FairportRobotics
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Castor2026
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This commit is contained in:
Team578 Driver Station 2026-04-17 18:14:44 -04:00
parent 54bc941191
commit 1280197ccf
2 changed files with 8 additions and 3 deletions
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5
src/main/java/frc/robot/RobotContainer.java
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@ -5,6 +5,7 @@ package frc.robot;
import com.pathplanner.lib.auto.NamedCommands; import com.pathplanner.lib.auto.NamedCommands;
import edu.wpi.first.wpilibj.GenericHID.RumbleType;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
@ -55,7 +56,7 @@ public class RobotContainer {
configureBindings(); configureBindings();
NamedCommands.registerCommand("ChassisAlignShoot", new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem)); NamedCommands.registerCommand("ChassisAlignShoot", new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem));
NamedCommands.registerCommand("RunIntake", intakeSubsystem.intake()); NamedCommands.registerCommand("RunIntake", intakeSubsystem.intake(m_driverController.getHID()));
NamedCommands.registerCommand("TurretShoot", new AutoTurretShootCommand(hopperSubsystem, turretSubsystem, intakeSubsystem, driveSubsystem)); NamedCommands.registerCommand("TurretShoot", new AutoTurretShootCommand(hopperSubsystem, turretSubsystem, intakeSubsystem, driveSubsystem));
turretSubsystem.setDefaultCommand(new AutoTurretCommand(turretSubsystem, driveSubsystem)); turretSubsystem.setDefaultCommand(new AutoTurretCommand(turretSubsystem, driveSubsystem));
@ -80,7 +81,7 @@ public class RobotContainer {
//m_driverController.back().whileTrue(new AutoShootCommandChassisTurretPathPlanner(driveSubsystem, hopperSubsystem, turretSubsystem)); //m_driverController.back().whileTrue(new AutoShootCommandChassisTurretPathPlanner(driveSubsystem, hopperSubsystem, turretSubsystem));
m_driverController.leftBumper().onTrue(Commands.runOnce(() -> turretSubsystem.homeTurret(), turretSubsystem)); m_driverController.leftBumper().onTrue(Commands.runOnce(() -> turretSubsystem.homeTurret(), turretSubsystem));
m_driverController.rightBumper().onTrue(Commands.parallel(intakeSubsystem.intake())); m_driverController.rightBumper().onTrue(Commands.parallel(intakeSubsystem.intake(m_driverController.getHID())));
//m_driverController.a().whileTrue(new RelayCommand(hopperSubsystem, turretSubsystem, intakeSubsystem)); //m_driverController.a().whileTrue(new RelayCommand(hopperSubsystem, turretSubsystem, intakeSubsystem));
m_driverController.start().whileTrue(intakeSubsystem.resetDeploy()); m_driverController.start().whileTrue(intakeSubsystem.resetDeploy());
// m_driverController.x().toggleOnTrue(new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem)); // m_driverController.x().toggleOnTrue(new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem));

6
src/main/java/frc/robot/subsystems/IntakeSubsystem.java
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@ -13,6 +13,8 @@ import com.ctre.phoenix.motorcontrol.LimitSwitchSource;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import com.ctre.phoenix6.hardware.TalonFX; import com.ctre.phoenix6.hardware.TalonFX;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.GenericHID.RumbleType;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.Commands;
import frc.robot.Constants; import frc.robot.Constants;
@ -64,12 +66,14 @@ public class IntakeSubsystem extends TestableSubsystem {
}); });
} }
public Command intake() { public Command intake(XboxController m_XboxController) {
return this.runOnce(() -> { return this.runOnce(() -> {
if (intakeMotor.get() == 0) { if (intakeMotor.get() == 0) {
setSpeed(-.5); setSpeed(-.5);
m_XboxController.setRumble(RumbleType.kBothRumble, .5);
} else { } else {
intakeMotor.stopMotor(); intakeMotor.stopMotor();
m_XboxController.setRumble(RumbleType.kBothRumble, .0);
} }
}); });
} }