Team4388/RiseOfRidgebotics2020
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Make Position PID workie

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Co-Authored-By: Keenan D. Buckley <hfocus@users.noreply.github.com>
This commit is contained in:
aarav18
2020-02-07 20:03:13 -07:00
parent 13801cabc3
commit 43d9e8aa99
3 changed files with 30 additions and 22 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+12 -13
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@@ -16,6 +16,7 @@ import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.commands.DriveStraightAtVelocityPID;
import frc4388.robot.commands.DriveStraightToPositionPID;
import frc4388.robot.commands.DriveWithJoystick;
import frc4388.robot.commands.RunIntakeWithTriggers;
import frc4388.robot.subsystems.Drive;
@@ -65,16 +66,8 @@ public class RobotContainer {
*/
private void configureButtonBindings() {
/* Driver Buttons */
//new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
// .whenPressed(new DriveStraightToPositionPID(m_robotDrive, 36));
/* Operator Buttons */
// activates "Lit Mode"
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
.whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
/* PID Test Command */
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.whenPressed(new DriveStraightToPositionPID(m_robotDrive, 144));
// runs velocity PID while driving straight
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
.whenPressed(new DriveStraightAtVelocityPID(m_robotDrive, 500))
@@ -82,12 +75,18 @@ public class RobotContainer {
// resets the yaw of the pigeon
new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotDrive.resetGyroYaw(), m_robotDrive));
//new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
// .whenPressed(new RunCommand(() -> m_robotDrive.runMotionMagicPID(5000, 0), m_robotDrive));
// turn 45 degrees
new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
.whenPressed(new RunCommand(() -> m_robotDrive.runTurningPID(45), m_robotDrive));
// interrupts any running command
new JoystickButton(getDriverJoystick(), XboxController.LEFT_JOYSTICK_BUTTON)
.whenPressed(new InstantCommand(() -> System.out.print("Gamer"), m_robotDrive));
/* Operator Buttons */
// activates "Lit Mode"
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
.whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
}
/**