diff options
Diffstat (limited to 'src/main/java/frc/robot/RobotContainer.java')
| -rw-r--r-- | src/main/java/frc/robot/RobotContainer.java | 34 |
1 files changed, 18 insertions, 16 deletions
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 9a6241a..40a0180 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -35,8 +35,9 @@ public class RobotContainer m_chooser.addOption("Shoot", Commands.parallel( m_shooter.run(() -> m_shooter.atPercentage(1)), - Commands.none().withTimeout(500).andThen(m_intake.run(() -> m_intake.atPercentage(1))))); + Commands.none().withTimeout(2000).andThen(m_intake.run(() -> m_intake.atPercentage(1)).withTimeout(3000)))); SmartDashboard.putData(m_chooser); + configureBindings(); } @@ -68,19 +69,20 @@ public class RobotContainer private void configureBindings() { - m_shooter.setDefaultCommand(m_shooter.run(() -> m_shooter.atPercentage(0.0))); + m_shooter.setDefaultCommand(m_shooter.run(() -> m_shooter.atPercentage(-0.2))); m_intake.setDefaultCommand(m_intake.run(() -> m_intake.atPercentage(0.0))); m_hooks.setDefaultCommand(m_hooks.run(() -> m_hooks.atPercentage( deadzone(-0.1, 0.1, m_controller2.getRawAxis(4)), deadzone(-0.1, 0.1, m_controller2.getRawAxis(5))))); - // m_mech.setDefaultCommands( - // m_mech.m_arm.run(() -> m_mech.m_arm.incrementAngle( - // deadzone(-0.05, 0.05, m_controller2.getRawAxis(2)) * 0.3)) , - // m_mech.m_chain.run(() -> m_mech.m_chain.atPercentage( - // m_controller2.getRawAxis(0) - // * (-0.5) + 0.5)) - // ); + m_mech.setDefaultCommands( + m_mech.m_arm.run(() -> m_mech.m_arm.incrementAngle( + deadzone(-0.05, 0.05, m_controller2.getRawAxis(2)) * 0.05)) , + m_mech.m_chain.run(() -> m_mech.m_chain.atPercentage( + m_controller2.getRawAxis(0) + * (-0.5) + 0.5)) + ); + m_mech.setDefaultCommand(m_mech.run(() -> m_mech.toState(MechCmd.MANUAL).execute())); m_drive.setDefaultCommand(m_drive.run(() -> { @@ -88,8 +90,8 @@ public class RobotContainer m_controller1.getRawAxis(2), m_controller1.getRawAxis(1)); m_drive.tank( - inputs[0] * Constants.DriveMaxSpeed, - inputs[1] * Constants.DriveMaxSpeed); + -inputs[1] * Constants.DriveMaxSpeed, // reversed inputs + -inputs[0] * Constants.DriveMaxSpeed); })); @@ -102,12 +104,12 @@ public class RobotContainer // new Trigger(() -> m_controller.getRawAxis(6) > 0).whileTrue(m_drive.followTrajectory(trajectory)); - new Trigger(() -> m_controller1.getRawAxis(6) > 0).whileTrue(m_intake.run(() -> m_intake.atPercentage(0.3))); - new Trigger(() -> m_controller1.getRawAxis(4) > 0).whileTrue(m_intake.run(() -> m_intake.shoot())); - new Trigger(() -> m_controller1.getRawAxis(7) > 0).whileTrue(m_shooter.run(() -> m_shooter.atPercentage(1))); - new Trigger(() -> m_controller1.getRawAxis(5) > 0).whileTrue(m_intake.run(() -> m_intake.atPercentage(0.6))); + new Trigger(() -> m_controller2.getRawButton(1)).whileTrue(m_intake.run(() -> m_intake.atPercentage(-0.1))); + new Trigger(() -> m_controller1.getRawAxis(5) > 0).whileTrue(m_intake.run(() -> m_intake.shoot())); + new Trigger(() -> m_controller1.getRawAxis(6) > 0).whileTrue(m_shooter.run(() -> m_shooter.atPercentage(1))); + new Trigger(() -> m_controller1.getRawAxis(7) > 0).whileTrue(m_intake.run(() -> m_intake.atPercentage(1))); + new Trigger(() -> m_controller2.getRawButton(2)).whileTrue(m_intake.run(() -> m_intake.atPercentage(0.2))); - new Trigger(() -> m_controller2.getRawButton(1)).whileTrue(m_mech.toState(MechCmd.MANUAL)); new Trigger(() -> m_controller2.getRawAxis(6) > 0).whileTrue(m_mech.toState(MechCmd.INTAKE)); new Trigger(() -> m_controller2.getRawAxis(7) > 0).whileTrue(m_mech.toState(MechCmd.DEFAULT)); new Trigger(() -> m_controller2.getRawButton(4)).whileTrue(m_mech.toState(MechCmd.AMP)); |