From ea338ff9c7a22eb7d03facbbd0bca00ce3cf7d82 Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Tue, 2 Mar 2021 17:11:50 -0700 Subject: [PATCH] Manual controls for limelight Co-Authored-By: Nirvan Bhalala <78400306+nbhalala27@users.noreply.github.com> --- src/main/java/frc4388/robot/RobotContainer.java | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 925e2a4..442583b 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -269,15 +269,14 @@ 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 JoystickManualButton(getOperatorJoystick(), XboxController.A_BUTTON, 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())); + .whenPressed(new InstantCommand(() -> m_robotLime.limeOn())); //Run drum manual new JoystickManualButton(getOperatorJoystick(), XboxController.B_BUTTON, true) - .whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(10000))) - .whenReleased(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(0))); + .whenPressed(new InstantCommand(() -> m_robotLime.limeOff()));