Merge pull request #8 from chopshop-166/buttonBinding

mapped buttons, updated outtake
chopshop-166 · Jan 11, 2025 · 4ed9a3a · 4ed9a3a
2 parents 545f915 + 46dd357
commit 4ed9a3a
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Showing 2 changed files with 11 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/maps/Alpha.java b/src/main/java/frc/robot/maps/Alpha.java
@@ -4,6 +4,7 @@
 import org.littletonrobotics.junction.networktables.NT4Publisher;
 import org.littletonrobotics.junction.wpilog.WPILOGWriter;
 
+import com.chopshop166.chopshoplib.digital.CSDigitalInput;
 import com.chopshop166.chopshoplib.drive.SDSSwerveModule;
 import com.chopshop166.chopshoplib.drive.SDSSwerveModule.Configuration;
 import com.chopshop166.chopshoplib.maps.RobotMapFor;
@@ -117,12 +118,17 @@ public SwerveDriveMap getDriveMap() {
 
     @Override
     public AlgaeDestageMap getAlgaeDestageMap() {
-        return new AlgaeDestageMap();
+        CSSparkMax motor = new CSSparkMax(9);
+        return new AlgaeDestageMap(motor);
     }
 
     @Override
     public OuttakeMap getOuttakeMap() {
-        return new OuttakeMap();
+        CSSparkMax leftWheels = new CSSparkMax(10);
+        CSSparkMax rightWheels = new CSSparkMax(11);
+        rightWheels.setInverted(true);
+        CSDigitalInput sensor = new CSDigitalInput(9); // same channel as last year dont know if its right
+        return new OuttakeMap(leftWheels, rightWheels, sensor::get);
     }
 
     @Override

diff --git a/src/main/java/frc/robot/maps/subsystems/OuttakeMap.java b/src/main/java/frc/robot/maps/subsystems/OuttakeMap.java
@@ -14,12 +14,13 @@ public class OuttakeMap implements LoggableMap<OuttakeMap.Data> {
     public BooleanSupplier sensor;
 
     public OuttakeMap() {
-        this(new SmartMotorController(), new SmartMotorController());
+        this(new SmartMotorController(), new SmartMotorController(), () -> false);
     }
 
-    public OuttakeMap(SmartMotorController leftWheel, SmartMotorController rightWheel) {
+    public OuttakeMap(SmartMotorController leftWheel, SmartMotorController rightWheel, BooleanSupplier sensor) {
         this.leftMotor = leftWheel;
         this.rightMotor = rightWheel;
+        this.sensor = sensor;
     }
 
     // Will add data/logging stuff when we need it