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added buttons (again) #16

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added buttons (again) #16

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16 changes: 16 additions & 0 deletions src/main/java/org/usfirst/frc4904/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -122,6 +122,22 @@ public void teleopInitialize() {
cmd1.setName("Intake - manual outtake activation");
RobotMap.HumanInput.Operator.joystick.button1.onTrue(cmd1);
RobotMap.HumanInput.Operator.joystick.button1.onFalse(cmdnull);

// position + place cube
RobotMap.HumanInput.Operator.joystick.button7.onTrue(RobotMap.Component.arm.c_angleCubes(3));
RobotMap.HumanInput.Operator.joystick.button9.onTrue(RobotMap.Component.arm.c_angleCubes(2));
RobotMap.HumanInput.Operator.joystick.button11.onTrue(RobotMap.Component.arm.c_angleCubes(1));

//position cone
RobotMap.HumanInput.Operator.joystick.button8.onTrue(RobotMap.Component.arm.placeCones(3));
RobotMap.HumanInput.Operator.joystick.button10.onTrue(RobotMap.Component.arm.placeCones(2));
RobotMap.HumanInput.Operator.joystick.button12.onTrue(RobotMap.Component.arm.placeCones(1));

//shelf intake
RobotMap.HumanInput.Operator.joystick.button6.onTrue(RobotMap.Component.arm.c_posIntakeShelf());

//ground intake
RobotMap.HumanInput.Operator.joystick.button4.onTrue(RobotMap.Component.arm.c_posIntakeGround());
}

@Override
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2 changes: 1 addition & 1 deletion src/main/java/org/usfirst/frc4904/robot/subsystems/arm/ArmSubsystem.java
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Expand Up @@ -113,7 +113,7 @@ public Command placeCube(int shelf) {
.alongWith(new WaitCommand(1).andThen(RobotMap.Component.intake.c_holdVoltage(Intake.DEFAULT_INTAKE_VOLTS))
)).withTimeout(5); //TODO: change timeout
}
public Command c_angleCones(int shelf) {
public Command placeCones(int shelf) {
var degreesFromHorizontal = cones.get(shelf).getFirst();
var extensionLengthMeters = cones.get(shelf).getSecond();

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