controller bindings and constants

blair-robot-project · Feb 6, 2024 · a0f712c · a0f712c
1 parent a390654
commit a0f712c
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Showing 4 changed files with 31 additions and 27 deletions.
diff --git a/src/main/kotlin/frc/team449/robot2024/constants/subsystem/FeederConstants.kt b/src/main/kotlin/frc/team449/robot2024/constants/subsystem/FeederConstants.kt
@@ -1,9 +1,7 @@
 package frc.team449.robot2024.constants.subsystem
 
 object FeederConstants {
-  const val MOTOR_ID = 57
-  const val FOLLOLWER_ID = 56
-  const val FOLLOWER_INV = false
+  const val MOTOR_ID = 44
   const val INVERTED = true
   const val CURRENT_LIM = 15
 

diff --git a/src/main/kotlin/frc/team449/robot2024/constants/subsystem/ShooterConstants.kt b/src/main/kotlin/frc/team449/robot2024/constants/subsystem/ShooterConstants.kt
@@ -8,9 +8,9 @@ import edu.wpi.first.math.numbers.N3
 
 object ShooterConstants {
   const val EFFICIENCY = 1.0
-  const val RIGHT_MOTOR_ID = 60
+  const val RIGHT_MOTOR_ID = 45
   const val RIGHT_MOTOR_INVERTED = false
-  const val LEFT_MOTOR_ID = 61
+  const val LEFT_MOTOR_ID = 46
   const val LEFT_MOTOR_INVERTED = false
   const val CURRENT_LIMIT = 40
 

diff --git a/src/main/kotlin/frc/team449/robot2024/subsystems/ControllerBindings.kt b/src/main/kotlin/frc/team449/robot2024/subsystems/ControllerBindings.kt
@@ -25,19 +25,26 @@ class ControllerBindings(
   )
 
   private fun robotBindings() {
-    mechanismController.rightBumper().onTrue(
-      robot.undertaker.intake()
-    ).onFalse(
-      robot.undertaker.stop()
+
+    driveController.rightBumper().onTrue(
+      robot.undertaker.intake().andThen(
+        robot.feeder.intake()
+      )).onFalse(
+      robot.undertaker.stop().andThen(
+        robot.feeder.stop()
+      )
     )
 
-    mechanismController.leftBumper().onTrue(
-      robot.undertaker.outtake()
-    ).onFalse(
-      robot.undertaker.stop()
+    driveController.leftBumper().onTrue(
+      robot.undertaker.outtake().andThen(
+        robot.feeder.outtake()
+      )).onFalse(
+      robot.undertaker.stop().andThen(
+        robot.feeder.stop()
+      )
     )
 
-//    /** Shooting from anywhere */
+    /** Shooting from anywhere */
 //    mechanismController.a().onTrue(
 //      ParallelCommandGroup(
 //        orbitCmd,
@@ -57,21 +64,21 @@ class ControllerBindings(
 //    )
 
 //    mechanismController.b().onTrue(
-//      robot.pivot.moveAmp()
-//    )
-//
-//    mechanismController.x().onTrue(
-//      robot.pivot.moveSubwoofer()
-//    )
-//
-//    mechanismController.a().onTrue(
-//      robot.pivot.moveStow()
+//      robot.pivot()
 //    )
+
+    mechanismController.x().onTrue(
+      robot.pivot.moveAmp()
+    )
+
+    mechanismController.a().onTrue(
+      robot.pivot.moveStow()
+    )
   }
 
-  private fun evergreenBindings() {
+  private fun nonRobotBindings() {
     // slow drive
-    driveController.rightTrigger(0.75).onTrue(
+    driveController.rightTrigger(0.5).onTrue(
       InstantCommand({ robot.drive.maxLinearSpeed = 1.0 })
         .andThen(InstantCommand({ robot.drive.maxRotSpeed = PI / 4 }))
     ).onFalse(
@@ -99,7 +106,7 @@ class ControllerBindings(
   }
 
   fun bindButtons() {
-    evergreenBindings()
+    nonRobotBindings()
     robotBindings()
   }
 }
diff --git a/src/main/kotlin/frc/team449/robot2024/subsystems/Feeder.kt b/src/main/kotlin/frc/team449/robot2024/subsystems/Feeder.kt
@@ -46,7 +46,6 @@ class Feeder(
         ),
         inverted = FeederConstants.INVERTED,
         currentLimit = FeederConstants.CURRENT_LIM,
-        slaveSparks = mapOf(Pair(FeederConstants.FOLLOLWER_ID, FeederConstants.FOLLOWER_INV))
       )
 
       return Feeder(motor)