Team4388/RiseOfRidgebotics2020
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This commit is contained in:
Aarav Shah
2021-04-03 15:39:00 -06:00
parent 2b760f520b
commit de69bd7a22
5 changed files with 25 additions and 17 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+8 -8
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@@ -173,7 +173,7 @@ public class RobotContainer {
// runs the storage not
//m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0), m_robotStorage));
m_robotStorage.setDefaultCommand(new ManageStorage(m_robotStorage));
//m_robotLime.setDefaultCommand(new RunCommand(() -> m_robotLime.limeOff(), m_robotLime));
m_robotLime.setDefaultCommand(new RunCommand(() -> m_robotLime.limeOff(), m_robotLime));
}
/**
@@ -233,7 +233,7 @@ public class RobotContainer {
//.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(0.5), m_robotStorage))
.whenPressed(new RunCommand(() -> m_robotStorage.runStorage(1), m_robotStorage))
.whenReleased(new InterruptSubystem(m_robotStorage));
// extends or retracts the extender
@@ -254,7 +254,7 @@ public class RobotContainer {
// starts tracking target
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whileHeld(new TrackTarget(m_robotShooterAim))
.whileHeld(new TrackTarget(m_robotShooterAim, m_robotLime))
.whileHeld(new RunCommand(() -> m_robotShooterHood.runAngleAdjustPID(m_robotShooterHood.addFireAngle())))
.whenReleased(new InstantCommand(() -> m_robotLime.limeOff()));
@@ -274,15 +274,15 @@ public class RobotContainer {
//Run drum
new JoystickManualButton(getOperatorJoystick(), XboxController.B_BUTTON, false)
.whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false)
new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
.whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage, m_robotLime), false)
//.whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET))
.whenReleased(new InstantCommand(() -> m_robotLime.limeOff()));
//Run drum manual
new JoystickManualButton(getOperatorJoystick(), XboxController.B_BUTTON, true)
/*new JoystickManualButton(getOperatorJoystick(), XboxController.B_BUTTON, true)
.whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(10000)))
.whenReleased(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(0)));
.whenReleased(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(0)));*/
@@ -356,7 +356,7 @@ public class RobotContainer {
};
m_tenBallAutoMiddle = new TenBallAutoMiddle(m_robotShooterHood, m_robotStorage, m_robotIntake, m_robotShooter,
m_robotShooterAim, m_robotDrive,buildPaths(tenBallAutoMiddlePaths));
m_robotShooterAim, m_robotDrive, m_robotLime, buildPaths(tenBallAutoMiddlePaths));
}
/**