Team4388/RiseOfRidgebotics2020
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notes: failed
This commit is contained in:
ryan123rudder
2020-03-02 21:03:39 -07:00
parent a6e5103193
commit ddf18c3a93
14 changed files with 100 additions and 105 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+22 -23
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@@ -181,22 +181,31 @@ public class RobotContainer {
.whenPressed(new InstantCommand(() -> m_robotPneumatics.setShiftState(false), m_robotDrive));
/* Operator Buttons */
// shoots until released
new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
.whileHeld(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotStorage), false)
.whenReleased(new RunCommand(() -> m_robotLime.limeOff()));
//.whileHeld(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotStorage), false)
//.whenReleased(new RunCommand(() -> m_robotLime.limeOff()));
.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(0.8)));
// shoots one ball
new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON)
.whenPressed(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotStorage), false)
.whenReleased(new RunCommand(() -> m_robotLime.limeOff()));
//.whenPressed(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotStorage), false)
//.whenReleased(new RunCommand(() -> m_robotLime.limeOff()));
.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-0.8)));
// extends or retracts the extender
new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
//.whenPressed(new RunExtenderOutIn(m_robotIntake));
.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(0.3)));
.whileHeld(new RunCommand(() -> m_robotIntake.runExtender(0.5)))
.whenReleased(new RunCommand(() -> m_robotIntake.runExtender(0)));
new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON)
.whileHeld(new RunCommand(() -> m_robotIntake.runExtender(-0.5)))
.whenReleased(new RunCommand(() -> m_robotIntake.runExtender(0)));
// safety for climber and leveler
new JoystickButton(getOperatorJoystick(), XboxController.BACK_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotClimber.setSafetyPressed(), m_robotClimber))
@@ -206,9 +215,9 @@ public class RobotContainer {
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
//.whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotStorage))
//.whenReleased(new StoragePrepIntake(m_robotIntake, m_robotStorage));
.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-0.3)));
//.whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(13000)));
.whileHeld(new HoldTarget(m_robotShooter, m_robotShooterAim))
.whileHeld(new RunCommand(() -> m_robotShooter.runAngleAdjustPID(30)));
//Prepares storage for intaking
//new JoystickButton(getOperatorJoystick(), XboxController.LEFT_TRIGGER_AXIS)
// .whileHeld(new StorageIntake(m_robotIntake, m_robotStorage));
@@ -217,21 +226,11 @@ public class RobotContainer {
//new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_TRIGGER_AXIS)
// .whileHeld(new StorageOutake(m_robotStorage));
//TEST FOR HOOD
new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON)
//.whileHeld(new RunCommand(() -> m_robotShooter.m_angleAdjustMotor.set(0.3)))
//.whenReleased(new RunCommand(() -> m_robotShooter.m_angleAdjustMotor.set(0)));
.whileHeld(new RunCommand(() -> m_robotIntake.runIntakeOut(0.1)))
.whenReleased(new RunCommand(() -> m_robotIntake.runIntakeOut(0.0)));
//.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-0.3)));
//TEST FOR HOOD
//Run drum
new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
//.whileHeld(new RunCommand(() -> m_robotShooter.m_angleAdjustMotor.set(-0.3)))
//.whenReleased(new RunCommand(() -> m_robotShooter.m_angleAdjustMotor.set(0)));
.whileHeld(new RunCommand(() -> m_robotIntake.runIntakeIn(0.1)))
.whenReleased(new RunCommand(() -> m_robotIntake.runIntakeIn(0.0)));
//.whenPressed(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotStorage));
.whenPressed(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(13000)));
//.whenReleased(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(0)));
//Trims shooter
new JoystickButton(getOperatorJoystick(), XboxController.TOP_BOTTOM_DPAD_AXIS)