Team4388/RiseOfRidgebotics2020
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SHOOTER WORKS SEMI MANUAL

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This commit is contained in:
ryan123rudder
2020-03-03 20:59:00 -07:00
parent b8a6e59fac
commit 2f6b219303
14 changed files with 71 additions and 47 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+26 -19
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@@ -36,9 +36,12 @@ import frc4388.robot.commands.drive.DriveWithJoystick;
import frc4388.robot.commands.drive.TurnDegrees;
import frc4388.robot.commands.intake.RunIntakeWithTriggers;
import frc4388.robot.commands.shooter.CalibrateShooter;
import frc4388.robot.commands.shooter.ShootFireGroup;
import frc4388.robot.commands.shooter.ShootFullGroup;
import frc4388.robot.commands.shooter.ShootPrepGroup;
import frc4388.robot.commands.shooter.TrackTarget;
import frc4388.robot.commands.shooter.TrimShooter;
import frc4388.robot.commands.storage.StorageIntake;
import frc4388.robot.commands.storage.StoragePrepIntake;
import frc4388.robot.subsystems.Camera;
import frc4388.robot.subsystems.Climber;
@@ -119,6 +122,7 @@ public class RobotContainer {
// continually sends updates to the Blinkin LED controller to keep the lights on
m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
// runs the storage not
//m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0), m_robotStorage));
m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0), m_robotStorage));
//m_robotLime.setDefaultCommand(new RunCommand(() -> m_robotLime.limeOff(), m_robotLime));
}
@@ -138,7 +142,6 @@ public class RobotContainer {
// B driver test button
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
.whenPressed(new TurnDegrees(m_robotDrive, 90));
// Y driver test button
new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
.whenPressed(new Wait(m_robotDrive, 0, 0));
@@ -163,15 +166,17 @@ public class RobotContainer {
/* Operator Buttons */
// shoots until released
new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
.whileHeld(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false)
.whenReleased(new RunCommand(() -> m_robotLime.limeOff()));
//.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(0.8)));
//.whileHeld(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false)
//.whenReleased(new RunCommand(() -> m_robotLime.limeOff()));
.whenPressed(new RunCommand(() -> m_robotStorage.runStorage(-1), m_robotStorage))
.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
// shoots one ball
new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON)
.whenPressed(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false)
.whenReleased(new RunCommand(() -> m_robotLime.limeOff()));
//.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-0.8)));
//.whenPressed(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false)
//.whenReleased(new RunCommand(() -> m_robotLime.limeOff()));
.whenPressed(new RunCommand(() -> m_robotStorage.runStorage(1), m_robotStorage))
.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
// extends or retracts the extender
new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
@@ -188,8 +193,10 @@ public class RobotContainer {
// starts tracking target
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage))
.whenReleased(new StoragePrepIntake(m_robotIntake, m_robotStorage));
.whileHeld(new TrackTarget(m_robotShooterAim))
.whileHeld(new RunCommand(() -> m_robotShooterHood.runAngleAdjustPID(m_robotShooterHood.addFireAngle())))
//.whenReleased(new StoragePrepIntake(m_robotIntake, m_robotStorage))
.whenReleased(new InstantCommand(() -> m_robotLime.limeOff()));
//.whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(13000)));
//.whileHeld(new HoldTarget(m_robotShooter, m_robotShooterAim))
//.whileHeld(new RunCommand(() -> m_robotShooter.runAngleAdjustPID(30)));
@@ -203,20 +210,20 @@ public class RobotContainer {
.whileHeld(new CalibrateShooter(m_robotShooter, m_robotShooterAim, m_robotShooterHood));
//Prepares storage for intaking
new XboxTriggerButton(m_operatorXbox, XboxTriggerButton.LEFT_TRIGGER)
.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-0.8)))
.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0)));
//new XboxTriggerButton(m_operatorXbox, XboxTriggerButton.LEFT_TRIGGER)
//.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(0.8)))
//.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0)));
//.whileHeld(new StorageIntake(m_robotIntake, m_robotStorage));
//Runs storage to outtake
new XboxTriggerButton(m_operatorXbox, XboxTriggerButton.RIGHT_TRIGGER)
.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(0.8)))
.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0)));
//new XboxTriggerButton(m_operatorXbox, XboxTriggerButton.RIGHT_TRIGGER)
//.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-0.8)))
//.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0)));
//Run drum
//new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
//.whenPressed(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotStorage));
//.whenPressed(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(13000)));
//.whenReleased(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(0)));
new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
.whileHeld(new ShootFireGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false)
.whenReleased(new InstantCommand(() -> m_robotLime.limeOff()));
}
/**