mapped buttons, updated outtake

renamed spinOut to SpinOutL1 and created variation for L2-L3
chopshop-166 · Jan 11, 2025 · 89a84ff · 89a84ff
1 parent f102feb
commit 89a84ff
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Showing 3 changed files with 18 additions and 3 deletions.
diff --git a/src/main/java/frc/robot/CommandSequences.java b/src/main/java/frc/robot/CommandSequences.java
@@ -38,4 +38,8 @@ public Command setRumble(ButtonXboxController controller, int rumbleAmount) {
             controller.getHID().setRumble(RumbleType.kBothRumble, rumbleAmount);
         });
     }
+
+    public Command resetAll() {
+        return drive.resetCmd().andThen(outtake.resetCmd(), algaeDestage.resetCmd());
+    }
 }
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -111,10 +111,15 @@ public void disabledInit() {
 
     @Override
     public void configureButtonBindings() {
-        driveController.back().onTrue(drive.resetCmd());
+        driveController.back().onTrue(commandSequences.resetAll());
         driveController.leftBumper()
                 .whileTrue(drive.robotCentricDrive());
 
+        driveController.a().onTrue(outtake.spinIn());
+        driveController.b().whileTrue(outtake.spinOut());
+        driveController.x().whileTrue(outtake.spinOutL1());
+        driveController.y().whileTrue(algaeDestage.destageAlgae());
+
     }
 
     @Override

diff --git a/src/main/java/frc/robot/subsystems/Outtake.java b/src/main/java/frc/robot/subsystems/Outtake.java
@@ -3,7 +3,6 @@
 import static edu.wpi.first.wpilibj2.command.Commands.waitSeconds;
 
 import com.chopshop166.chopshoplib.logging.LoggedSubsystem;
-import com.chopshop166.chopshoplib.motors.SmartMotorController;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.maps.subsystems.OuttakeMap;
@@ -21,13 +20,20 @@ public Outtake(OuttakeMap outtakeMap) {
         super(new Data(), outtakeMap);
     }
 
-    public Command spinOut() {
+    public Command spinOutL1() {
         return run(() -> {
             getData().leftWheel.setpoint = RELEASE_SPEEDLEFT;
             getData().rightWheel.setpoint = RELEASE_SPEEDRIGHT;
         }).until(() -> !getData().gamePieceDetected).andThen(waitSeconds(RELEASE_DELAY), safeStateCmd());
     }
 
+    public Command spinOut() {
+        return run(() -> {
+            getData().leftWheel.setpoint = RELEASE_SPEEDRIGHT;
+            getData().rightWheel.setpoint = RELEASE_SPEEDRIGHT;
+        }).until(() -> !getData().gamePieceDetected).andThen(waitSeconds(RELEASE_DELAY), safeStateCmd());
+    }
+
     public Command spinIn() {
         return run(() -> {
             getData().leftWheel.setpoint = INTAKE_SPEED;