From 89a84ff7a0f59852de2918047971bed9be2993ce Mon Sep 17 00:00:00 2001 From: Liam Murray Date: Sat, 11 Jan 2025 15:54:50 -0500 Subject: [PATCH] mapped buttons, updated outtake renamed spinOut to SpinOutL1 and created variation for L2-L3 --- src/main/java/frc/robot/CommandSequences.java | 4 ++++ src/main/java/frc/robot/Robot.java | 7 ++++++- src/main/java/frc/robot/subsystems/Outtake.java | 10 ++++++++-- 3 files changed, 18 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/CommandSequences.java b/src/main/java/frc/robot/CommandSequences.java index 3959583..9e5c2bf 100644 --- a/src/main/java/frc/robot/CommandSequences.java +++ b/src/main/java/frc/robot/CommandSequences.java @@ -38,4 +38,8 @@ public Command setRumble(ButtonXboxController controller, int rumbleAmount) { controller.getHID().setRumble(RumbleType.kBothRumble, rumbleAmount); }); } + + public Command resetAll() { + return drive.resetCmd().andThen(outtake.resetCmd(), algaeDestage.resetCmd()); + } } diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 672afe0..9032d22 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -111,10 +111,15 @@ public void disabledInit() { @Override public void configureButtonBindings() { - driveController.back().onTrue(drive.resetCmd()); + driveController.back().onTrue(commandSequences.resetAll()); driveController.leftBumper() .whileTrue(drive.robotCentricDrive()); + driveController.a().onTrue(outtake.spinIn()); + driveController.b().whileTrue(outtake.spinOut()); + driveController.x().whileTrue(outtake.spinOutL1()); + driveController.y().whileTrue(algaeDestage.destageAlgae()); + } @Override diff --git a/src/main/java/frc/robot/subsystems/Outtake.java b/src/main/java/frc/robot/subsystems/Outtake.java index 05c4d93..dd0cf90 100644 --- a/src/main/java/frc/robot/subsystems/Outtake.java +++ b/src/main/java/frc/robot/subsystems/Outtake.java @@ -3,7 +3,6 @@ import static edu.wpi.first.wpilibj2.command.Commands.waitSeconds; import com.chopshop166.chopshoplib.logging.LoggedSubsystem; -import com.chopshop166.chopshoplib.motors.SmartMotorController; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.maps.subsystems.OuttakeMap; @@ -21,13 +20,20 @@ public Outtake(OuttakeMap outtakeMap) { super(new Data(), outtakeMap); } - public Command spinOut() { + public Command spinOutL1() { return run(() -> { getData().leftWheel.setpoint = RELEASE_SPEEDLEFT; getData().rightWheel.setpoint = RELEASE_SPEEDRIGHT; }).until(() -> !getData().gamePieceDetected).andThen(waitSeconds(RELEASE_DELAY), safeStateCmd()); } + public Command spinOut() { + return run(() -> { + getData().leftWheel.setpoint = RELEASE_SPEEDRIGHT; + getData().rightWheel.setpoint = RELEASE_SPEEDRIGHT; + }).until(() -> !getData().gamePieceDetected).andThen(waitSeconds(RELEASE_DELAY), safeStateCmd()); + } + public Command spinIn() { return run(() -> { getData().leftWheel.setpoint = INTAKE_SPEED;