Replace the XBox triggers with claw open / close

FRC2713 · Sep 14, 2018 · 4d914e1 · 4d914e1
1 parent 38e061c
commit 4d914e1
Show file tree

Hide file tree

Showing 2 changed files with 10 additions and 7 deletions.
diff --git a/robot/src/main/java/org/iraiders/robot2018/robot/subsystems/DriveSubsystem.java b/robot/src/main/java/org/iraiders/robot2018/robot/subsystems/DriveSubsystem.java
@@ -3,18 +3,15 @@
 import com.ctre.phoenix.motorcontrol.ControlMode;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj.buttons.JoystickButton;
 import edu.wpi.first.wpilibj.command.Subsystem;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import lombok.Getter;
-import org.iraiders.robot2018.robot.OI;
 import org.iraiders.robot2018.robot.Robot;
 import org.iraiders.robot2018.robot.RobotMap;
 import org.iraiders.robot2018.robot.commands.OIDrive;
 import org.iraiders.robot2018.robot.commands.auto.PathfindingAuto;
-import org.iraiders.robot2018.robot.commands.auto.VisionAuto;
 import org.iraiders.robot2018.robot.commands.feedback.EncoderReporter;
 import org.iraiders.robot2018.robot.commands.feedback.RumbleListener;
 
@@ -38,11 +35,11 @@ public DriveSubsystem() {
       // For debugging pathfinding in auto
       if (a == null) a = new PathfindingAuto(this, Robot.getArmSubsystem(), Robot.getGrabberSubsystem());
       a.cancel();
-      JoystickButton testPathfinding = new JoystickButton(OI.getXBoxController(), 5); // LB
-      testPathfinding.whenPressed(a);
+      //JoystickButton testPathfinding = new JoystickButton(OI.getXBoxController(), 5); // LB
+      //testPathfinding.whenPressed(a);
 
-      JoystickButton testSebbys = new JoystickButton(OI.getXBoxController(), 6); // RB
-      testSebbys.whenPressed(new VisionAuto(this, Robot.getArmSubsystem()));
+      //JoystickButton testSebbys = new JoystickButton(OI.getXBoxController(), 6); // RB
+      //testSebbys.whenPressed(new VisionAuto(this, Robot.getArmSubsystem()));
     }
 
     new EncoderReporter(frontLeftTalon, frontRightTalon).start();

diff --git a/robot/src/main/java/org/iraiders/robot2018/robot/subsystems/GrabberSubsystem.java b/robot/src/main/java/org/iraiders/robot2018/robot/subsystems/GrabberSubsystem.java
@@ -18,6 +18,12 @@ public class GrabberSubsystem extends Subsystem {
   public GrabberSubsystem() {
     open.whenPressed(new ControlGrabber(this, GrabberPosition.OPEN));
     close.whenPressed(new ControlGrabber(this, GrabberPosition.CLOSE));
+
+    JoystickButton xboxClose = new JoystickButton(OI.getXBoxController(), 5); // LB
+    xboxClose.whenPressed(new ControlGrabber(this, GrabberPosition.CLOSE));
+
+    JoystickButton xboxOpen = new JoystickButton(OI.getXBoxController(), 6); // RB
+    xboxOpen.whenPressed(new ControlGrabber(this, GrabberPosition.OPEN));
 
     grabberSolenoid.setName(this.getName(), "Grabber Solenoid");
   }