Team4388/RiseOfRidgebotics2020
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Fixes of intake and beams (untested)

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ryan123rudder
2020-03-02 18:04:08 -07:00
parent c7e50a3620
commit 923c04bf34
9 changed files with 95 additions and 44 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+21 -13
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@@ -136,7 +136,8 @@ public class RobotContainer {
m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController()));
// continually sends updates to the Blinkin LED controller to keep the lights on
m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
//m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0), m_robotStorage));
// runs the storage not
m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0), m_robotStorage));
//m_robotLime.setDefaultCommand(new RunCommand(() -> m_robotLime.limeOff(), m_robotLime));
}
@@ -188,8 +189,8 @@ public class RobotContainer {
// extends or retracts the extender
new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
.whenPressed(new RunExtenderOutIn(m_robotIntake));
//.whenPressed(new RunExtenderOutIn(m_robotIntake));
.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(0.3)));
// safety for climber and leveler
new JoystickButton(getOperatorJoystick(), XboxController.BACK_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotClimber.setSafetyPressed(), m_robotClimber))
@@ -197,27 +198,34 @@ 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_robotStorage.runStorage(-0.3)));
//Prepares storage for intaking
new JoystickButton(getOperatorJoystick(), XboxController.LEFT_TRIGGER_AXIS)
.whileHeld(new StorageIntake(m_robotIntake, m_robotStorage));
//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));
//new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_TRIGGER_AXIS)
// .whileHeld(new StorageOutake(m_robotStorage));
//TEST FOR HOOD
new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON)
.whileHeld(new RunCommand(() -> m_robotShooter.m_angleAdjustMotor.set(0.3)))
.whenReleased(new RunCommand(() -> m_robotShooter.m_angleAdjustMotor.set(0)));
//.whileHeld(new RunCommand(() -> m_robotShooter.m_angleAdjustMotor.set(0.3)))
//.whenReleased(new RunCommand(() -> m_robotShooter.m_angleAdjustMotor.set(0)));
.whileHeld(new RunCommand(() -> m_robotIntake.runIntakeOut(0.1)))
.whenReleased(new RunCommand(() -> m_robotIntake.runIntakeOut(0.0)));
//.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-0.3)));
//TEST FOR HOOD
new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
.whileHeld(new RunCommand(() -> m_robotShooter.m_angleAdjustMotor.set(-0.3)))
.whenReleased(new RunCommand(() -> m_robotShooter.m_angleAdjustMotor.set(0)));
//.whileHeld(new RunCommand(() -> m_robotShooter.m_angleAdjustMotor.set(-0.3)))
//.whenReleased(new RunCommand(() -> m_robotShooter.m_angleAdjustMotor.set(0)));
.whileHeld(new RunCommand(() -> m_robotIntake.runIntakeIn(0.1)))
.whenReleased(new RunCommand(() -> m_robotIntake.runIntakeIn(0.0)));
//Trims shooter
new JoystickButton(getOperatorJoystick(), XboxController.TOP_BOTTOM_DPAD_AXIS)