Team4388/RiseOfRidgebotics2020
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aarav18
2020-02-07 17:50:23 -07:00
parent 315ed22703
commit 479a7b9359
5 changed files with 91 additions and 58 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+3 -2
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@@ -77,16 +77,17 @@ public class RobotContainer {
.whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
/* PID Test Command */
// runs velocity PID while driving straight
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
.whenPressed(new DriveStraightAtVelocityPID(m_robotDrive, 500))
.whenReleased(new InstantCommand(() -> System.out.print("Gamer"), m_robotDrive));
// 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));
// interrupts any running command
new JoystickButton(getDriverJoystick(), XboxController.LEFT_JOYSTICK_BUTTON)
.whenPressed(new InstantCommand(() -> System.out.print("Gamer"), m_robotDrive));
}