Team4388/RiseOfRidgebotics2020
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This commit is contained in:
ryan123rudder
2020-02-26 17:31:57 -07:00
parent 011146b9ec
commit 1cc3aef303
11 changed files with 24 additions and 102 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+6 -10
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@@ -40,7 +40,7 @@ import frc4388.robot.commands.RunClimberWithTriggers;
import frc4388.robot.commands.RunExtenderOutIn;
import frc4388.robot.commands.RunIntakeWithTriggers;
import frc4388.robot.commands.ShooterVelocityControlPID;
import frc4388.robot.commands.StorageIntakeGroup;
import frc4388.robot.commands.StorageIntake;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Intake;
import frc4388.robot.subsystems.LED;
@@ -57,6 +57,7 @@ import frc4388.robot.subsystems.LED;
import frc4388.robot.commands.TrackTarget;
import frc4388.robot.commands.StorageOutake;
import frc4388.robot.commands.StoragePrepAim;
import frc4388.robot.commands.StoragePrepIntake;
import frc4388.robot.subsystems.Camera;
import frc4388.robot.subsystems.Leveler;
import frc4388.robot.subsystems.LimeLight;
@@ -113,8 +114,6 @@ public class RobotContainer {
m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController()));
// moves the drum not
m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooter(0), m_robotShooter));
//turns limelight off
//m_robotLime.setDefaultCommand(new RunCommand(() -> m_robotLime.limeOff(), m_robotLime));
}
@@ -145,10 +144,7 @@ public class RobotContainer {
// shoots one ball
new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON)
.whileHeld(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotStorage), false);
//.whenReleased(new RunCommand(() -> m_robotLime.limeOff()));
//.whenReleased(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(0, m_robotShooter.m_shooterFalcon.getSelectedSensorVelocity())))
//.whenReleased(new RunCommand(() -> m_robotShooterAim.limeOff()))
//.whenReleased(new RunCommand(() -> m_robotShooterAim.runShooterWithInput(0)));
// extends or retracts the extender
new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
.whenPressed(new RunExtenderOutIn(m_robotIntake));
@@ -160,12 +156,12 @@ public class RobotContainer {
// starts tracking target
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whileHeld(new HoldTarget(m_robotShooter, m_robotShooterAim));
//.whenPressed(new StoragePrepAim(m_robotStorage));
.whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotStorage))
.whenReleased(new StoragePrepIntake(m_robotIntake, m_robotStorage));
//Prepares storage for intaking
new JoystickButton(getOperatorJoystick(), XboxController.LEFT_TRIGGER_AXIS)
.whileHeld(new StorageIntakeGroup(m_robotIntake, m_robotStorage));
.whileHeld(new StorageIntake(m_robotIntake, m_robotStorage));
//Runs storage to outtake
new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_TRIGGER_AXIS)