55 lines
1.6 KiB
Java
55 lines
1.6 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc.robot.commands;
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import frc.robot.subsystems.TurretSubsystem;
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import edu.wpi.first.wpilibj.XboxController;
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import edu.wpi.first.wpilibj.GenericHID.RumbleType;
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import edu.wpi.first.wpilibj2.command.Command;
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/** An example command that uses an example subsystem. */
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public class ManualShootCommand extends Command {
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private final TurretSubsystem m_subsystem;
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private final XboxController m_controller;
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private double tempAng;
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public ManualShootCommand(TurretSubsystem subsystem, XboxController controller) {
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m_subsystem = subsystem;
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m_controller = controller;
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// Use addRequirements() here to declare subsystem dependencies.
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addRequirements(subsystem);
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}
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// Called every time the scheduler runs while the command is scheduled.
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@Override
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public void execute() {
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if(m_controller.getRightTriggerAxis()>.8)
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{
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m_subsystem.setLauncher(1);
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m_controller.setRumble(RumbleType.kBothRumble, 1);
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}
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else if(m_controller.getRightTriggerAxis()>.5)
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{
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m_subsystem.setLauncher(.7);
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m_controller.setRumble(RumbleType.kBothRumble, .67);
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}
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else if(m_controller.getRightTriggerAxis()>.2)
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{
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m_subsystem.setLauncher(.5);
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m_controller.setRumble(RumbleType.kBothRumble, .33);
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}
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else
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{
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m_subsystem.setLauncher(0);
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m_controller.setRumble(RumbleType.kBothRumble, 0);
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}
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}
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@Override
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public boolean isFinished() {
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return false;
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}
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}
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