53 lines
1.7 KiB
Java
53 lines
1.7 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;
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import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.Commands;
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import edu.wpi.first.wpilibj2.command.button.CommandPS5Controller;
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import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
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import frc.robot.constants.ArmConstants;
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import frc.robot.constants.IOConstants;
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import frc.robot.subsystems.Arm;
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import frc.robot.subsystems.DriveTrain;
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import frc.robot.subsystems.Grabber;
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public class RobotContainer {
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CommandPS5Controller driver;
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Arm arm;
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DriveTrain driveTrain;
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Grabber grabber;
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public RobotContainer() {
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arm = new Arm();
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driveTrain = new DriveTrain();
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grabber = new Grabber();
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driver = new CommandPS5Controller(IOConstants.kDriverID0);
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configureBindings();
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}
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private void configureBindings() {
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driveTrain.setDefaultCommand(
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driveTrain.driveArcade(
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driver::getLeftY,
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driver::getLeftX
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)
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);
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grabber.setDefaultCommand(grabber.stop());
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driver.R1().whileTrue(grabber.runGrabberMotor(1));
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driver.L1().whileTrue(grabber.runGrabberMotor(-1));
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arm.setDefaultCommand(arm.stop());
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driver.povUp().whileTrue(arm.runArmMotor(1));
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driver.povDown().whileTrue(arm.runArmMotor(-1));
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}
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public Command getAutonomousCommand() {
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return Commands.print("No autonomous command configured");
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}
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} |