Team4388/RiseOfRidgebotics2020
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This commit is contained in:
ryan123rudder
2020-03-13 20:51:06 -06:00
parent 90b3af3bd5
commit a62a91f5f3
10 changed files with 434 additions and 17 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+11 -11
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@@ -49,6 +49,7 @@ import frc4388.robot.commands.climber.RunLevelerWithJoystick;
import frc4388.robot.commands.drive.DriveStraightToPositionMM;
import frc4388.robot.commands.drive.DriveWithJoystick;
import frc4388.robot.commands.drive.PlaySongDrive;
import frc4388.robot.commands.drive.SkipSong;
import frc4388.robot.commands.drive.TurnDegrees;
import frc4388.robot.commands.intake.RunIntakeWithTriggers;
import frc4388.robot.commands.shooter.CalibrateShooter;
@@ -136,7 +137,7 @@ public class RobotContainer {
public RobotContainer() {
/* Passing Drive and Pneumatics Subsystems */
m_robotPneumatics.passRequiredSubsystem(m_robotDrive);
m_robotDrive.passRequiredSubsystem(m_robotPneumatics);
m_robotDrive.passRequiredSubsystem(m_robotPneumatics, m_robotShooter);
m_robotShooter.passRequiredSubsystem(m_robotShooterHood, m_robotShooterAim);
m_robotShooterHood.passRequiredSubsystem(m_robotShooter);
@@ -184,8 +185,8 @@ public class RobotContainer {
private void configureButtonBindings() {
/* Test Buttons */
// A driver test button
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.whileHeld(new InstantCommand(() -> m_robotDrive.tankDriveVelocity(1, -1), m_robotDrive));
/*new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.whileHeld(new InstantCommand(() -> m_robotDrive.tankDriveVelocity(1, -1), m_robotDrive));*/
// B driver test button
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
@@ -289,7 +290,7 @@ public class RobotContainer {
// Meg
new JoystickButton(getButtonFox(), ButtonFox.MIDDLE_SWITCH)
.whenPressed(new PlaySongDrive(m_robotDrive))
.whileHeld(new PlaySongDrive(m_robotDrive, m_robotShooter))
.whenReleased(new InterruptSubystem(m_robotDrive));
// Shooter Manual
@@ -298,22 +299,21 @@ public class RobotContainer {
.whenReleased(new ShooterManual(false));
// Goal Shooter Position
new JoystickButton(getButtonFox(), ButtonFox.LEFT_BUTTON)
.whileHeld(new ShooterGoalPosition(m_robotShooter, m_robotShooterHood, m_robotShooterAim))
.whenReleased(new InterruptSubystem(m_robotShooter))
.whenReleased(new InterruptSubystem(m_robotShooterHood))
.whenReleased(new InterruptSubystem(m_robotShooterAim));
new JoystickButton(getButtonFox(), ButtonFox.RIGHT_BUTTON)
.whileHeld(new PlaySongDrive(m_robotDrive, m_robotShooter))
.whenReleased(new InterruptSubystem(m_robotDrive));
// Trench Shooter Position
new JoystickButton(getButtonFox(), ButtonFox.RIGHT_BUTTON)
new JoystickButton(getButtonFox(), ButtonFox.LEFT_BUTTON)
.whileHeld(new ShooterTrenchPosition(m_robotShooter, m_robotShooterHood, m_robotShooterAim))
.whenReleased(new InterruptSubystem(m_robotShooter))
.whenReleased(new InterruptSubystem(m_robotShooterHood))
.whenReleased(new InterruptSubystem(m_robotShooterAim));
//.whenPressed(new SkipSong(m_robotDrive, 1));
}
public void buildAutos() {
resetOdometry(new Pose2d(0, 0, new Rotation2d(180)));
//resetOdometry(new Pose2d(0, 0, new Rotation2d(180)));
String[] sixBallAutoMiddlePaths = new String[]{
"SixBallMidComplete"