Team4388/RiseOfRidgebotics2020
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Rework Command Constructors to Make Sense

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Subsystems passed through the command are requirements, while subsystems gotten from other subsystems in the constructor are for reference only.
This commit is contained in:
Keenan D. Buckley
2020-03-03 00:12:38 -07:00
parent 8f6578a47b
commit 1b603d4f5d
8 changed files with 32 additions and 31 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+3 -3
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@@ -164,13 +164,13 @@ public class RobotContainer {
/* Operator Buttons */
// shoots until released
new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
.whileHeld(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotStorage), false)
.whileHeld(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false)
.whenReleased(new RunCommand(() -> m_robotLime.limeOff()));
//.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(0.8)));
// shoots one ball
new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON)
.whenPressed(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotStorage), false)
.whenPressed(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false)
.whenReleased(new RunCommand(() -> m_robotLime.limeOff()));
//.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-0.8)));
@@ -189,7 +189,7 @@ public class RobotContainer {
// starts tracking target
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotStorage))
.whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage))
.whenReleased(new StoragePrepIntake(m_robotIntake, m_robotStorage));
//.whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(13000)));
//.whileHeld(new HoldTarget(m_robotShooter, m_robotShooterAim))