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Created Velocity Control PID and Interrupt Command

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Aarav
2020-01-17 19:44:54 -07:00
parent 4a74baa56b
commit 4d7a03d230
3 changed files with 62 additions and 0 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+7
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@@ -15,6 +15,7 @@ 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.DriveAtVelocityPID;
import frc4388.robot.commands.DriveToDistanceMM;
import frc4388.robot.commands.DriveToDistancePID;
import frc4388.robot.commands.RunIntakeWithTriggers;
@@ -83,6 +84,12 @@ public class RobotContainer {
new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
.whenPressed(new DriveToDistanceMM(m_robotDrive, 5000));
new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
.whenPressed(new DriveAtVelocityPID(m_robotDrive, 2000));
new JoystickButton(getDriverJoystick(), XboxController.LEFT_JOYSTICK_BUTTON)
.whenPressed(new InstantCommand(null, m_robotDrive));
}
/**