Bradley/FrisbeeBot
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Compare commits

base: Bradley:d5a5504cd18fcad3b47b5c7d2ac4f76e0af57b87
Branches Tags
Bradley:main
..
compare: Bradley:90e033f921e5dcfbdaa4e0e500bdcfe293457f9c
Branches Tags
Bradley:main

No commits in common. "d5a5504cd18fcad3b47b5c7d2ac4f76e0af57b87" and "90e033f921e5dcfbdaa4e0e500bdcfe293457f9c" have entirely different histories.
d5a5504cd1 ... 90e033f921

2 changed files with 15 additions and 28 deletions
Show Stats Expand all files Collapse all files

0
gradlew vendored Executable file → Normal file
View File

43
src/main/java/frc/robot/RobotContainer.java
View File

@ -11,7 +11,6 @@ import edu.wpi.first.wpilibj.util.Color;
import edu.wpi.first.wpilibj.util.Color8Bit;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import frc.robot.LEDAnimationKit.AnimationManager;
import frc.robot.LEDAnimationKit.LEDStrip;
@ -39,12 +38,10 @@ public class RobotContainer {
private AnimationManager manager;
private FluidRainbow rainbow;
//private FluidRainbow rainbow;
//private Breathing b1;
//private Breathing b2;
private boolean oneHandedMode;
private Breathing b1;
private Breathing b2;
public RobotContainer() {
drivetrain = new Drivetrain(true);
@ -59,13 +56,13 @@ public class RobotContainer {
);
strip.start();
rainbow = new FluidRainbow(strip, LEDConstants.kRainbowUpdateRate);
rainbow.start();
//l1 = new LogicalLEDStrip(strip, 0, 31);
//l2 = new LogicalLEDStrip(strip, 31, 62);
//rainbow = new FluidRainbow(strip, LEDConstants.kRainbowUpdateRate);
//rainbow.start();
l1 = new LogicalLEDStrip(strip, 0, 31);
l2 = new LogicalLEDStrip(strip, 31, 62);
/*
b1 = new Breathing(
l1,
LEDConstants.kBreathingUpdateRate,
@ -82,16 +79,14 @@ public class RobotContainer {
LEDConstants.kBreathingMinPercentage,
LEDConstants.kBreathingMaxPercentage
);
b2.start(); */
b2.start();
manager = new AnimationManager(new PhysicalLEDStrip[] {strip});
manager.registerAnimationForUpdate(rainbow);
//manager.registerAnimationForUpdate(b1);
//manager.registerAnimationForUpdate(b2);
//manager.registerAnimationForUpdate(rainbow);
manager.registerAnimationForUpdate(b1);
manager.registerAnimationForUpdate(b2);
manager.start(LEDConstants.kAnimationManagerUpdateRate);
oneHandedMode = false;
configureBindings();
configureShuffleboard();
@ -106,19 +101,16 @@ public class RobotContainer {
)
);
driver.back().onTrue(new InstantCommand(() -> oneHandedMode = !oneHandedMode));
driver.start().onTrue(drivetrain.toggleSlowMode());
shooter.setDefaultCommand(
shooter.setSpeed(
() -> oneHandedMode ? driver.getLeftTriggerAxis() : driver.getRightTriggerAxis()
driver::getRightTriggerAxis
)
);
driver.a().and(() -> !oneHandedMode).onTrue(pusher.spin());
driver.a().and(() -> !oneHandedMode).onFalse(pusher.stop());
driver.leftBumper().and(() -> oneHandedMode).onTrue(pusher.spin());
driver.leftBumper().and(() -> oneHandedMode).onFalse(pusher.stop());
driver.a().onTrue(pusher.spin());
driver.a().onFalse(pusher.stop());
}
private void configureShuffleboard() {
@ -129,11 +121,6 @@ public class RobotContainer {
.withSize(2, 1)
.withWidget(BuiltInWidgets.kBooleanBox);
tab.addBoolean("One Handed Mode?", () -> oneHandedMode)
.withPosition(2, 0)
.withSize(2, 1)
.withWidget(BuiltInWidgets.kBooleanBox);
Shuffleboard.selectTab("DRIVE");
}