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working slalom 9s run, working drivestraightatvelocity (needs some work)

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This commit is contained in:
Aarav Shah
2021-03-27 12:00:20 -06:00
parent c4132c16be
commit 1b98d93cf9
27 changed files with 45 additions and 46 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+6 -6
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@@ -195,14 +195,14 @@ public class RobotContainer {
/* Test Buttons */
// A driver test button
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.whenPressed(new DriveStraightAtVelocityPID(m_robotDrive, 1000));
.whileHeld(new DriveStraightAtVelocityPID(m_robotDrive, 5000));
// B driver test button
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
.whenPressed(new TurnDegrees(m_robotDrive, 45));
.whileHeld(new RunCommand(() -> m_robotDrive.runDriveVelocityPID(2000, 45), m_robotDrive));
// Y driver test button
new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
.whenPressed(new Wait(m_robotDrive, 0, 0));
.whenPressed(new InstantCommand(() -> m_robotDrive.runTurningPID(1000), m_robotDrive));
// X driver test button
new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
@@ -403,14 +403,14 @@ public class RobotContainer {
//return m_driveOffLineBackward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return m_fiveBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return m_tenBallAutoMiddle.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
//return m_slalom.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
return m_barrelStart.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
return m_slalom.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
//return m_barrelStart.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
} catch (Exception e) {
System.err.println("ERROR");
}
return new InstantCommand();
return new InstantCommand();
}
TrajectoryConfig getTrajectoryConfig() {
return new TrajectoryConfig(