Team4388/RiseOfRidgebotics2020
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Merge branch 'master' into add-storage

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This commit is contained in:
Keenan D. Buckley
2020-02-08 21:07:10 +00:00
committed by GitHub
parent 33f974d6d9 13801cabc3
commit 6398a17f5d
17 changed files with 627 additions and 69 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+29 -8
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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.DriveStraightAtVelocityPID;
import frc4388.robot.commands.DriveWithJoystick;
import frc4388.robot.commands.RunIntakeWithTriggers;
import frc4388.robot.subsystems.Drive;
@@ -69,17 +70,31 @@ public class RobotContainer {
*/
private void configureButtonBindings() {
/* Driver Buttons */
// test command to spin the robot while pressing A on the driver controller
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.whileHeld(() -> m_robotDrive.driveWithInput(0, 1));
//new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
// .whenPressed(new DriveStraightToPositionPID(m_robotDrive, 36));
/* Operator Buttons */
// activates "Lit Mode"
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
.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));
}
/**
* Sets Motors to a NeutralMode.
* @param mode NeutralMode to set motors to
@@ -99,14 +114,16 @@ public class RobotContainer {
}
/**
* Add your docs here.
* Used for analog inputs like triggers and axises.
* @return IHandController interface for the Driver Controller.
*/
public IHandController getDriverController() {
return m_driverXbox;
}
/**
* Add your docs here.
* Used for analog inputs like triggers and axises.
* @return The IHandController interface for the Operator Controller.
*/
public IHandController getOperatorController()
{
@@ -114,7 +131,9 @@ public class RobotContainer {
}
/**
* Add your docs here.
* Gets the {@link edu.wpi.first.wpilibj.GenericHID#GenericHID(int) Generic HID} for the Operator Xbox Controller.
* Generic HIDs/Joysticks can be used to set up JoystickButtons.
* @return The IHandController interface for the Operator Controller.
*/
public Joystick getOperatorJoystick()
{
@@ -122,7 +141,9 @@ public class RobotContainer {
}
/**
* Add your docs here.
* Gets the {@link edu.wpi.first.wpilibj.GenericHID#GenericHID(int) Generic HID} for the Driver Xbox Controller.
* Generic HIDs/Joysticks can be used to set up JoystickButtons.
* @return The IHandController interface for the Driver Controller.
*/
public Joystick getDriverJoystick()
{