Team4388/RiseOfRidgebotics2020
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Improve Climber Code

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This commit is contained in:
Keenan D. Buckley
2020-03-06 16:42:53 -07:00
parent d480494910
commit 8113ce1a08
6 changed files with 88 additions and 6 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+7 -2
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@@ -29,6 +29,7 @@ import frc4388.robot.Constants.DriveConstants;
import frc4388.robot.Constants.OIConstants;
import frc4388.robot.commands.auto.AutoPath1FromCenter;
import frc4388.robot.commands.auto.Wait;
import frc4388.robot.commands.climber.DisengageRachet;
import frc4388.robot.commands.climber.RunClimberWithTriggers;
import frc4388.robot.commands.climber.RunLevelerWithJoystick;
import frc4388.robot.commands.drive.DriveStraightToPositionMM;
@@ -101,6 +102,8 @@ public class RobotContainer {
m_robotShooterHood.passRequiredSubsystem(m_robotShooter);
m_robotShooterAim.passRequiredSubsystem(m_robotShooter);
m_robotLeveler.passRequiredSubsystem(m_robotClimber);
configureButtonBindings();
/* Default Commands */
@@ -118,7 +121,7 @@ public class RobotContainer {
// drives climber with input from triggers on the opperator controller
m_robotClimber.setDefaultCommand(new RunClimberWithTriggers(m_robotClimber, getDriverController()));
// drives the leveler with an axis input from the driver controller
m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController()));
m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getOperatorController()));
// 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 storage not
@@ -161,7 +164,9 @@ public class RobotContainer {
new JoystickButton(getDriverJoystick(), XboxController.LEFT_BUMPER_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotPneumatics.setShiftState(false), m_robotDrive));
// Disengages the rachet to allow for a climb
new JoystickButton(getOperatorJoystick(), XboxController.BACK_BUTTON)
.whileHeld(new DisengageRachet(m_robotClimber));
/* Operator Buttons */
// shoots until released