Team4388/RiseOfRidgebotics2020
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Create Shooter Subsystem and PID stuff

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Created shooter subsystem, set up command for shooter to run, set up PID constants, set up gains method in shooter.
This commit is contained in:
Kyra
2020-01-18 15:28:48 -08:00
parent 101cfb5d10
commit d9bd213ff2
5 changed files with 102 additions and 24 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+9 -2
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@@ -24,6 +24,7 @@ import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Elevator;
import frc4388.robot.subsystems.Intake;
import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.Shooter;
import frc4388.utility.LEDPatterns;
import frc4388.utility.controller.IHandController;
import frc4388.utility.controller.XboxController;
@@ -41,6 +42,7 @@ public class RobotContainer {
private final LED m_robotLED = new LED();
private final Intake m_robotIntake = new Intake();
private final Elevator m_robotElevator = new Elevator();
private final Shooter m_robotShooter = new Shooter();
/* Controllers */
private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
@@ -57,12 +59,15 @@ public class RobotContainer {
m_robotDrive.setDefaultCommand(new RunCommand(() -> m_robotDrive.driveWithInput(
getDriverController().getLeftYAxis(),
getDriverController().getRightXAxis()), m_robotDrive));
// drives motor with input from triggers on the opperator controller
// drives motor with input from triggers on the operator controller
m_robotIntake.setDefaultCommand(new RunIntakeWithTriggers(m_robotIntake, getOperatorController()));
// moves elevator with one-axis input from the driver controller
m_robotElevator.setDefaultCommand(new RunCommand(() -> m_robotElevator.moveElevator(
getOperatorController().getLeftYAxis()), m_robotElevator
));
// continually sends updates to the Blinkin LED controller to keep the lights on
m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
}
@@ -85,7 +90,6 @@ public class RobotContainer {
.whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
.whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
/* PID Test Command */
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
.whenPressed(new DriveToDistancePID(m_robotDrive, 5000));
@@ -100,6 +104,9 @@ public class RobotContainer {
new JoystickButton(getDriverJoystick(), XboxController.LEFT_JOYSTICK_BUTTON)
.whenPressed(new InstantCommand(null, m_robotDrive));
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whileHeld(() -> m_robotShooter.runDrumShooter(1), m_robotShooter);
}
/**