Team4388/RiseOfRidgebotics2020
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Interuptability Handling

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ryan123rudder
2020-02-22 13:37:38 -07:00
parent 2b4324effd
commit 4888a4c08d
4 changed files with 124 additions and 24 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+18 -18
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@@ -47,6 +47,7 @@ import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.ShooterAim;
import frc4388.robot.subsystems.Climber;
import frc4388.robot.commands.RunLevelerWithJoystick;
import frc4388.robot.commands.ShootFullGroup;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Intake;
import frc4388.robot.subsystems.LED;
@@ -79,15 +80,15 @@ public class RobotContainer {
private final Storage m_robotStorage = new Storage();
/* Cameras */
private final Camera m_robotCameraFront = new Camera("front",0,160,120,40);
private final Camera m_robotCameraBack = new Camera("back",1,160,120,40);
private final Camera m_robotCameraFront = new Camera("front", 0, 160, 120, 40);
private final Camera m_robotCameraBack = new Camera("back", 1, 160, 120, 40);
/* Controllers */
private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
* The container for the robot. Contains subsystems, OI devices, and commands.
*/
public RobotContainer() {
configureButtonBindings();
@@ -102,22 +103,22 @@ 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 drum shooter in idle mode
m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooterAim.runShooterWithInput(m_operatorXbox.getLeftXAxis()), m_robotShooter));
m_robotShooter.setDefaultCommand(new RunCommand(
() -> m_robotShooterAim.runShooterWithInput(m_operatorXbox.getLeftXAxis()), m_robotShooter));
// drives the leveler with an axis input from the driver controller
m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController()));
}
/**
* Use this method to define your button->command mappings. Buttons can be created by
* instantiating a {@link GenericHID} or one of its subclasses ({@link
* edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
* {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
*/
* Use this method to define your button->command mappings. Buttons can be
* created by instantiating a {@link GenericHID} or one of its subclasses
* ({@link edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then
* passing it to a {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
*/
private void configureButtonBindings() {
/* Driver Buttons */
// sets solenoids into high gear
new JoystickButton(getDriverJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(true), m_robotDrive));
@@ -126,17 +127,16 @@ public class RobotContainer {
new JoystickButton(getDriverJoystick(), XboxController.LEFT_BUMPER_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(false), m_robotDrive));
/* Operator Buttons */
//TODO: Shooter Buttons
// shoots until released
//new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
// .whileHeld(new ShootShooter(m_robotShooter, m_robotStorage, 5));
new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
.whileHeld(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotStorage), false);
// shoots one ball
//new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON)
// .whileHeld(new ShootShooter(m_robotShooter, m_robotStorage, 1));
new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON)
.whenPressed(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotStorage), false);
// aims the turret
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)