Team4388/RiseOfRidgebotics2020
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Update Buttons

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This commit is contained in:
Keenan D. Buckley
2020-03-02 23:08:15 -07:00
parent 97aa73d69a
commit 6d501b6bb9
1 changed files with 34 additions and 28 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+34 -28
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@@ -37,7 +37,10 @@ import frc4388.robot.commands.drive.TurnDegrees;
import frc4388.robot.commands.intake.RunIntakeWithTriggers;
import frc4388.robot.commands.shooter.CalibrateShooter;
import frc4388.robot.commands.shooter.HoldTarget;
import frc4388.robot.commands.shooter.ShootFullGroup;
import frc4388.robot.commands.shooter.ShootPrepGroup;
import frc4388.robot.commands.shooter.TrimShooter;
import frc4388.robot.commands.storage.StoragePrepIntake;
import frc4388.robot.subsystems.Camera;
import frc4388.robot.subsystems.Climber;
import frc4388.robot.subsystems.Drive;
@@ -51,6 +54,7 @@ import frc4388.robot.subsystems.ShooterAim;
import frc4388.robot.subsystems.Storage;
import frc4388.utility.controller.IHandController;
import frc4388.utility.controller.XboxController;
import frc4388.utility.controller.XboxTriggerButton;
/**
* This class is where the bulk of the robot should be declared. Since
@@ -138,6 +142,8 @@ public class RobotContainer {
new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
.whenPressed(new InstantCommand());
/* Driver Buttons */
// sets solenoids into high gear
new JoystickButton(getDriverJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
@@ -149,29 +155,26 @@ public class RobotContainer {
/* Operator Buttons */
// shoots until released
new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
//.whileHeld(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotStorage), false)
//.whenReleased(new RunCommand(() -> m_robotLime.limeOff()));
.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(0.8)));
.whileHeld(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotStorage), false)
.whenReleased(new RunCommand(() -> m_robotLime.limeOff()));
//.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(0.8)));
// shoots one ball
new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON)
//.whenPressed(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotStorage), false)
//.whenReleased(new RunCommand(() -> m_robotLime.limeOff()));
.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-0.8)));
.whenPressed(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotStorage), false)
.whenReleased(new RunCommand(() -> m_robotLime.limeOff()));
//.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-0.8)));
// extends or retracts the extender
new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
.whileHeld(new RunCommand(() -> m_robotIntake.runExtender(0.5)))
.whenReleased(new RunCommand(() -> m_robotIntake.runExtender(0)));
.whenReleased(new InstantCommand(() -> m_robotIntake.runExtender(0)));
new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON)
.whileHeld(new RunCommand(() -> m_robotIntake.runExtender(-0.5)))
.whenReleased(new RunCommand(() -> m_robotIntake.runExtender(0)));
.whenReleased(new InstantCommand(() -> m_robotIntake.runExtender(0)));
// safety for climber and leveler
new JoystickButton(getOperatorJoystick(), XboxController.BACK_BUTTON)
@@ -180,24 +183,11 @@ public class RobotContainer {
// starts tracking target
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
//.whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotStorage))
//.whenReleased(new StoragePrepIntake(m_robotIntake, m_robotStorage));
.whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotStorage))
.whenReleased(new StoragePrepIntake(m_robotIntake, m_robotStorage));
//.whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(13000)));
.whileHeld(new HoldTarget(m_robotShooter, m_robotShooterAim))
.whileHeld(new RunCommand(() -> m_robotShooter.runAngleAdjustPID(30)));
//Prepares storage for intaking
//new JoystickButton(getOperatorJoystick(), XboxController.LEFT_TRIGGER_AXIS)
// .whileHeld(new StorageIntake(m_robotIntake, m_robotStorage));
//Runs storage to outtake
//new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_TRIGGER_AXIS)
// .whileHeld(new StorageOutake(m_robotStorage));
//Run drum
new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
//.whenPressed(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotStorage));
.whenPressed(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(13000)));
//.whenReleased(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(0)));
//.whileHeld(new HoldTarget(m_robotShooter, m_robotShooterAim))
//.whileHeld(new RunCommand(() -> m_robotShooter.runAngleAdjustPID(30)));
//Trims shooter
new JoystickButton(getOperatorJoystick(), XboxController.TOP_BOTTOM_DPAD_AXIS)
@@ -206,6 +196,22 @@ public class RobotContainer {
//Calibrates turret and hood
new JoystickButton(getOperatorJoystick(), XboxController.START_BUTTON)
.whileHeld(new CalibrateShooter(m_robotShooter, m_robotShooterAim));
//Prepares storage for intaking
new XboxTriggerButton(m_operatorXbox, XboxTriggerButton.LEFT_TRIGGER)
.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-0.8)))
.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0)));
//Runs storage to outtake
new XboxTriggerButton(m_operatorXbox, XboxTriggerButton.RIGHT_TRIGGER)
.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(0.8)))
.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0)));
//Run drum
//new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
//.whenPressed(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotStorage));
//.whenPressed(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(13000)));
//.whenReleased(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(0)));
}
/**