Team4388/Swerve-Drive
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Basic swerve stuff

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Also separated arcade from swerve everywhere in the code.
This commit is contained in:
aarav18
2021-11-15 17:52:28 -07:00
parent 0bc2442ec1
commit a3d2b5f029
8 changed files with 58 additions and 36 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+6 -6
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@@ -13,7 +13,7 @@ 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.subsystems.Drive;
import frc4388.robot.subsystems.ArcadeDrive;
import frc4388.robot.subsystems.LED;
import frc4388.utility.LEDPatterns;
import frc4388.utility.controller.IHandController;
@@ -31,7 +31,7 @@ public class RobotContainer {
private final RobotMap m_robotMap = new RobotMap();
/* Subsystems */
private final Drive m_robotDrive = new Drive(m_robotMap.leftFrontMotor, m_robotMap.rightFrontMotor,
private final ArcadeDrive m_robotArcadeDrive = new ArcadeDrive(m_robotMap.leftFrontMotor, m_robotMap.rightFrontMotor,
m_robotMap.leftBackMotor, m_robotMap.rightBackMotor, m_robotMap.driveTrain, m_robotMap.gyroDrive);
private final LED m_robotLED = new LED(m_robotMap.LEDController);
@@ -48,9 +48,9 @@ public class RobotContainer {
/* Default Commands */
// drives the robot with a two-axis input from the driver controller
m_robotDrive.setDefaultCommand(
new RunCommand(() -> m_robotDrive.driveWithInput(getDriverController().getLeftYAxis(),
getDriverController().getRightXAxis()), m_robotDrive));
m_robotArcadeDrive.setDefaultCommand(
new RunCommand(() -> m_robotArcadeDrive.driveWithInput(getDriverController().getLeftYAxis(),
getDriverController().getRightXAxis()), m_robotArcadeDrive));
// continually sends updates to the Blinkin LED controller to keep the lights on
m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
}
@@ -65,7 +65,7 @@ public class RobotContainer {
/* Driver Buttons */
// test command to spin the robot while pressing A on the driver controller
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.whileHeld(() -> m_robotDrive.driveWithInput(0, 1));
.whileHeld(() -> m_robotArcadeDrive.driveWithInput(0, 1));
/* Operator Buttons */
// activates "Lit Mode"