Team4388/RiseOfRidgebotics2020
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Fixing the thing

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ryan123rudder
2020-02-25 17:44:59 -07:00
parent 371cc7ba4a
commit 716dc83480
6 changed files with 28 additions and 18 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+15 -4
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@@ -48,7 +48,9 @@ import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.ShooterAim;
import frc4388.robot.subsystems.Climber;
import frc4388.robot.commands.RunLevelerWithJoystick;
import frc4388.robot.commands.ShootFireGroup;
import frc4388.robot.commands.ShootFullGroup;
import frc4388.robot.commands.ShootPrepGroup;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Intake;
import frc4388.robot.subsystems.LED;
@@ -104,10 +106,11 @@ 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_robotShooterAim.runShooterWithInput(m_operatorXbox.getLeftXAxis()), m_robotShooter));
m_robotShooterAim.setDefaultCommand(new RunCommand(() -> m_robotShooterAim.runShooterWithInput(m_operatorXbox.getLeftXAxis()), m_robotShooterAim));
// drives the leveler with an axis input from the driver controller
m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController()));
// moves the drum not
m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooter(0), m_robotShooter));
}
@@ -137,8 +140,10 @@ public class RobotContainer {
// shoots one ball
new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON)
.whenPressed(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotStorage), false);
.whenPressed(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotStorage), false)
.whenReleased(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(0, m_robotShooter.m_shooterFalcon.getSelectedSensorVelocity())));
//.whenReleased(new InstantCommand(() -> m_robotShooterAim.runShooterWithInput(0), m_robotShooterAim));
// extends or retracts the extender
new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
.whenPressed(new RunExtenderOutIn(m_robotIntake));
@@ -160,6 +165,12 @@ public class RobotContainer {
//Runs storage to outtake
new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_TRIGGER_AXIS)
.whileHeld(new StorageOutake(m_robotStorage));
new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON)
.whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotStorage));
new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
.whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(13000, m_robotShooter.m_shooterFalcon.getSelectedSensorVelocity())));
}
/**