Team4388/RiseOfRidgebotics2020
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Merge branch 'master' into master-updates

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This commit is contained in:
Keenan D. Buckley
2020-03-03 01:04:56 +00:00
committed by GitHub
parent 923c04bf34 faae8cfa6a
commit a6e5103193
13 changed files with 267 additions and 78 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+13 -29
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@@ -29,12 +29,15 @@ import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.commands.AutoPath1FromCenter;
import frc4388.robot.commands.AutoPath2FromRight;
import frc4388.robot.commands.CalibrateShooter;
import frc4388.robot.commands.DrivePositionMPAux;
import frc4388.robot.commands.DriveStraightAtVelocityPID;
import frc4388.robot.commands.DriveStraightToPositionMM;
import frc4388.robot.commands.DriveStraightToPositionPID;
import frc4388.robot.commands.DriveWithJoystick;
import frc4388.robot.commands.DriveWithJoystickUsingDeadAssistPID;
import frc4388.robot.commands.DriveStraightToPositionMM;
import frc4388.robot.commands.DriveStraightToPositionPID;
import frc4388.robot.commands.DriveWithJoystickUsingDeadAssistPID;
@@ -123,7 +126,10 @@ public class RobotContainer {
/* Default Commands */
// drives the robot with a two-axis input from the driver controller
m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, getDriverController()));
m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, m_robotPneumatics, getDriverController()));
//m_robotDrive.setDefaultCommand(new DriveWithJoystickUsingDeadAssistPID(m_robotDrive, m_robotPneumatics, getDriverController()));
// drives intake with input from triggers on the opperator controller
m_robotIntake.setDefaultCommand(new RunIntakeWithTriggers(m_robotIntake, getOperatorController()));
// runs the turret with joystick
@@ -151,15 +157,15 @@ public class RobotContainer {
/* Test Buttons */
// A driver test button
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.whenPressed(new DriveStraightToPositionMM(m_robotDrive, 192));
.whenPressed(new DriveStraightToPositionMM(m_robotDrive, m_robotPneumatics, 24.0));
// B driver test button
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
.whileHeld(new DriveStraightAtVelocityPID(m_robotDrive, 6000));
.whenPressed(new TurnDegrees(m_robotDrive, 90));
// Y driver test button
new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
.whenPressed(new GotoCoordinates(m_robotDrive, 12, 12, 0));
.whenPressed(new Wait(m_robotDrive, 0, 0));
// X driver test button
new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
@@ -249,31 +255,9 @@ public class RobotContainer {
RamseteCommand ramseteCommand = getRamseteCommand(trajectory);
// Run path following command, then stop at the end.
//return ramseteCommand.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//Runs an Autonomous command group that would shoot our preloaded balls, pick up 3 more from the trench, and shoot those
//This assumes that we are positioned against the right wall with our shooter facing the target.
return new SequentialCommandGroup(new Wait(0, m_robotDrive),
//add aim command
//add shooter command
//new DriveStraightToPositionMM(m_robotDrive, 48.0),
/*new ParallelCommandGroup(
new StorageIntakeGroup(m_robotIntake, m_robotStorage),
new DriveStraightToPositionMM(m_robotDrive, 36.0)),
new ParallelCommandGroup(
new StorageIntakeGroup(m_robotIntake, m_robotStorage),
new DriveStraightToPositionMM(m_robotDrive, 36.0)),
new StorageIntakeGroup(m_robotIntake, m_robotStorage),*/
//add aim command
//add shooter command
//Below this would be the picking up additional balls outside of those in the trench directly behind us
return new AutoPath1FromCenter(m_robotDrive, m_robotPneumatics);
//return new AutoPath2FromRight(m_robotDrive, m_robotPneumatics);
//new GotoCoordinates(m_robotDrive, 36, 36),
new GotoCoordinates(m_robotDrive, 36, 36, -90));//,
//new StorageIntakeGroup(m_robotIntake, m_robotStorage),
//new TurnDegrees(m_robotDrive, 75),
//new DriveStraightToPositionMM(m_robotDrive, 18.0),
//new TurnDegrees(m_robotDrive, -45),
//new DriveStraightToPositionMM(m_robotDrive, 12.0));
}
TrajectoryConfig getTrajectoryConfig() {
return new TrajectoryConfig(
@@ -373,4 +357,4 @@ public class RobotContainer {
{
return m_driverXbox.getJoyStick();
}
}
}