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Implement new Command Based Framework

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This commit is contained in:
Keenan D. Buckley
2020-01-05 18:59:50 -07:00
parent 6fb373969d
commit c52bbdd2ee
13 changed files with 185 additions and 314 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+28 -7
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@@ -8,9 +8,13 @@
package frc4388.robot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.commands.Drive.DriveWithJoystick;
import frc4388.robot.commands.Drive.GamerMove;
import frc4388.robot.commands.LED.UpdateLED;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.LED;
import frc4388.utility.controller.IHandController;
@@ -25,18 +29,34 @@ import frc4388.utility.controller.XboxController;
*/
public class RobotContainer {
/* Subsystems */
public static final Drive m_robotDrive = new Drive();
public static final LED m_robotLED = new LED();
private final Drive m_robotDrive = new Drive();
private final LED m_robotLED = new LED();
/* Controllers */
XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
*/
public RobotContainer() {
configureButtonBindings();
/* Default Commands */
m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, getDriverController()));
m_robotLED.setDefaultCommand(new UpdateLED(m_robotLED));
}
/**
* Use this method to define your button->command mappings. Buttons can be created by
* instantiating a {@link GenericHID} or one of its subclasses ({@link
* edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
* {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
*/
private void configureButtonBindings() {
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.whenPressed(new GamerMove(m_robotDrive))
.whenReleased(new DriveWithJoystick(m_robotDrive, getDriverController()));
}
/**
@@ -49,6 +69,7 @@ public class RobotContainer {
return new InstantCommand();
}
public IHandController getDriverController() {
return m_driverXbox;
}