FairportRobotics
/
Castor2026
mirror of https://github.com/FairportRobotics/Castor2026.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

command changes

This commit is contained in:
TheRealGrayden 2026-04-13 19:57:27 -04:00
parent df9109a10f
commit 9c85cd1c8a
2 changed files with 55 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
src/main/java/frc/robot/RobotContainer.java
View File

@ -13,9 +13,6 @@ import frc.robot.Constants.OperatorConstants;
import frc.robot.commands.AutoShootCommandChassisTurret;
import frc.robot.commands.AutoShootCommandChassisTurretPathPlanner;
import frc.robot.commands.AutoTurretCommand;
import frc.robot.commands.RelayCommand;
import frc.robot.commands.SetDeflectorCommand;
import frc.robot.commands.ZoneCheck;
import frc.robot.subsystems.DriveSubsystem;
import frc.robot.subsystems.HopperSubsystem;
import frc.robot.subsystems.IntakeSubsystem;
@ -72,21 +69,20 @@ public class RobotContainer {
*
*/
private void configureBindings() {
m_driverController.povDown().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_STORED_ANGLE));
/*m_driverController.povDown().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_STORED_ANGLE));
m_driverController.povLeft().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE1));
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.a().whileTrue(new AutoShootCommandChassisTurretPathPlanner(driveSubsystem, hopperSubsystem, turretSubsystem));
// m_driverController:wa.a().whileTrue(new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem));
m_driverController.leftBumper().onTrue(Commands.runOnce(() -> turretSubsystem.homeTurret(), turretSubsystem));
m_driverController.rightBumper().onTrue(Commands.parallel(intakeSubsystem.intake()));
m_driverController.y().whileTrue(new RelayCommand(hopperSubsystem, turretSubsystem, intakeSubsystem));
//m_driverController.y().whileTrue(new RelayCommand(hopperSubsystem, turretSubsystem, intakeSubsystem));
m_driverController.start().whileTrue(intakeSubsystem.resetDeploy());
m_driverController.x().whileTrue(new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem));
m_driverController.b().toggleOnTrue(new ZoneCheck(driveSubsystem));
m_driverController.b().onTrue(Commands.parallel(intakeSubsystem.reverseIntake(), null));
m_driverController.y().onTrue(intakeSubsystem.deploy());
}
/**

50
src/main/java/frc/robot/commands/Reverse.java Normal file
View File

@ -0,0 +1,50 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc.robot.commands;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.HopperSubsystem;
import frc.robot.subsystems.IntakeSubsystem;
/**
* An example command that uses an example subsystem.
*/
public class Reverse extends Command {
private int m_subsystem;
/**
* Creates a new ExampleCommand.
*
* @param subsystem The subsystem used by this command.
*/
public Reverse() {
m_subsystem = subsystem;
// Use addRequirements() here to declare subsystem dependencies.
addRequirements(subsystem);
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
hopperSubsystem.stopKicker();
hopperSubsystem.spindexerOff();
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}