Team4388/RiseOfRidgebotics2020
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Merge branch 'master' into auto-programming

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This commit is contained in:
Kyra
2020-03-10 20:01:11 -06:00
parent 28d9e0a5f4 c34c29af80
commit b5155fa341
24 changed files with 530 additions and 519 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+20 -8
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@@ -35,6 +35,8 @@ import frc4388.robot.Constants.DriveConstants;
import frc4388.robot.Constants.OIConstants;
import frc4388.robot.commands.auto.EightBallAutoMiddle;
import frc4388.robot.commands.auto.SixBallAutoMiddle;
import frc4388.robot.commands.InterruptSubystem;
import frc4388.robot.commands.auto.AutoPath1FromCenter;
import frc4388.robot.commands.auto.Wait;
import frc4388.robot.commands.climber.DisengageRachet;
import frc4388.robot.commands.climber.RunClimberWithTriggers;
@@ -47,6 +49,12 @@ import frc4388.robot.commands.shooter.CalibrateShooter;
import frc4388.robot.commands.shooter.ShootFireGroup;
import frc4388.robot.commands.shooter.TrackTarget;
import frc4388.robot.commands.shooter.TrimShooter;
import frc4388.robot.commands.shooter.ShootPrepGroup;
import frc4388.robot.commands.shooter.TrackTarget;
import frc4388.robot.commands.shooter.TrimShooter;
import frc4388.robot.commands.storage.ManageStorage;
import frc4388.robot.commands.storage.StoragePrep;
import frc4388.robot.commands.storage.ManageStorage.StorageMode;
import frc4388.robot.subsystems.Camera;
import frc4388.robot.subsystems.Climber;
import frc4388.robot.subsystems.Drive;
@@ -128,7 +136,7 @@ public class RobotContainer {
// runs the turret with joystick
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));
m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(1500), m_robotShooter));
// drives climber with input from triggers on the opperator controller
m_robotClimber.setDefaultCommand(new RunClimberWithTriggers(m_robotClimber, getDriverController()));
// drives the leveler with an axis input from the driver controller
@@ -137,7 +145,7 @@ public class RobotContainer {
m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
// runs the storage not
//m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0), m_robotStorage));
m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0), m_robotStorage));
m_robotStorage.setDefaultCommand(new ManageStorage(m_robotStorage, StorageMode.IDLE));
//m_robotLime.setDefaultCommand(new RunCommand(() -> m_robotLime.limeOff(), m_robotLime));
}
@@ -182,17 +190,19 @@ public class RobotContainer {
/* Operator Buttons */
// shoots until released
new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
//.whileHeld(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false)
//.whileHeld(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false);
//.whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET));
//.whenReleased(new RunCommand(() -> m_robotLime.limeOff()));
.whenPressed(new RunCommand(() -> m_robotStorage.runStorage(-1), m_robotStorage))
.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
.whenReleased(new InterruptSubystem(m_robotStorage));
// shoots one ball
new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON)
//.whenPressed(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false)
//.whenPressed(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false);
//.whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET));
//.whenReleased(new RunCommand(() -> m_robotLime.limeOff()));
.whenPressed(new RunCommand(() -> m_robotStorage.runStorage(1), m_robotStorage))
.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
.whenReleased(new InterruptSubystem(m_robotStorage));
// extends or retracts the extender
new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
@@ -212,7 +222,8 @@ public class RobotContainer {
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whileHeld(new TrackTarget(m_robotShooterAim))
.whileHeld(new RunCommand(() -> m_robotShooterHood.runAngleAdjustPID(m_robotShooterHood.addFireAngle())))
//.whenReleased(new StoragePrepIntake(m_robotIntake, m_robotStorage))
//.whenPressed(new StoragePrep(m_robotStorage))
//.whenReleased(new InterruptSubystem(m_robotStorage))
.whenReleased(new InstantCommand(() -> m_robotLime.limeOff()));
//.whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(13000)));
//.whileHeld(new HoldTarget(m_robotShooter, m_robotShooterAim))
@@ -239,7 +250,8 @@ public class RobotContainer {
//Run drum
new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
.whileHeld(new ShootFireGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false)
.whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false)
//.whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET))
.whenReleased(new InstantCommand(() -> m_robotLime.limeOff()));
}