update comp control

FRC-Team-620 · Feb 24, 2024 · 148bd9e · 148bd9e
1 parent e840dfc
commit 148bd9e
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Showing 3 changed files with 6 additions and 4 deletions.
diff --git a/src/main/java/org/jmhsrobotics/frc2024/RobotContainer.java b/src/main/java/org/jmhsrobotics/frc2024/RobotContainer.java
@@ -122,7 +122,7 @@ private void configureBindings() {
 		this.control.presetHigh().onTrue(new ArmSetAmpCommand(this.armSubsystem));
 		this.control.presetMid().onTrue(new ArmSetShootCommand(this.armSubsystem));
 		this.control.presetLow().onTrue(new ArmSetPickupCommand(this.armSubsystem));
-		this.control.intakeInput().onTrue(new IntakeCommand(0.5, this.intakeSubsystem, this.shooterSubsystem));
+		this.control.intakeInput().while  True(new IntakeCommand(0.5, this.intakeSubsystem, this.shooterSubsystem));
 		this.control.extakeInput().whileTrue(new IntakeCommand(-0.5, this.intakeSubsystem, this.shooterSubsystem));
 		this.control.shooterInput().whileTrue(new ShootOpenLoopCommand(80, shooterSubsystem));
 

diff --git a/src/main/java/org/jmhsrobotics/frc2024/controlBoard/CompControl.java b/src/main/java/org/jmhsrobotics/frc2024/controlBoard/CompControl.java
@@ -1,7 +1,6 @@
 package org.jmhsrobotics.frc2024.controlBoard;
 
 import edu.wpi.first.wpilibj.XboxController;
-import edu.wpi.first.wpilibj.event.EventLoop;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 
@@ -58,7 +57,7 @@ public Trigger presetLow() {
 	public Trigger intakeInput() {
 		// return new JoystickButton(this.operator,
 		// XboxController.Axis.kRightTrigger.value);
-		return new JoystickButton(this.operator, 0);
+		return new Trigger(this::intakeInputSupplier);
 	}
 
 	// idk wtf an EventLoop is to do this properly with operator.leftTrigger() but
@@ -67,6 +66,10 @@ private boolean extakeInputSupplier() {
 		return operator.getLeftTriggerAxis() > 0.5;
 	}
 
+	private boolean intakeInputSupplier() {
+		return this.operator.getRightTriggerAxis() > 0.5;
+	}
+
 	@Override
 	public Trigger extakeInput() {
 		// return new JoystickButton(this.operator, );

diff --git a/src/main/java/org/jmhsrobotics/frc2024/subsystems/intake/IntakeSubsystem.java b/src/main/java/org/jmhsrobotics/frc2024/subsystems/intake/IntakeSubsystem.java
@@ -35,7 +35,6 @@ public IntakeSubsystem() {
 		this.lowerSensor.setRangingMode(RangingMode.Short, 24);
 		this.upperSensor.setRangingMode(RangingMode.Short, 24);
 
-
 		if (RobotBase.isSimulation()) {
 			simInit();
 		}