Team4388/RiseOfRidgebotics2020
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Full sequence possibly working, Full turret working

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ryan123rudder
2020-02-29 21:03:19 -07:00
parent 5da6ce766e
commit eb129c6b34
8 changed files with 26 additions and 19 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+7 -6
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@@ -62,6 +62,7 @@ import frc4388.robot.commands.TrackTarget;
import frc4388.robot.commands.StorageOutake;
import frc4388.robot.commands.StoragePrepAim;
import frc4388.robot.commands.StoragePrepIntake;
import frc4388.robot.commands.StorageRun;
import frc4388.robot.subsystems.Camera;
import frc4388.robot.subsystems.Leveler;
import frc4388.robot.subsystems.LimeLight;
@@ -180,12 +181,12 @@ public class RobotContainer {
// starts tracking target
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
//.whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotStorage))
.whileHeld(new ParallelCommandGroup(
new HoldTarget(m_robotShooter,m_robotShooterAim),
new HoodPositionPID(m_robotShooter)));
//.whenReleased(new StoragePrepIntake(m_robotIntake, m_robotStorage));
//.whenReleased(new RunCommand(() -> m_robotLime.limeOff()));
.whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotStorage))
//.whileHeld(new ParallelCommandGroup(
//new HoldTarget(m_robotShooter,m_robotShooterAim),
//new HoodPositionPID(m_robotShooter)))
.whenReleased(new StoragePrepIntake(m_robotIntake, m_robotStorage));
//Prepares storage for intaking
new JoystickButton(getOperatorJoystick(), XboxController.LEFT_TRIGGER_AXIS)