Team4388/RiseOfRidgebotics2020
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Add Vision (Untested)

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ryan123rudder
2020-02-13 16:42:54 -07:00
parent d94a650fbf
commit 4c257acfc1
4 changed files with 155 additions and 15 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+9
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@@ -30,6 +30,8 @@ import frc4388.robot.commands.RunLevelerWithJoystick;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Intake;
import frc4388.robot.subsystems.LED;
import frc4388.robot.commands.TrackTarget;
import frc4388.robot.subsystems.Camera;
import frc4388.robot.subsystems.Leveler;
import frc4388.robot.subsystems.Storage;
import frc4388.utility.LEDPatterns;
@@ -53,6 +55,10 @@ public class RobotContainer {
private final Leveler m_robotLeveler = new Leveler();
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);
/* Controllers */
private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
@@ -102,6 +108,9 @@ public class RobotContainer {
new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
.whileHeld(new ShooterVelocityControlPID(m_robotShooter, 4000));
new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON)
.whileHeld(new TrackTarget(m_robotDrive, m_driverXbox));
new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON)
.whenPressed(new RunExtenderOutIn(m_robotIntake));