Team4388/RiseOfRidgebotics2020
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Araav Stuff for PID

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aarav18
2020-01-31 17:50:43 -07:00
parent e96ccc527a
commit 2d14ef3da3
6 changed files with 39 additions and 28 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+4 -3
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@@ -79,16 +79,17 @@ public class RobotContainer {
/* PID Test Command */
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
.whenPressed(new DriveAtVelocityPID(m_robotDrive, 0));
.whenPressed(new DriveAtVelocityPID(m_robotDrive, 150))
.whenReleased(new InstantCommand(() -> System.out.print("Gamer"), m_robotDrive));
new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotDrive.resetGyroYaw(), m_robotDrive));
new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
.whileHeld(new RunCommand(() -> m_robotDrive.driveWithInput(0, 0.3), m_robotDrive));
.whenPressed(new RunCommand(() -> m_robotDrive.runMotionMagicPID(5000), m_robotDrive));
new JoystickButton(getDriverJoystick(), XboxController.LEFT_JOYSTICK_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotDrive.getCurrentCommand().cancel(), m_robotDrive));
.whenPressed(new InstantCommand(() -> System.out.print("Gamer"), m_robotDrive));
}
/**