Team_2648/2024_Robot_Code
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Added manual intake roller controls and removed some controls that were conflicting that aren't actually used, namely AprilTagLock and driveCardinal

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This commit is contained in:
Bradley Bickford 2024-03-08 21:58:31 -05:00
parent 6f0745986a
commit d2d88766c1
1 changed files with 3 additions and 2 deletions
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src/main/java/frc/robot/RobotContainer.java
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@ -142,7 +142,7 @@ public class RobotContainer {
); );
//intake.setDefaultCommand(intake.intakeUpCommand()); //intake.setDefaultCommand(intake.intakeUpCommand());
intake.setDefaultCommand(intake.manualPivot(operator::getLeftY, () -> 0.0)); intake.setDefaultCommand(intake.manualPivot(operator::getLeftY, operator::getRightY));
shooter.setDefaultCommand( shooter.setDefaultCommand(
shooter.angleSpeedsSetpoints( shooter.angleSpeedsSetpoints(
@ -178,6 +178,7 @@ public class RobotContainer {
} }
)); ));
/*
driver.povCenter().onFalse( driver.povCenter().onFalse(
drivetrain.driveCardinal( drivetrain.driveCardinal(
driver::getLeftY, driver::getLeftY,
@ -222,7 +223,7 @@ public class RobotContainer {
).until( ).until(
() -> MathUtil.applyDeadband(driver.getRightX(), OIConstants.kTeleopDriveDeadband) != 0 () -> MathUtil.applyDeadband(driver.getRightX(), OIConstants.kTeleopDriveDeadband) != 0
) )
); ); */
// This was originally a run while held, not sure that's really necessary, change it if need be // This was originally a run while held, not sure that's really necessary, change it if need be
driver.y().onTrue(drivetrain.zeroHeadingCommand()); driver.y().onTrue(drivetrain.zeroHeadingCommand());