Team4388/RiseOfRidgebotics2020
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Fix Shooter PID

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This commit is contained in:
ryan123rudder
2020-01-31 21:39:51 -07:00
parent 8a95c8a8cc
commit 42db77fe6d
6 changed files with 16 additions and 151 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+2 -11
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@@ -15,7 +15,6 @@ import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.commands.DistanceElevatorPID;
import frc4388.robot.commands.DriveAtVelocityPID;
import frc4388.robot.commands.DriveToDistanceMM;
import frc4388.robot.commands.DriveToDistancePID;
@@ -23,7 +22,6 @@ import frc4388.robot.commands.DriveWithJoystick;
import frc4388.robot.commands.RunIntakeWithTriggers;
import frc4388.robot.commands.ShooterVelocityControlPID;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Elevator;
import frc4388.robot.subsystems.Intake;
import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.Shooter;
@@ -43,7 +41,6 @@ public class RobotContainer {
private final Drive m_robotDrive = new Drive();
private final LED m_robotLED = new LED();
private final Intake m_robotIntake = new Intake();
private final Elevator m_robotElevator = new Elevator();
private final Shooter m_robotShooter = new Shooter();
/* Controllers */
@@ -61,12 +58,9 @@ public class RobotContainer {
m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, getDriverController()));
// drives motor with input from triggers on the opperator controller
m_robotIntake.setDefaultCommand(new RunIntakeWithTriggers(m_robotIntake, getOperatorController()));
// moves elevator with one-axis input from the driver controller
m_robotElevator.setDefaultCommand(new RunCommand(() -> m_robotElevator.moveElevator(
getOperatorController().getLeftYAxis()), m_robotElevator
));
// continually sends updates to the Blinkin LED controller to keep the lights on
m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooter(0), m_robotShooter));
}
/**
@@ -97,10 +91,7 @@ public class RobotContainer {
.whenPressed(new DriveAtVelocityPID(m_robotDrive, 2000));
new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
.whileHeld(new ShooterVelocityControlPID(m_robotShooter, 2300));
new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON)
.whenPressed(new DistanceElevatorPID(m_robotElevator, 20000));
.whileHeld(new ShooterVelocityControlPID(m_robotShooter, 3200));
/*new JoystickButton(getDriverJoystick(), XboxController.LEFT_JOYSTICK_BUTTON)
.whenPressed(new InstantCommand(null, m_robotDrive));*/