Team4388/RiseOfRidgebotics2020
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Finished up Velocity Control PID

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Shooter PID
This commit is contained in:
aarav18
2020-01-20 08:59:20 -08:00
parent de4265be23
commit a96cd7a3e2
3 changed files with 54 additions and 2 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+5 -1
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@@ -20,6 +20,7 @@ import frc4388.robot.commands.DriveAtVelocityPID;
import frc4388.robot.commands.DriveToDistanceMM;
import frc4388.robot.commands.DriveToDistancePID;
import frc4388.robot.commands.RunIntakeWithTriggers;
import frc4388.robot.commands.ShooterVelocityControlPID;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Elevator;
import frc4388.robot.subsystems.Intake;
@@ -99,13 +100,16 @@ public class RobotContainer {
new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
.whenPressed(new DriveAtVelocityPID(m_robotDrive, 2000));
new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
.whileHeld(new ShooterVelocityControlPID(m_robotShooter, 2000));
new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON)
.whenPressed(new DistanceElevatorPID(m_robotElevator, 20000));
new JoystickButton(getDriverJoystick(), XboxController.LEFT_JOYSTICK_BUTTON)
.whenPressed(new InstantCommand(null, m_robotDrive));
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
.whileHeld(() -> m_robotShooter.runDrumShooter(1), m_robotShooter);
}