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Turn Degrees command works, Keenan did work on Dead Assist Control Mode

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This commit is contained in:
Aarav Shah
2020-02-21 19:44:51 -07:00
parent e5a9d0c364
commit 9f1aff6c8d
5 changed files with 114 additions and 15 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+3 -2
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@@ -50,6 +50,7 @@ import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Intake;
import frc4388.robot.subsystems.LED;
import frc4388.robot.commands.TrackTarget;
import frc4388.robot.commands.TurnDegrees;
import frc4388.robot.commands.Wait;
import frc4388.robot.subsystems.Camera;
import frc4388.robot.subsystems.Leveler;
@@ -144,7 +145,7 @@ public class RobotContainer {
// resets the yaw of the pigeon
new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
.whileHeld(new RunCommand(() -> m_robotDrive.tankDriveVelocity(9, 3), m_robotDrive));
.whileHeld(new RunCommand(() -> m_robotDrive.runMotionMagicPID(12, 0), m_robotDrive));
// turn 45 degrees
new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
@@ -161,7 +162,7 @@ public class RobotContainer {
// interrupts any running command
new JoystickButton(getDriverJoystick(), XboxController.LEFT_JOYSTICK_BUTTON)
.whenPressed(new Wait(3, m_robotDrive));
.whenPressed(new TurnDegrees(90, m_robotDrive));
// safety for climber and leveler
new JoystickButton(getOperatorJoystick(), XboxController.BACK_BUTTON)