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Replaced DriveWithJoystick with Inline Command

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This commit is contained in:
Keenan D. Buckley
2020-01-05 21:07:16 -07:00
parent 732a849a5a
commit 48e2e2238a
2 changed files with 5 additions and 56 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+5 -4
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@@ -10,9 +10,9 @@ package frc4388.robot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.commands.Drive.DriveWithJoystick;
import frc4388.robot.commands.LED.UpdateLED;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.LED;
@@ -42,8 +42,10 @@ public class RobotContainer {
configureButtonBindings();
/* Default Commands */
m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, getDriverController()));
// drives the robot with a two-axis input from the driver controller
m_robotDrive.setDefaultCommand(new RunCommand(() -> m_robotDrive.driveWithInput(
getDriverController().getLeftYAxis(),
getDriverController().getRightXAxis())));
// continually sends updates to the Blinkin LED controller to keep the lights on
m_robotLED.setDefaultCommand(new UpdateLED(m_robotLED));
}
@@ -58,8 +60,7 @@ public class RobotContainer {
/* Driver Buttons */
//Test command to spin the robot while pressing A on the driver controller
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.whenPressed(() -> m_robotDrive.driveWithInput(0, 1))
.whenReleased(new DriveWithJoystick(m_robotDrive, getDriverController()));
.whileHeld(() -> m_robotDrive.driveWithInput(0, 1));
/* Operator Buttons */
}