Team4388/RiseOfRidgebotics2020
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Messing with Turret and storage

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Not completly sure why the shooting actions arent happening in the right order
This commit is contained in:
ryan123rudder
2020-02-28 20:05:56 -07:00
parent 7c83d87085
commit b45f66b023
15 changed files with 85 additions and 35 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+14 -6
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@@ -41,7 +41,6 @@ import frc4388.robot.commands.StorageIntake;
import frc4388.robot.commands.RunClimberWithTriggers;
import frc4388.robot.commands.RunExtenderOutIn;
import frc4388.robot.commands.RunIntakeWithTriggers;
import frc4388.robot.commands.StorageIntakeGroup;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Intake;
import frc4388.robot.subsystems.LED;
@@ -105,7 +104,7 @@ public class RobotContainer {
// drives intake with input from triggers on the opperator controller
m_robotIntake.setDefaultCommand(new RunIntakeWithTriggers(m_robotIntake, getOperatorController()));
// runs the turret with joystick
m_robotShooterAim.setDefaultCommand(new RunCommand(() -> m_robotShooterAim.runShooterWithInput(m_operatorXbox.getLeftXAxis()), m_robotShooterAim));
m_robotShooterAim.setDefaultCommand(new RunCommand(() -> m_robotShooterAim.runShooterWithInput(-m_operatorXbox.getLeftXAxis()), m_robotShooterAim));
// moves the drum not
m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooter(0), m_robotShooter));
// drives climber with input from triggers on the opperator controller
@@ -114,6 +113,8 @@ public class RobotContainer {
m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController()));
// continually sends updates to the Blinkin LED controller to keep the lights on
m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
//m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0), m_robotStorage));
//m_robotLime.setDefaultCommand(new RunCommand(() -> m_robotLime.limeOff(), m_robotLime));
}
/**
@@ -149,15 +150,18 @@ public class RobotContainer {
new JoystickButton(getDriverJoystick(), XboxController.LEFT_BUMPER_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(true), m_robotDrive));
/* Operator Buttons */
// shoots until released
new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
.whileHeld(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotStorage), false);
.whileHeld(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotStorage), false)
.whenReleased(new RunCommand(() -> m_robotLime.limeOff()));
// shoots one ball
new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON)
.whileHeld(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotStorage), false);
.whenPressed(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotStorage), false)
.whenReleased(new RunCommand(() -> m_robotLime.limeOff()));
// extends or retracts the extender
new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
@@ -171,7 +175,9 @@ public class RobotContainer {
// starts tracking target
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotStorage))
//.whileHeld(new TrackTarget(m_robotShooter,m_robotShooterAim))
.whenReleased(new StoragePrepIntake(m_robotIntake, m_robotStorage));
//.whenReleased(new RunCommand(() -> m_robotLime.limeOff()));
//Prepares storage for intaking
new JoystickButton(getOperatorJoystick(), XboxController.LEFT_TRIGGER_AXIS)
@@ -182,10 +188,12 @@ public class RobotContainer {
.whileHeld(new StorageOutake(m_robotStorage));
new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON)
.whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotStorage));
.whileHeld(new RunCommand(() -> m_robotShooter.m_angleAdjustMotor.set(0.2)))
.whenReleased(new RunCommand(() -> m_robotShooter.m_angleAdjustMotor.set(0)));
new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
.whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(13000, m_robotShooter.m_shooterFalcon.getSelectedSensorVelocity())));
.whileHeld(new RunCommand(() -> m_robotShooter.m_angleAdjustMotor.set(-0.2)))
.whenReleased(new RunCommand(() -> m_robotShooter.m_angleAdjustMotor.set(0)));
}
/**