Team4388/RiseOfRidgebotics2020
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Added Wait Command, Works

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This commit is contained in:
Aarav Shah
2020-02-21 17:48:05 -07:00
parent 73e2d0fd59
commit e5a9d0c364
3 changed files with 66 additions and 3 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+4 -2
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@@ -13,6 +13,7 @@ import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.command.WaitCommand;
import edu.wpi.first.wpilibj.controller.RamseteController;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
@@ -49,6 +50,7 @@ import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Intake;
import frc4388.robot.subsystems.LED;
import frc4388.robot.commands.TrackTarget;
import frc4388.robot.commands.Wait;
import frc4388.robot.subsystems.Camera;
import frc4388.robot.subsystems.Leveler;
import frc4388.robot.subsystems.Storage;
@@ -89,7 +91,7 @@ public class RobotContainer {
/* Default Commands */
// drives the robot with a two-axis input from the driver controller
m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, getDriverController()));
m_robotDrive.setDefaultCommand(new DriveWithJoystickUsingDeadAssistPID(m_robotDrive, getDriverController()));
// drives intake with input from triggers on the opperator controller
m_robotIntake.setDefaultCommand(new RunIntakeWithTriggers(m_robotIntake, getOperatorController()));
// drives climber with input from triggers on the opperator controller
@@ -159,7 +161,7 @@ public class RobotContainer {
// interrupts any running command
new JoystickButton(getDriverJoystick(), XboxController.LEFT_JOYSTICK_BUTTON)
.whenPressed(new InstantCommand(() -> System.out.print("Gamer"), m_robotDrive));
.whenPressed(new Wait(3, m_robotDrive));
// safety for climber and leveler
new JoystickButton(getOperatorJoystick(), XboxController.BACK_BUTTON)