Team4388/RiseOfRidgebotics2020
1
0
Fork 0
mirror of https://github.com/Team4388/RiseOfRidgebotics2020.git synced 2026-06-09 08:48:01 -06:00
Code Issues Packages Projects Releases Wiki Activity

New points

Browse Source
This commit is contained in:
ryan123rudder
2021-03-23 16:39:17 -06:00
parent fcc91455ac
commit 289efc78d5
3 changed files with 10 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/RobotContainer.java
+6 -3
View File
@@ -185,8 +185,10 @@ public class RobotContainer {
private void configureButtonBindings() {
/* Test Buttons */
// A driver test button
/*new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.whileHeld(new InstantCommand(() -> m_robotDrive.tankDriveVelocity(1, -1), m_robotDrive));*/
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.whileHeld(new ShooterTrenchPosition(m_robotShooter, m_robotShooterHood, m_robotShooterAim))
.whenReleased(new InterruptSubystem(m_robotShooter))
.whenReleased(new InterruptSubystem(m_robotShooterHood));
// B driver test button
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
@@ -231,7 +233,7 @@ public class RobotContainer {
//.whenPressed(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false);
//.whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET));
//.whenReleased(new RunCommand(() -> m_robotLime.limeOff()));
.whenPressed(new RunCommand(() -> m_robotStorage.runStorage(1), m_robotStorage))
.whenPressed(new RunCommand(() -> m_robotStorage.runStorage(0.3), m_robotStorage))
.whenReleased(new InterruptSubystem(m_robotStorage));
// extends or retracts the extender
@@ -270,6 +272,7 @@ public class RobotContainer {
.whileHeld(new CalibrateShooter(m_robotShooter, m_robotShooterAim, m_robotShooterHood));
//Run drum
new JoystickManualButton(getOperatorJoystick(), XboxController.B_BUTTON, false)
.whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false)
src/main/java/frc4388/robot/commands/shooter/ShooterTrenchPosition.java
+3 -3
View File
@@ -34,9 +34,9 @@ public class ShooterTrenchPosition extends CommandBase {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
m_shooter.runDrumShooterVelocityPID(5000);
m_hood.runAngleAdjustPID(3);
m_aim.runshooterRotatePID(-26.5);
m_shooter.runDrumShooterVelocityPID(5500);
m_hood.runAngleAdjustPID(11);
//m_aim.runshooterRotatePID(-28);
}
// Called once the command ends or is interrupted.