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Added DriveWithJoystickAuxPID

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Has been tested, does work but it stalled a falcon.
This commit is contained in:
keenandbuckley
2020-02-08 12:37:48 -07:00
parent 71bd46cc85
commit ea632f626f
4 changed files with 92 additions and 60 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+4
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@@ -19,6 +19,7 @@ import frc4388.robot.commands.DriveStraightAtVelocityPID;
import frc4388.robot.commands.DriveStraightToPositionMM;
import frc4388.robot.commands.DriveStraightToPositionPID;
import frc4388.robot.commands.DriveWithJoystick;
import frc4388.robot.commands.DriveWithJoystickAuxPID;
import frc4388.robot.commands.RunIntakeWithTriggers;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Intake;
@@ -73,6 +74,9 @@ public class RobotContainer {
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
.whenPressed(new DriveStraightAtVelocityPID(m_robotDrive, 500))
.whenReleased(new InstantCommand(() -> System.out.print("Gamer"), m_robotDrive));
new JoystickButton(getDriverJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
.whileHeld(new DriveWithJoystickAuxPID(m_robotDrive, getDriverController()));
// resets the yaw of the pigeon
new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
.whenPressed(new DriveStraightToPositionMM(m_robotDrive, 72));