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Eddie-EdwardEddie-Edward
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more adjustments to stuff ;)
1 parent 3fa5b85 commit ef50075

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4 files changed

+28
-31
lines changed

4 files changed

+28
-31
lines changed

‎src/main/java/frc/robot/driver/DriverXbox.java‎

Lines changed: 24 additions & 24 deletions
Original file line numberDiff line numberDiff line change
@@ -64,7 +64,7 @@ public static DriverXbox getInstance() {
6464

6565
@Override
6666
public void setupTeleopButtons() {
67-
/*COMP BINDINGS */
67+
/*COMP BINDINGS */
6868
// Spit Coral
6969
controller.y().whileTrue(new SetRollersVoltage(3.5));
7070

@@ -136,8 +136,8 @@ public void setupTeleopButtons() {
136136
// controller.rightTrigger().whileTrue(new AlgaeRoller.IntakeCommand());
137137
// controller.leftTrigger().whileTrue(new CoralRollerSubsystem.SetVoltageCommand(12));
138138

139-
controller.rightTrigger().whileTrue(new InstantCommand(() -> RobotContainer.modeFast = false));
140-
controller.rightTrigger().whileFalse(new InstantCommand(() -> RobotContainer.modeFast = true));
139+
// controller.rightTrigger().whileTrue(new InstantCommand(() -> RobotContainer.modeFast = false));
140+
// controller.rightTrigger().whileFalse(new InstantCommand(() -> RobotContainer.modeFast = true));
141141
// controller.leftBumper().onTrue(new LineupCommand());
142142

143143
/*Algae Pivot TEsting */
@@ -150,30 +150,30 @@ public void setupTeleopButtons() {
150150
// controller.y().onTrue(new SetArmState(RushinatorPivot.State.kTestPos));
151151
// controller.a().onTrue(new SetArmState(RushinatorPivot.State.kTestPos2));
152152

153-
controller.x().onTrue(RobotCommands.coralPrime(
154-
RushinatorPivot.State.kStowTravel, ElevatorSubsystem.State.kZero, RushinatorWrist.State.kTravelRight)
155-
);
153+
// controller.x().onTrue(RobotCommands.coralPrime(
154+
// RushinatorPivot.State.kStowTravel, ElevatorSubsystem.State.kZero, RushinatorWrist.State.kTravelRight)
155+
// );
156156

157-
controller.povUp().onTrue(RobotCommands.coralPrime(
158-
RushinatorPivot.State.kScore, ElevatorSubsystem.State.kZero, RushinatorWrist.State.kTravelMid)
159-
);
157+
// controller.povUp().onTrue(RobotCommands.coralPrime(
158+
// RushinatorPivot.State.kScore, ElevatorSubsystem.State.kZero, RushinatorWrist.State.kTravelMid)
159+
// );
160160

161-
controller.b().onTrue(RobotCommands.coralPrime(
162-
RushinatorPivot.State.kStowTravel, ElevatorSubsystem.State.kCoralL3, RushinatorWrist.State.kTravelRight)
163-
);
161+
// controller.b().onTrue(RobotCommands.coralPrime(
162+
// RushinatorPivot.State.kStowTravel, ElevatorSubsystem.State.kCoralL3, RushinatorWrist.State.kTravelRight)
163+
// );
164164

165-
controller.y().onTrue(RobotCommands.coralPrime(
166-
RushinatorPivot.State.kStowTravel, ElevatorSubsystem.State.kCoralL4, RushinatorWrist.State.kTravelRight)
167-
);
165+
// controller.y().onTrue(RobotCommands.coralPrime(
166+
// RushinatorPivot.State.kStowTravel, ElevatorSubsystem.State.kCoralL4, RushinatorWrist.State.kTravelRight)
167+
// );
168168

169-
controller.rightBumper().whileTrue(new ConditionalCommand(
170-
RobotCommands.coralPrimeShoot(RushinatorPivot.State.kScore, RushinatorWrist.State.kScoreRightWrist),
171-
RobotCommands.coralPrimeShoot(RushinatorPivot.State.kScore, RushinatorWrist.State.kScoreLeftWrist),
172-
() -> RushinatorWrist.kLastState == RushinatorWrist.State.kTravelRight ||
173-
RushinatorWrist.kLastState == RushinatorWrist.State.kScoreRightWrist ||
174-
RushinatorWrist.kLastState == RushinatorWrist.State.kGroundMid ||
175-
RushinatorWrist.kLastState == RushinatorWrist.State.kHPMid)
176-
);
169+
// controller.rightBumper().whileTrue(new ConditionalCommand(
170+
// RobotCommands.coralPrimeShoot(RushinatorPivot.State.kScore, RushinatorWrist.State.kScoreRightWrist),
171+
// RobotCommands.coralPrimeShoot(RushinatorPivot.State.kScore, RushinatorWrist.State.kScoreLeftWrist),
172+
// () -> RushinatorWrist.kLastState == RushinatorWrist.State.kTravelRight ||
173+
// RushinatorWrist.kLastState == RushinatorWrist.State.kScoreRightWrist ||
174+
// RushinatorWrist.kLastState == RushinatorWrist.State.kGroundMid ||
175+
// RushinatorWrist.kLastState == RushinatorWrist.State.kHPMid)
176+
// );
177177
// controller.rightBumper().whileTrue(new SetRollersVoltage(0.0));
178178

179179
// controller.a().whileTrue(RobotCommands.coralPrime(
@@ -206,7 +206,7 @@ public void setupTeleopButtons() {
206206
// controller.leftBumper().onTrue(AutonMaster.getInstance().getTestPathFindingCommand());
207207

208208
// controller.y().onTrue(new InstantCommand(() -> CommandSwerveDrivetrain.getInstance().zeroHeading()));
209-
controller.leftTrigger().onTrue(CommandSwerveDrivetrain.getInstance().runOnce(()-> CommandSwerveDrivetrain.getInstance().seedFieldCentric()));
209+
// controller.leftTrigger().onTrue(CommandSwerveDrivetrain.getInstance().runOnce(()-> CommandSwerveDrivetrain.getInstance().seedFieldCentric()));
210210
}
211211

212212
@Override

‎src/main/java/frc/robot/operator/OperatorXbox.java‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -93,7 +93,7 @@ public void setupTeleopButtons() {
9393

9494
// Score Prime L1
9595
controller.a().onTrue(RobotCommands.coralPrime(
96-
RushinatorPivot.State.kScore, ElevatorSubsystem.State.kZero, RushinatorWrist.State.kTravelMid)
96+
RushinatorPivot.State.kScore, ElevatorSubsystem.State.kZero, RushinatorWrist.State.kScoreMid)
9797
);
9898

9999
// Score Prime L2

‎src/main/java/frc/robot/rushinator/RushinatorPivot.java‎

Lines changed: 0 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -45,9 +45,6 @@ public static class Settings {
4545
public enum State {
4646
kFloorIntake(Rotation2d.fromRotations(-0.0185546875)),
4747
kHPIntake(Rotation2d.fromRotations(0.201171875)),
48-
kScoreL1(Rotation2d.fromRotations(0)),
49-
kTestPos(Rotation2d.fromRotations(0.281005859375)),
50-
kTestPos2(Rotation2d.fromRotations(0.10302734375)),
5148
kScore(Rotation2d.fromRotations(0.17431640625)),
5249
kStowTravel(Rotation2d.fromRotations(0.25122)),
5350
kTuck(Settings.kMaxPos);

‎src/main/java/frc/robot/rushinator/RushinatorWrist.java‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -42,9 +42,9 @@ public static class Settings {
4242
}
4343
//-1.69580078125
4444
public enum State {
45-
kScoreLeftWrist(Rotation2d.fromRotations(-9.8 + 46.0)),
46-
kScoreRightWrist(Rotation2d.fromRotations(-9.8)),
47-
kScoreMid(Rotation2d.fromRotations(-11.693359375 + 6)),
45+
kScoreLeftWrist(Rotation2d.fromRotations(-11.693359375 + 46.0)),
46+
kScoreRightWrist(Rotation2d.fromRotations(-11.693359375)),
47+
kScoreMid(Rotation2d.fromRotations(-11.693359375 + 23)),
4848
kHPLeft(Rotation2d.fromRotations(22.658203125 + 23)),
4949
kHPRight(Rotation2d.fromRotations(22.658203125 - 23)),
5050
kHPMid(Rotation2d.fromRotations(22.658203125)),

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