Team4388/RiseOfRidgebotics2020
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Gettign trimming to work (this may not work)

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ryan123rudder
2020-02-29 23:45:07 -07:00
parent eb129c6b34
commit 272951ed67
7 changed files with 122 additions and 14 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+13 -8
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@@ -59,6 +59,7 @@ import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Intake;
import frc4388.robot.subsystems.LED;
import frc4388.robot.commands.TrackTarget;
import frc4388.robot.commands.TrimShooter;
import frc4388.robot.commands.StorageOutake;
import frc4388.robot.commands.StoragePrepAim;
import frc4388.robot.commands.StoragePrepIntake;
@@ -97,6 +98,7 @@ public class RobotContainer {
private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
*/
@@ -174,17 +176,12 @@ public class RobotContainer {
// safety for climber and leveler
new JoystickButton(getOperatorJoystick(), XboxController.BACK_BUTTON)
//.whenPressed(new InstantCommand(() -> m_robotClimber.setSafetyPressed(), m_robotClimber))
//.whenReleased(new InstantCommand(() -> m_robotClimber.setSafetyNotPressed(), m_robotClimber));
.whileHeld(new RunCommand(() -> SmartDashboard.putNumber("Angle Current", m_robotShooter.m_angleAdjustMotor.getOutputCurrent())))
.whileHeld(new RunCommand(() -> SmartDashboard.putNumber("Rotate Current", m_robotShooterAim.m_shooterRotateMotor.getOutputCurrent())));
.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 ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotStorage))
//.whileHeld(new ParallelCommandGroup(
//new HoldTarget(m_robotShooter,m_robotShooterAim),
//new HoodPositionPID(m_robotShooter)))
.whenReleased(new StoragePrepIntake(m_robotIntake, m_robotStorage));
@@ -196,16 +193,24 @@ public class RobotContainer {
new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_TRIGGER_AXIS)
.whileHeld(new StorageOutake(m_robotStorage));
//TEST FOR HOOD
new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON)
.whileHeld(new RunCommand(() -> m_robotShooter.m_angleAdjustMotor.set(0.3)))
.whenReleased(new RunCommand(() -> m_robotShooter.m_angleAdjustMotor.set(0)));
//TEST FOR HOOD
new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
.whileHeld(new RunCommand(() -> m_robotShooter.m_angleAdjustMotor.set(-0.3)))
.whenReleased(new RunCommand(() -> m_robotShooter.m_angleAdjustMotor.set(0)));
//Trims shooter
new JoystickButton(getOperatorJoystick(), XboxController.TOP_BOTTOM_DPAD_AXIS)
.whenPressed(new TrimShooter(m_robotShooter));
//Calibrates turret and hood
new JoystickButton(getOperatorJoystick(), XboxController.START_BUTTON)
.whileHeld(new CalibrateShooter(m_robotShooter, m_robotShooterAim));
}
/**
@@ -323,4 +328,4 @@ public class RobotContainer {
{
return m_driverXbox.getJoyStick();
}
}
}