up the D, move operator controls to operator

FRC-4509-MechBulls · Oct 18, 2023 · 47fb704 · 47fb704
1 parent f08248b
commit 47fb704
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Showing 3 changed files with 16 additions and 20 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -122,7 +122,7 @@ public static class ArmConstants {
 
     public static final double stageTwokP = 0.9; //0.8
     public static final double stageTwokI = 0.001; //0.001
-    public static final double stageTwokD = 2; //2
+    public static final double stageTwokD = 3; //2
     public static final double stageTwokF = 0.0;
 
 

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -4,21 +4,15 @@
 
 package frc.robot;
 
-import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.RunCommand;
-import frc.robot.Constants.OperatorConstants;
-import frc.robot.commands.*;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 import frc.robot.subsystems.EndEffectorSub;
 import frc.robot.subsystems.StateControllerSub;
 import frc.robot.subsystems.arm.Arm;
-import frc.robot.subsystems.arm.StageOneSub;
-import frc.robot.subsystems.arm.StageTwoSub;
 import frc.robot.subsystems.drive.SwerveSubsystem;
 import frc.robot.subsystems.drive.VisionSubsystem;
 
@@ -32,6 +26,7 @@ public class RobotContainer {
   // The robot's subsystems and commands are defined here...
 
   CommandXboxController driver = new CommandXboxController(0);
+  CommandXboxController operator = new CommandXboxController(1);
 
   VisionSubsystem visionSub = new VisionSubsystem();
   SwerveSubsystem swerveSubsystem = new SwerveSubsystem(visionSub);
@@ -68,20 +63,21 @@ public RobotContainer() {
     driver.back().onTrue(new InstantCommand(swerveSubsystem::toggleFieldOriented));
 
 
-    driver.a().onTrue(new InstantCommand(stateController::setArmModeToIntaking));
-    driver.b().onTrue(new InstantCommand(stateController::setArmModeToHolding));
-    driver.y().onTrue(new InstantCommand(stateController::setArmModeToPlacing));
-    driver.x().onTrue(new InstantCommand(stateController::setArmModeToPostPlacing));
+    operator.a().onTrue(new InstantCommand(stateController::setArmModeToIntaking));
+    operator.b().onTrue(new InstantCommand(stateController::setArmModeToHolding));
+    operator.y().onTrue(new InstantCommand(stateController::setArmModeToPlacing));
+    operator.x().onTrue(new InstantCommand(stateController::setArmModeToPostPlacing));
 
-    driver.povUp().onTrue(new InstantCommand(stateController::setArmLevelBottom));
-    driver.povRight().onTrue(new InstantCommand(stateController::setArmLevelMiddle));
-    driver.povLeft().onTrue(new InstantCommand(stateController::setArmLevelMiddle));
-    driver.povDown().onTrue(new InstantCommand(stateController::setArmLevelTop));
-
-    driver.leftTrigger(0.5).onTrue(new InstantCommand(stateController::setItemConeFallen));
+    operator.povUp().onTrue(new InstantCommand(stateController::setArmLevelBottom));
+    operator.povRight().onTrue(new InstantCommand(stateController::setArmLevelMiddle));
+    operator.povLeft().onTrue(new InstantCommand(stateController::setArmLevelMiddle));
+    operator.povDown().onTrue(new InstantCommand(stateController::setArmLevelTop));
 
-    driver.leftBumper().onTrue(new InstantCommand(stateController::setItemConeUpright));
-    driver.rightBumper().onTrue(new InstantCommand(stateController::setItemCubeFallen));
+    operator.leftTrigger(0.5).onTrue(new InstantCommand(stateController::setItemConeFallen));
+
+    operator.leftBumper().onTrue(new InstantCommand(stateController::setItemConeUpright));
+    operator.rightBumper().onTrue(new InstantCommand(stateController::setItemCube));
+    operator.rightTrigger(0.5).onTrue(new InstantCommand(stateController::setItemCube));
 
 
     // Configure the trigger bindings

diff --git a/src/main/java/frc/robot/subsystems/StateControllerSub.java b/src/main/java/frc/robot/subsystems/StateControllerSub.java
@@ -222,7 +222,7 @@ public void setItemConeUpright() {
     }
 
 
-    public void setItemCubeFallen(){
+    public void setItemCube(){
         desiredState.itemType = ItemType.CUBE;
         desiredState.itemIsFallen = ItemIsFallen.NOT_FALLEN;
     }