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Manual Shooter up button on controller and smartdash board #41

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merged 2 commits into from
Feb 2, 2024
Merged

Manual Shooter up button on controller and smartdash board #41

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f6e27e8
made angle button on controller button and smartdashboard and rotate …
XiaoHan2491 Feb 2, 2024
8b915f8
removed rotate robot
XiaoHan2491 Feb 2, 2024
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10 changes: 9 additions & 1 deletion src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,7 @@

import java.nio.file.Path;
import java.util.function.BooleanSupplier;
import java.util.function.DoubleSupplier;

import static frc.robot.settings.Constants.DriveConstants.*;

Expand Down Expand Up @@ -67,6 +68,7 @@
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.units.Angle;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.PS4Controller;
import frc.robot.commands.ManualShoot;
Expand Down Expand Up @@ -109,6 +111,7 @@ public class RobotContainer {
private IndexerSubsystem indexer;
private SendableChooser<String> climbSpotChooser;
private SendableChooser<Command> autoChooser;
private DoubleSupplier angleSup;
// Replace with CommandPS4Controller or CommandJoystick if needed

/** The container for the robot. Contains subsystems, OI devices, and commands. */
Expand Down Expand Up @@ -226,7 +229,12 @@ private void configureBindings() {
new Trigger(driverController::getCircleButton).onTrue(new CollectNote(driveTrain, limelight));
new Trigger(driverController::getTouchpadPressed).onTrue(new InstantCommand(driveTrain::stop, driveTrain));

if(shooterExists) {new Trigger(operatorController::getCircleButton).onTrue(new ManualShoot(shooter));}
if(shooterExists) {
new Trigger(operatorController::getCircleButton).onTrue(new ManualShoot(shooter));
AngleShooter shooterUpCommand = new AngleShooter(angleShooterSubsystem, () -> Constants.ShooterConstants.shooterup);
new Trigger(driverController::getL1Button).onTrue(shooterUpCommand);
SmartDashboard.putData("Manual Angle Shooter Up", shooterUpCommand);
}
if(climberExists) {
new Trigger(operatorController::getCrossButton).onTrue(new AutoClimb(climber)).onFalse(new InstantCommand(()-> climber.climberStop()));
new Trigger(operatorController::getTriangleButton).onTrue(new InstantCommand(()-> climber.climberGo(ClimberConstants.CLIMBER_SPEED_UP))).onFalse(new InstantCommand(()-> climber.climberStop()));
Expand Down
1 change: 1 addition & 0 deletions src/main/java/frc/robot/settings/Constants.java
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Expand Up @@ -284,6 +284,7 @@ public static final class ShooterConstants{
public static final double pitchFeedForward = 2491;
public static final double pitchMaxOutput = 2491;
public static final double pitchMinOutput = 2491;
public static final double shooterup = 2491;

}
public static final class ClimberConstants{
Expand Down
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