Team_2648/2026-Robot-Code
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button bindings

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This commit is contained in:
Tylr-J42
2026-03-04 13:31:23 -05:00
parent 918876923f
commit 4171da889f
2 changed files with 13 additions and 4 deletions
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15
src/main/java/frc/robot/RobotContainer.java
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@@ -245,8 +245,13 @@ public class RobotContainer {
() -> true
)
);
shooter.setDefaultCommand(shooter.maintainSpeed(ShooterSpeeds.kIdleSpeed));
intakeRoller.setDefaultCommand(intakeRoller.stop());
spindexer.setDefaultCommand(spindexer.stop());
driver.a().whileTrue(
intakePivot.setDefaultCommand(intakePivot.manualSpeed(() -> secondary.getLeftY()));
driver.leftTrigger().whileTrue(
drivetrain.lockRotationToHub(
driver::getLeftY,
driver::getLeftX,
@@ -254,6 +259,9 @@ public class RobotContainer {
)
);
driver.rightTrigger().whileTrue(spindexer.spinToShooter());
driver.b().whileTrue(spindexer.spinToIntake());
/*
driver.b().whileTrue(
drivetrain.lockToYaw(
@@ -267,9 +275,8 @@ public class RobotContainer {
)
);*/
shooter.setDefaultCommand(
shooter.maintainSpeed(ShooterSpeeds.kHubSpeed)
);
secondary.a().toggleOnTrue(shooter.maintainSpeed(ShooterSpeeds.kHubSpeed));
secondary.y().toggleOnTrue(shooter.maintainSpeed(ShooterSpeeds.kFeedSpeed));
hood.setDefaultCommand(hood.trackToAngle(() -> {
Pose2d drivetrainPose = drivetrain.getPose();