Team4388/RiseOfRidgebotics2020
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Casual Button Config

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This commit is contained in:
Abhishrek05
2021-11-18 17:05:40 -07:00
parent ec5d2b3bc4
commit 9e6c9f29b5
1 changed files with 10 additions and 31 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+10 -31
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@@ -23,6 +23,7 @@ import edu.wpi.first.wpilibj.trajectory.Trajectory;
import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
import edu.wpi.first.wpilibj.trajectory.TrajectoryUtil;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RamseteCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
@@ -163,6 +164,7 @@ public class RobotContainer {
}
public void setControls(Mode mode) {
CommandScheduler.getInstance().clearButtons();
switch (mode) {
case COMPETITIVE:
System.out.println("COMP CONTROLS");
@@ -386,22 +388,7 @@ public class RobotContainer {
/* Test Buttons */
// A driver test button
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.whileHeld(new ShooterTrenchPosition(m_robotShooter, m_robotShooterHood, m_robotShooterAim))
.whenReleased(new InterruptSubystem(m_robotShooter))
.whenReleased(new InterruptSubystem(m_robotShooterHood));
// B driver test button
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
.whileHeld(new RunCommand(() -> m_robotDrive.runDriveVelocityPID(2000, 45), m_robotDrive));
// Y driver test button
new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotDrive.runTurningPID(1000), m_robotDrive));
// X driver test button
new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
.whenPressed(new InstantCommand());
new JoystickButton(getDriverJoystick(), XboxController.START_BUTTON)
.whenPressed(new InstantCommand(Mode::toggle));
@@ -415,9 +402,8 @@ 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(getDriverJoystick(), XboxController.BACK_BUTTON)
.whileHeld(new DisengageRachet(m_robotClimber));
/* Operator Buttons */
// shoots until released
@@ -452,11 +438,8 @@ public class RobotContainer {
.whenPressed(new InstantCommand(() -> m_robotClimber.setSafetyPressed(), m_robotClimber))
.whenReleased(new InstantCommand(() -> m_robotClimber.setSafetyNotPressed(), m_robotClimber));
// starts tracking target
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whileHeld(new TrackTarget(m_robotShooterAim))
.whileHeld(new RunCommand(() -> m_robotShooterHood.runAngleAdjustPID(m_robotShooterHood.addFireAngle())))
.whenReleased(new InstantCommand(() -> m_robotLime.limeOff()));
//.whileHeld(new RunCommand(() -> m_robotShooterAim.runshooterRotatePID()));
//.whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(11000)));
@@ -473,15 +456,11 @@ public class RobotContainer {
//Run drum
new JoystickManualButton(getOperatorJoystick(), XboxController.B_BUTTON, false)
.whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false)
//.whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET))
.whenReleased(new InstantCommand(() -> m_robotLime.limeOff()));
//Run drum manual
new JoystickManualButton(getOperatorJoystick(), XboxController.B_BUTTON, true)
.whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(10000)))
new JoystickManualButton(getOperatorJoystick(), XboxController.A_BUTTON, true)
.whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(6000)))
.whenReleased(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(0)));