Team4388/To-Shoot-TShirt
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This commit is contained in:
‮Zach Wilke
2021-10-25 16:21:50 -06:00
parent f95b02ecb2
commit d678ceabb6
3 changed files with 88 additions and 32 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+30 -10
View File
@@ -1,3 +1,4 @@
/* Dumb Command Version, Smart Subsytem Version */
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
@@ -15,6 +16,7 @@ import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Horn;
import frc4388.robot.subsystems.ShootTube;
import frc4388.robot.subsystems.LED;
import frc4388.utility.LEDPatterns;
import frc4388.utility.controller.IHandController;
@@ -39,11 +41,7 @@ public class RobotContainer {
private final Horn m_robotHorn = new Horn(m_robotMap.HornSolenoid);
/* Controllers */
private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
private final Solenoid[] tubes = {
private final Solenoid[] SolenoidArray = {
m_robotMap.ShooterSolenoid0,
m_robotMap.ShooterSolenoid1,
m_robotMap.ShooterSolenoid2,
@@ -51,7 +49,15 @@ public class RobotContainer {
m_robotMap.ShooterSolenoid4,
m_robotMap.ShooterSolenoid5,
m_robotMap.ShooterSolenoid6,
m_robotMap.ShooterSolenoid7};
m_robotMap.ShooterSolenoid7
};
private final ShootTube m_robotShooter = new ShootTube(SolenoidArray);
/* Controllers */
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.
@@ -87,15 +93,29 @@ public class RobotContainer {
.whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
.whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
*/
// Fire horn
/* Fire horn */
new JoystickButton(getOperatorJoystick(), XboxController.LEFT_TRIGGER_AXIS)
.whenPressed(() -> m_robotHorn.hornSet(true))
.whenReleased(() -> m_robotHorn.hornSet(false));
/* Shoot T-Shirt */
new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_TRIGGER_AXIS)
.whenPressed(() -> new ShootYourShot(true)) /*Fire one per once triger*/
.whenReleased(() -> new ShootYourShot(false));
.whenPressed(() -> m_robotShooter.ShootTubeSet(true))
.whenReleased(() -> m_robotShooter.ShootTubeSet(false));
/* TODO: Check if these binds work */
/* Cycle Between Solenoids */
new JoystickButton(getOperatorJoystick(), XboxController.DPAD_LEFT)
.whenPressed(() -> m_robotShooter.CycleDown());
new JoystickButton(getOperatorJoystick(), XboxController.DPAD_RIGHT)
.whenPressed(() -> m_robotShooter.CycleUp());
/* Fire All of the Solenoids In the Shooter Array */
/* Extra power. this will be truly worth "I Survived the T Shirt Cannon" T-shirt */
new JoystickButton(getOperatorJoystick(), XboxController.DPAD_DOWN)
.whenPressed(() -> m_robotShooter.ShootTubeALL(true))
.whenReleased(() -> m_robotShooter.ShootTubeALL(false));
}
@@ -137,4 +157,4 @@ public class RobotContainer {
public Joystick getDriverJoystick() {
return m_driverXbox.getJoyStick();
}
}
}