other chairbot

src/main/java/frc/robot/RobotContainer.java

@@ -19,9 +19,11 @@
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 import frc.robot.commands.AimCommand;
 import frc.robot.commands.BalanceCommand;
+import frc.robot.commands.BreakCommand;
 import frc.robot.commands.DefaultDrive;
 import frc.robot.commands.DriftCommand;
 import frc.robot.commands.RawDrive;
+import frc.robot.commands.StraightRawCommand;
 import frc.robot.subsystems.DriveSubsystem;
 import frc.robot.subsystems.UltrasonicSubsystem;
 import java.util.HashMap;
@@ -59,10 +61,16 @@ public class RobotContainer {
   // misc init
   private final DriftCommand m_driftCommand =
       new DriftCommand(m_driveSubsystem, this::getControllerLeftY, this::getControllerRightY);
+  private final StraightRawCommand m_straightRawCommand =
+      new StraightRawCommand(m_driveSubsystem, this::getControllerLeftY, this::getControllerRightY);
+  private final BreakCommand m_breakCommand =
+      new BreakCommand(m_driveSubsystem, this::getControllerLeftY, this::getControllerRightY);
   private Trigger m_switchCameraButton;
   private Trigger m_balanceButton;
   private Trigger m_rawDriveButton;
   private Trigger m_driftButton;
+  private Trigger m_straightRawButton;
+  private Trigger m_breakButton;
   private JoystickButton m_aimButton;
   // Init For Autonomous
   private RamseteAutoBuilder autoBuilder;
@@ -93,13 +101,17 @@ private void configureButtonBindings() {
     m_balanceButton = m_controller1.rightBumper();
     m_rawDriveButton = m_controller1.rightTrigger();
     m_driftButton = m_controller1.leftTrigger();
+    m_straightRawButton = m_controller1.rightBumper();
+    m_breakButton = m_controller1.leftBumper();
     // Joystick buttons
     m_aimButton = new JoystickButton(m_flightStick, Constants.AIMBUTTON);
     // commands
     m_balanceButton.whileTrue(m_balanceCommand);
     m_rawDriveButton.whileTrue(m_RawDriveCommand);
     m_aimButton.whileTrue(m_aimCommand);
     m_driftButton.whileTrue(m_driftCommand);
+    m_straightRawButton.whileTrue(m_straightRawCommand);
+    m_breakButton.whileTrue(m_breakCommand);
 
     m_controller1.a().whileTrue(new InstantCommand(() -> m_driveSubsystem.SetBrakemode()));
     m_controller1.b().whileTrue(new InstantCommand(() -> m_driveSubsystem.SetCoastmode()));

src/main/java/frc/robot/commands/BreakCommand.java

@@ -0,0 +1,57 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.DriveSubsystem;
+import java.util.function.DoubleSupplier;
+
+/** An example command that uses an example subsystem. */
+public class BreakCommand extends CommandBase {
+  private final DriveSubsystem m_driveSubsystem;
+  private final DoubleSupplier m_left_y; // this gives us the left y axis for current controller
+  private final DoubleSupplier m_right_y; // this gives us the right y axis for current controller
+  /**
+   * Creates a new StraightCommand.
+   *
+   * @param d_subsystem The drive subsystem used by this command.
+   * @param xbox_left_y A function that returns the value of the left y axis for the joystick.
+   * @param xbox_right_y A function that returns the value of the right Y axis for the joystick.
+   */
+  public BreakCommand(
+      DriveSubsystem d_subsystem, DoubleSupplier xbox_left_y, DoubleSupplier xbox_right_y) {
+    m_driveSubsystem = d_subsystem;
+    m_left_y = xbox_left_y;
+    m_right_y = xbox_right_y;
+
+    // Change this to match the name of your camera
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(d_subsystem);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    System.out.println("Starting 'StraightCommand.");
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    m_driveSubsystem.tankDrive(0.7, 0.7);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    m_driveSubsystem.turnResetPID(); // we make sure to clear the PID angle
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/DriftCommand.java

@@ -41,7 +41,6 @@ public void initialize() {
   @Override
   public void execute() {
     m_driveSubsystem.tankDrive(m_left_y.getAsDouble(), m_right_y.getAsDouble());
-    ;
   }
 
   // Called once the command ends or is interrupted.