FairportRobotics
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Castor2026
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Mayhapsals working teleop please work.

This commit is contained in:
TheRealGrayden 2026-03-10 20:45:24 -04:00
parent f46241ce8b
commit abfea42131
2 changed files with 20 additions and 6 deletions
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5
src/main/java/frc/robot/Constants.java
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@ -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 Angle LIMIT_ELEVATION_NEG = edu.wpi.first.units.Units.Degrees.of(0);
public static final double HOMING_SPEED = .35; public static final double HOMING_SPEED = .35;
public static final double TURRET_GEAR_RATIO = 1; 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 { public static class HopperConstants {

21
src/main/java/frc/robot/RobotContainer.java
View File

@ -4,12 +4,17 @@
package frc.robot; 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.Command;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController; 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.Autos; import frc.robot.commands.Autos;
import frc.robot.commands.ExampleCommand; 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.DriveSubsystem;
import frc.robot.subsystems.ExampleSubsystem; import frc.robot.subsystems.ExampleSubsystem;
import frc.robot.subsystems.HopperSubsystem; import frc.robot.subsystems.HopperSubsystem;
@ -57,13 +62,17 @@ public class RobotContainer {
* joysticks}. * joysticks}.
*/ */
private void configureBindings() { private void configureBindings() {
// Schedule `ExampleCommand` when `exampleCondition` changes to `true` turretSubsystem.setDefaultCommand(new ManualShootCommand(turretSubsystem, m_driverController.getHID()));
new Trigger(m_exampleSubsystem::exampleCondition) hopperSubsystem.setDefaultCommand(new ManualHopperCommand(hopperSubsystem, m_driverController.getHID()));
.onTrue(new ExampleCommand(m_exampleSubsystem));
// Schedule `exampleMethodCommand` when the Xbox controller's B button is pressed, m_driverController.povDown().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_STORED_ANGLE));
// cancelling on release. m_driverController.povLeft().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE1));
// m_driverController.b().whileTrue(m_exampleSubsystem.exampleMethodCommand()); 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());
} }
/** /**