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Added Testing Buttons

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This commit is contained in:
Aarav Shah
2021-01-29 13:14:30 -07:00
parent 8a24586d89
commit 52d801f7ac
2 changed files with 5 additions and 4 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+3 -2
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@@ -46,6 +46,7 @@ import frc4388.robot.commands.auto.Wait;
import frc4388.robot.commands.climber.DisengageRachet;
import frc4388.robot.commands.climber.RunClimberWithTriggers;
import frc4388.robot.commands.climber.RunLevelerWithJoystick;
import frc4388.robot.commands.drive.DriveStraightAtVelocityPID;
import frc4388.robot.commands.drive.DriveStraightToPositionMM;
import frc4388.robot.commands.drive.DriveWithJoystick;
import frc4388.robot.commands.drive.TurnDegrees;
@@ -172,11 +173,11 @@ public class RobotContainer {
/* Test Buttons */
// A driver test button
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.whileHeld(new InstantCommand(() -> m_robotDrive.tankDriveVelocity(1, -1), m_robotDrive));
.whenPressed(new DriveStraightAtVelocityPID(m_robotDrive, 1000));
// B driver test button
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
.whenPressed(new TurnDegrees(m_robotDrive, 90));
.whenPressed(new TurnDegrees(m_robotDrive, m_robotDrive.m_currentAngleYaw + 5));
// Y driver test button
new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
.whenPressed(new Wait(m_robotDrive, 0, 0));
src/main/java/frc4388/robot/commands/drive/TurnDegrees.java
+2 -2
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@@ -50,8 +50,8 @@ public class TurnDegrees extends CommandBase {
m_drive.runTurningPID(m_targetAngleTicksOut);
//SmartDashboard.putNumber("Turning Error", Math.abs(m_currentYawInTicks - m_targetAngleTicksOut));
//SmartDashboard.putNumber("Turning Target", m_targetAngleTicksOut);
SmartDashboard.putNumber("Turning Error", Math.abs(m_currentYawInTicks - m_targetAngleTicksOut));
SmartDashboard.putNumber("Turning Target", m_targetAngleTicksOut);
i++;
}