Team4388/RiseOfRidgebotics2020
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Finished Drive Straight Velocity PID and started Position PID

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aarav18
2020-02-06 19:43:37 -07:00
parent 987a3a2647
commit 92c4a18c6e
5 changed files with 32 additions and 100 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+2 -4
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@@ -15,7 +15,6 @@ import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.commands.DriveAtVelocityPID;
import frc4388.robot.commands.DriveToDistanceMM;
import frc4388.robot.commands.DriveStraightToPositionPID;
import frc4388.robot.commands.DriveStraightAtVelocityPID;
@@ -68,9 +67,8 @@ public class RobotContainer {
*/
private void configureButtonBindings() {
/* Driver Buttons */
// test command to spin the robot while pressing A on the driver controller
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.whileHeld(() -> m_robotDrive.driveWithInput(0, 1), m_robotDrive);
.whenPressed(new DriveStraightToPositionPID(m_robotDrive, 36));
/* Operator Buttons */
// activates "Lit Mode"
@@ -80,7 +78,7 @@ public class RobotContainer {
/* PID Test Command */
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
.whenPressed(new DriveStraightAtVelocityPID(m_robotDrive, 1000))
.whenPressed(new DriveStraightAtVelocityPID(m_robotDrive, 500))
.whenReleased(new InstantCommand(() -> System.out.print("Gamer"), m_robotDrive));
new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)