From abfea42131750e0fb2899580a37341c9fd3773b3 Mon Sep 17 00:00:00 2001 From: TheRealGrayden Date: Tue, 10 Mar 2026 20:45:24 -0400 Subject: [PATCH] Mayhapsals working teleop please work. --- src/main/java/frc/robot/Constants.java | 5 +++++ src/main/java/frc/robot/RobotContainer.java | 21 +++++++++++++++------ 2 files changed, 20 insertions(+), 6 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index fb49fa5..2174bde 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -83,6 +83,11 @@ public final class Constants { public static final Angle LIMIT_ELEVATION_NEG = edu.wpi.first.units.Units.Degrees.of(0); public static final double HOMING_SPEED = .35; public static final double TURRET_GEAR_RATIO = 1; + + public static final Angle DEFLECTOR_STORED_ANGLE = edu.wpi.first.units.Units.Degrees.of(0); + public static final Angle DEFLECTOR_SET_ANGLE1 = edu.wpi.first.units.Units.Degrees.of(20); + public static final Angle DEFLECTOR_SET_ANGLE2 = edu.wpi.first.units.Units.Degrees.of(40); + public static final Angle DEFLECTOR_SET_ANGLE3 = edu.wpi.first.units.Units.Degrees.of(60); } public static class HopperConstants { diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index bee31bf..42d7e0a 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -4,12 +4,17 @@ package frc.robot; +import edu.wpi.first.units.Unit; +import edu.wpi.first.units.Units; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.button.Trigger; import frc.robot.Constants.OperatorConstants; import frc.robot.commands.Autos; import frc.robot.commands.ExampleCommand; +import frc.robot.commands.ManualHopperCommand; +import frc.robot.commands.ManualShootCommand; +import frc.robot.commands.SetDeflectorCommand; import frc.robot.subsystems.DriveSubsystem; import frc.robot.subsystems.ExampleSubsystem; import frc.robot.subsystems.HopperSubsystem; @@ -57,13 +62,17 @@ public class RobotContainer { * joysticks}. */ private void configureBindings() { - // Schedule `ExampleCommand` when `exampleCondition` changes to `true` - new Trigger(m_exampleSubsystem::exampleCondition) - .onTrue(new ExampleCommand(m_exampleSubsystem)); + turretSubsystem.setDefaultCommand(new ManualShootCommand(turretSubsystem, m_driverController.getHID())); + hopperSubsystem.setDefaultCommand(new ManualHopperCommand(hopperSubsystem, m_driverController.getHID())); - // Schedule `exampleMethodCommand` when the Xbox controller's B button is pressed, - // cancelling on release. - // m_driverController.b().whileTrue(m_exampleSubsystem.exampleMethodCommand()); + 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.y().onTrue(intakeSubsystem.deployCommand()); + m_driverController.a().onTrue(intakeSubsystem.retractCommand()); + m_driverController.b().onTrue(intakeSubsystem.reverseCommand()); } /**