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finished robotcontainer.java

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Cayden 2024-11-17 15:15:23 -05:00
parent c1eae1e68b
commit b084ae7f16
1 changed files with 25 additions and 5 deletions
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src/main/java/frc/robot/RobotContainer.java
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@ -4,42 +4,62 @@
package frc.robot;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import frc.robot.constants.OIConstants;
import frc.robot.subsystems.Drivetrain;
import frc.robot.subsystems.Flicker;
import frc.robot.subsystems.Shooter;
public class RobotContainer {
private Flicker flicker;
private Shooter shooter;
private Drivetrain drivetrain;
private CommandXboxController driver;
private CommandXboxController operator;
public RobotContainer() {
drivetrain = new Drivetrain();
flicker = new Flicker();
driver = new CommandXboxController(OIConstants.kDriverUSB);
driver = new CommandXboxController(OIConstants.kDriverUSB); //sets up controlers
configureBindings();
configureShuffleboard();
}
private void configureBindings() {
drivetrain.setDefaultCommand(
drivetrain.driveArcade(
driver::getLeftY,
driver::getLeftX
driver::getLeftX //manual controls for driveing
)
);
flicker.setDefaultCommand(flicker.stop());
driver.a().onTrue(flicker.setSpeed(() ->1));
shooter.setDefaultCommand(shooter.stop());
driver.rightBumper().onTrue(shooter.setSpeed(()->1)); //manual controls for shooter and flicker
}
private void configureShuffleboard() {
ShuffleboardTab robotIndicatorTab = Shuffleboard.getTab(OIConstants.kRobotIndicatorsTabName);
robotIndicatorTab.addBoolean("Sensors", flicker::photoswich)
.withPosition(0, 0).
withSize(2, 1).
withWidget(BuiltInWidgets.kBooleanBox); //sets up the wiget
}
public Command getAutonomousCommand() {
return flicker.setSpeed(() -> 1);
return drivetrain.driveTank(() -> .5,() -> .5).withTimeout(2). andThen(
shooter.setSpeed(()-> 1)).withTimeout(1).andThen(
shooter.setSpeed(()->1)).alongWith(
flicker.setSpeed(()->1)); //sets up the anumus command, it drives forward for 2 seconds, spins the shooter mototrs for 1 second, and both shooter and flicker for 3 seconds.
}
}