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Castor2026
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Control finalization

This commit is contained in:
TheRealGrayden 2026-04-15 21:56:25 -04:00
parent 706ab9e4a8
commit 3c7126e525
1 changed files with 4 additions and 7 deletions
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11
src/main/java/frc/robot/RobotContainer.java
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@ -11,9 +11,7 @@ import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.button.Trigger; import edu.wpi.first.wpilibj2.command.button.Trigger;
import frc.robot.Constants.OperatorConstants; import frc.robot.Constants.OperatorConstants;
import frc.robot.commands.AutoShootCommandChassisTurret; import frc.robot.commands.AutoShootCommandChassisTurret;
import frc.robot.commands.AutoShootCommandChassisTurretPathPlanner;
import frc.robot.commands.AutoTurretCommand; import frc.robot.commands.AutoTurretCommand;
import frc.robot.commands.RelayCommand;
import frc.robot.commands.Reverse; import frc.robot.commands.Reverse;
import frc.robot.subsystems.DriveSubsystem; import frc.robot.subsystems.DriveSubsystem;
import frc.robot.subsystems.HopperSubsystem; import frc.robot.subsystems.HopperSubsystem;
@ -77,15 +75,14 @@ public class RobotContainer {
m_driverController.povRight().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE3)); m_driverController.povRight().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE3));
m_driverController.povUp().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE2));*/ m_driverController.povUp().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE2));*/
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.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().whileTrue(new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem)); m_driverController.x().toggleOnTrue(new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem));
m_driverController.b().onTrue(new Reverse(intakeSubsystem, hopperSubsystem)); m_driverController.b().onTrue(new Reverse(intakeSubsystem, hopperSubsystem));
//m_driverController.y().onTrue(intakeSubsystem.deploy()); m_driverController.y().onTrue(intakeSubsystem.deploy());
} }
/** /**