Team4388/RiseOfRidgebotics2020
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Split shooter.java

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ryan123rudder
2020-02-21 21:58:56 -07:00
parent 29a2dae680
commit 653d9908ad
8 changed files with 122 additions and 83 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+7 -5
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@@ -44,13 +44,14 @@ import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Intake;
import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.ShooterAim;
import frc4388.robot.subsystems.Climber;
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.commands.storageOutake;
import frc4388.robot.commands.StorageOutake;
import frc4388.robot.subsystems.Camera;
import frc4388.robot.subsystems.Leveler;
import frc4388.robot.subsystems.Storage;
@@ -71,6 +72,7 @@ public class RobotContainer {
private final LED m_robotLED = new LED();
private final Intake m_robotIntake = new Intake();
private final Shooter m_robotShooter = new Shooter();
private final ShooterAim m_robotShooterAim = new ShooterAim();
private final Climber m_robotClimber = new Climber();
private final Leveler m_robotLeveler = new Leveler();
private final Storage m_robotStorage = new Storage();
@@ -99,7 +101,7 @@ 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_robotShooter.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()));
@@ -137,7 +139,7 @@ public class RobotContainer {
// aims the turret
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whileHeld(new TrackTarget(m_robotShooter));
.whileHeld(new TrackTarget(m_robotShooter, m_robotShooterAim));
//.whenPressed(new RunCommand(() -> m_robotStorage.storeAim()));
// extends or retracts the extender
@@ -151,7 +153,7 @@ public class RobotContainer {
/* Storage Neo PID Test */
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whileHeld(new TrackTarget(m_robotShooter));
.whileHeld(new TrackTarget(m_robotShooter, m_robotShooterAim));
//Prepares storage for intaking
new JoystickButton(getOperatorJoystick(), XboxController.LEFT_TRIGGER_AXIS)
@@ -159,7 +161,7 @@ public class RobotContainer {
//Runs storage to outtake
new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_TRIGGER_AXIS)
.whileHeld(new storageOutake(m_robotStorage));
.whileHeld(new StorageOutake(m_robotStorage));
}
/**