Team4388/RiseOfRidgebotics2020
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Added Storage Manual and ButtonFox.java

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This commit is contained in:
ryan123rudder
2020-03-10 19:37:34 -06:00
parent 6cc3e63b86
commit 69657ace52
3 changed files with 80 additions and 1 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+50
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@@ -35,6 +35,7 @@ import frc4388.robot.commands.climber.RunClimberWithTriggers;
import frc4388.robot.commands.climber.RunLevelerWithJoystick;
import frc4388.robot.commands.drive.DriveStraightToPositionMM;
import frc4388.robot.commands.drive.DriveWithJoystick;
import frc4388.robot.commands.drive.PlaySongDrive;
import frc4388.robot.commands.drive.TurnDegrees;
import frc4388.robot.commands.intake.RunIntakeWithTriggers;
import frc4388.robot.commands.shooter.CalibrateShooter;
@@ -56,6 +57,7 @@ import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.ShooterAim;
import frc4388.robot.subsystems.ShooterHood;
import frc4388.robot.subsystems.Storage;
import frc4388.utility.controller.ButtonFox;
import frc4388.utility.controller.IHandController;
import frc4388.utility.controller.XboxController;
import frc4388.utility.controller.XboxTriggerButton;
@@ -169,6 +171,9 @@ public class RobotContainer {
new JoystickButton(getDriverJoystick(), XboxController.BACK_BUTTON)
.whileHeld(new DisengageRachet(m_robotClimber));
/* Operator Buttons */
// shoots until released
new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
@@ -235,6 +240,35 @@ public class RobotContainer {
.whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false)
//.whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET))
.whenReleased(new InstantCommand(() -> m_robotLime.limeOff()));
/* Button Fox */
// Storage Manual
new JoystickButton(getButtonFox(), ButtonFox.LEFT_SWITCH)
.whileHeld(new ManageStorage(m_robotStorage, StorageMode.MANUAL))
.whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET));
// Meg
new JoystickButton(getButtonFox(), ButtonFox.MIDDLE_SWITCH)
.whileHeld(new PlaySongDrive(m_robotDrive))
.whenReleased(new InterruptSubystem(m_robotDrive));
// Shooter Manual
new JoystickButton(getButtonFox(), ButtonFox.RIGHT_SWITCH)
.whileHeld(new PlaySongDrive(m_robotDrive))
.whenReleased(new InterruptSubystem(m_robotDrive));
// Goal Shooter Position
new JoystickButton(getButtonFox(), ButtonFox.LEFT_BUTTON)
.whileHeld(new PlaySongDrive(m_robotDrive))
.whenReleased(new InterruptSubystem(m_robotDrive));
// Trench Shooter Position
new JoystickButton(getButtonFox(), ButtonFox.RIGHT_BUTTON)
.whileHeld(new PlaySongDrive(m_robotDrive))
.whenReleased(new InterruptSubystem(m_robotDrive));
}
/**
@@ -339,6 +373,11 @@ public class RobotContainer {
return m_operatorXbox;
}
public IHandController getButtonFoxObject()
{
return m_buttonFox;
}
/**
* 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.
@@ -358,4 +397,15 @@ public class RobotContainer {
{
return m_driverXbox.getJoyStick();
}
/**
* Gets the {@link edu.wpi.first.wpilibj.GenericHID#GenericHID(int) Generic HID} for the Button Fox.
* Generic HIDs/Joysticks can be used to set up JoystickButtons.
* @return The IHandController interface for the Button Fox.
*/
public Joystick getButtonFox()
{
return m_buttonFox.getJoyStick();
}
}