Team4388/RiseOfRidgebotics2020
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Added Mystery Feature

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Press Y on the operator controller and see what happens...
This commit is contained in:
Elijah Price
2020-02-09 18:33:27 -07:00
parent 68a39f8eca
commit 3e4942f893
5 changed files with 73 additions and 15 deletions
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src/main/deploy/HesAPirate.chrp
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src/main/java/frc4388/robot/RobotContainer.java
+3
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@@ -97,6 +97,9 @@ public class RobotContainer {
new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotDrive.resetGyroYaw(), m_robotDrive));
new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotDrive.playSong("HesAPirate")));
//new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
// .whenPressed(new RunCommand(() -> m_robotDrive.runMotionMagicPID(5000, 0), m_robotDrive));
// interrupts any running command
src/main/java/frc4388/robot/subsystems/Drive.java
+18
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@@ -17,6 +17,7 @@ import com.ctre.phoenix.motorcontrol.SensorTerm;
import com.ctre.phoenix.motorcontrol.StatusFrame;
import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.music.Orchestra;
import com.ctre.phoenix.sensors.PigeonIMU;
import com.ctre.phoenix.sensors.PigeonIMU_StatusFrame;
@@ -40,6 +41,7 @@ public class Drive extends SubsystemBase {
public WPI_TalonFX m_leftBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_BACK_CAN_ID);
public WPI_TalonFX m_rightBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_BACK_CAN_ID);
public static PigeonIMU m_pigeon = new PigeonIMU(DriveConstants.PIGEON_ID);
public Orchestra m_Orchestra = new Orchestra();
public DifferentialDrive m_driveTrain = new DifferentialDrive(m_leftFrontMotor, m_rightFrontMotor);
@@ -221,6 +223,12 @@ public class Drive extends SubsystemBase {
* true means talon's local output is PID0 - PID1, and other side Talon is PID0 + PID1
*/
m_rightFrontMotor.configAuxPIDPolarity(false, DriveConstants.DRIVE_TIMEOUT_MS);
m_Orchestra.addInstrument(m_leftBackMotor);
m_Orchestra.addInstrument(m_leftFrontMotor);
m_Orchestra.addInstrument(m_rightBackMotor);
m_Orchestra.addInstrument(m_rightFrontMotor);
}
@Override
@@ -414,4 +422,14 @@ public class Drive extends SubsystemBase {
m_pigeon.setYaw(0);
m_pigeon.setAccumZAngle(0);
}
/**
* Plays Music!
* @param song The name of the song to be played
*/
public void playSong(String song) {
String toPlay = song + ".chrp";
m_Orchestra.loadMusic(toPlay);
m_Orchestra.play();
}
}