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enable roboRio user button as compressor disable #7

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enable roboRio user button as compressor disable #7

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9 changes: 6 additions & 3 deletions CompetitionSoftware/src/main/java/frc/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,7 @@
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.cscore.UsbCamera;
import edu.wpi.first.cscore.VideoSource.ConnectionStrategy;
import edu.wpi.first.wpilibj.RobotController;

/**
* The VM is configured to automatically run this class, and to call the functions corresponding to
Expand All @@ -28,7 +29,7 @@ public class Robot extends TimedRobot {
public static final int kDriverCameraResolutionX = 640;
public static final int kDriverCameraResolutionY = 360;
public static final int kDriverCameraFPS = 15;

private UsbCamera driverCamera;

/**
Expand Down Expand Up @@ -101,14 +102,16 @@ public void teleopInit() {

// Get the driver's choice of control system - arcade or tank drive.
m_robotContainer.setDriveType();

//TODO Do all motors need to be turned off here?
}

/** This function is called periodically during operator control. */
@Override
public void teleopPeriodic() {

if(RobotController.getUserButton()){
m_robotContainer.disableCompressor();
}
}

@Override
Expand Down
32 changes: 18 additions & 14 deletions CompetitionSoftware/src/main/java/frc/robot/RobotContainer.java
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Expand Up @@ -55,25 +55,25 @@ public class RobotContainer {
new JoystickButton(m_operatorController, OperatorConstants.kClimbDown);

// Note Handling Buttons
private final JoystickButton m_intakeAutoButton =
private final JoystickButton m_intakeAutoButton =
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@jee7s jee7s Feb 17, 2024

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Apparently my VSCode line endings are different

new JoystickButton(m_operatorController, OperatorConstants.kIntakeAuto);
private final JoystickButton m_outputButton =
private final JoystickButton m_outputButton =
new JoystickButton(m_operatorController, OperatorConstants.kOutput);
private final JoystickButton m_intakeManualButton =
private final JoystickButton m_intakeManualButton =
new JoystickButton(m_operatorController, OperatorConstants.kIntakeManual);
private final JoystickButton m_fullStopButton =
private final JoystickButton m_fullStopButton =
new JoystickButton(m_operatorController, OperatorConstants.kFullStop);

// Goose Rotation Buttons
private final JoystickButton m_moveArmTopButton =
private final JoystickButton m_moveArmTopButton =
new JoystickButton(m_operatorController, OperatorConstants.kMoveArmTop);
private final JoystickButton m_moveArmBottomButton =
private final JoystickButton m_moveArmBottomButton =
new JoystickButton(m_operatorController, OperatorConstants.kMoveArmBottom);

/** The container for the robot. Contains subsystems, OI devices, and commands. */
public RobotContainer() {
m_pnuematicHub.enableCompressorAnalog(RobotConstants.minPnuematicsPressure,RobotConstants.maxPnuematicsPressure);

// Set up SmartDashboard/Shuffleboard widgets for driver/operator use.
configureDriverStationControls();

Expand Down Expand Up @@ -114,7 +114,7 @@ private void configureDriverStationControls()
SmartDashboard.putData(m_driveTypeChooser);
}

private void configureBindings()
private void configureBindings()
{
// Drive Controllers. We set arcade drive as the default here but may change this
// during teleopInit depending upon the value of a dashboard chooser.
Expand All @@ -125,23 +125,23 @@ private void configureBindings()
m_climbDownButton.onTrue(new ClimbCommand(m_climbSubsystem, ClimbSubsystem.State.GROUNDED));

// Note handling Buttons
m_intakeAutoButton.onTrue(new AutoNoteIntakeCommand(m_noteHandlingSubsystem,
m_intakeAutoButton.onTrue(new AutoNoteIntakeCommand(m_noteHandlingSubsystem,
NoteHandlingConstants.kIntakeSpeed));

m_intakeManualButton.onTrue(new NoteHandlingSpeedCommand(m_noteHandlingSubsystem,
m_intakeManualButton.onTrue(new NoteHandlingSpeedCommand(m_noteHandlingSubsystem,
NoteHandlingConstants.kIntakeSpeed));
m_intakeManualButton.onFalse(new NoteHandlingSpeedCommand(m_noteHandlingSubsystem,0.0));
m_outputButton.onTrue(new NoteHandlingSpeedCommand(m_noteHandlingSubsystem,

m_outputButton.onTrue(new NoteHandlingSpeedCommand(m_noteHandlingSubsystem,
NoteHandlingConstants.kOutputSpeed));
m_outputButton.onFalse(new NoteHandlingSpeedCommand(m_noteHandlingSubsystem,0.0));

m_fullStopButton.onTrue(new NoteHandlingSpeedCommand(m_noteHandlingSubsystem,0.0));

// Goose Rotation Buttons
m_moveArmTopButton.onTrue(new RotateCommand(m_rotationSubsystem,
m_moveArmTopButton.onTrue(new RotateCommand(m_rotationSubsystem,
GooseRotationConstants.kTopAngle));
m_moveArmBottomButton.onTrue(new RotateCommand(m_rotationSubsystem,
m_moveArmBottomButton.onTrue(new RotateCommand(m_rotationSubsystem,
GooseRotationConstants.kBottomAngle));
}

Expand All @@ -161,4 +161,8 @@ public void setDriveType()
Boolean bArcade = m_driveTypeChooser.getSelected();
m_driveSubsystem.initDefaultCommand(m_driverJoystickLeft, m_driverJoystickRight, bArcade);
}

public void disableCompressor(){
m_pnuematicHub.setCompressor(false);
}
}