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3 group 2 triggers to main #5

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merged 2 commits into from
Dec 14, 2023
Merged

3 group 2 triggers to main #5

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a9a4d39
solve trigger problems
Hadizah454 Dec 14, 2023
95f98a5
Merge pull request #4 from Patribots4738/2-triggers-team-1
PatribotsProgramming Dec 14, 2023
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37 changes: 32 additions & 5 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -74,15 +74,16 @@ private void configureButtonBindings() {
.onTrue(
setDriveSpeed(DriveConstants.MAX_TELEOP_SPEED_METERS_PER_SECOND));

Make a trigger so then when the current GAME_MODE
(DONE) Make a trigger so then when the current GAME_MODE
is equal to AUTONOMOUS then set the drive speed to MAX_SPEED_METERS_PER_SECOND

Create a trigger like the one above so that
(DONE) Create a trigger like the one above so that
while the "a" button is been pressed,
set the drive speed to ALIGNMENT_SPEED
and when the "a" button has not been pressed,
set the drive speed to MAX_TELEOP_SPEED_METERS_PER_SECOND


driver.y().or(driver.x()).onTrue(
Commands.runOnce(() -> swerve.resetOdometry(
new Pose2d(
Expand All @@ -97,18 +98,44 @@ private void configureButtonBindings() {
swerve.getSetWheelsXCommand()
);

Create a trigger so while the leftBumper is pressed,
driver.a().onTrue(
setDriveSpeed(ALIGNMENT_SPEED)
);

driver.a().onFalse(
setDriveSpeed(MAX_TELEOP_SPEED_METERS_PER_SECOND)
);

driver.leftBumper().onTrue(
swerve.getSetWheelsXCommand()
);

driver.leftStick().toggleOnTrue(
swerve.toggleSpeed()
);

driver.leftStick().onTrue(
claw.setSpeed(driver.getLeftTriggerAxis)
);

driver.rightStick.onTrue(
claw.setSpeed(driver.getRightTriggerAxis)
);

(DONE)Create a trigger so while the leftBumper is pressed,
run the command in swerve, getSetWheelsX

Create another trigger so
(DONE) Create another trigger so
the swerve runs the toggleSpeed command in swerve
when the leftStick toggles to true
hint (use the toggleOnTrue method)


Create two triggers so while the left and right triggers are true,
(Done)Create two triggers so while the left and right triggers are true,
set the desired claw speed
to their respective left and right trigger axies


}

private CommandBase setDriveSpeed(double desiredSpeedMetersPerSecond) {
Expand Down
8 changes: 2 additions & 6 deletions src/main/java/frc/robot/subsystems/Claw.java
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Original file line number Diff line number Diff line change
Expand Up @@ -29,13 +29,9 @@ public Claw() {

}

@Override
public void periodic() {
set the current speed of the motors to the desired speed


}

private void setSpeed(double speed) {
public void setSpeed(double speed) {
claw.set(-speed);
}

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