first.wpilibj.GenericHID#GenericHID(int) Generic HID} for the Operator Xbox Controller.
* Generic HIDs/Joysticks can be used to set up JoystickButtons.
@@ -323,7 +323,7 @@ public class RobotContainer {
{
return m_operatorXbox.getJoyStick();
}
/**
* Gets the {@link edu.wpi.first.wpilibj.GenericHID#GenericHID(int) Generic HID} for the Driver Xbox Controller.
* Generic HIDs/Joysticks can be used to set up JoystickButtons.