Added X mode with whiletrue and changed climber bind to driver left b…

…umper
frc2053 · May 24, 2024 · 4ae2695 · 4ae2695
1 parent d38cf50
commit 4ae2695
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Showing 3 changed files with 32 additions and 9 deletions.
diff --git a/src/main/cpp/RobotContainer.cpp b/src/main/cpp/RobotContainer.cpp
@@ -39,17 +39,22 @@ void RobotContainer::ConfigureBindings() {
       [this] { return driveSub.CalcDistanceFromSpeaker(); }));
   operatorController.B().OnFalse(NotUsingShooter());
 
-  driverController.Back().WhileTrue(
+  driverController.LeftBumper().WhileTrue(
       climbSub.ManualControl([] { return 1; }, [] { return -1; }));
 
-  driverController.LeftBumper().WhileTrue(driveSub.DriveFactory(
-      DeadbandAndSquare([this] {
-        return ShouldFlipControlsForDriver(-driverController.GetLeftY());
-      }),
-      [this] { return -rotSpeed; }, DeadbandAndSquare([this] {
-        return ShouldFlipControlsForDriver(-driverController.GetRightX());
-      }),
-      [] { return false; }));
+  /*
+    driverController.LeftBumper().WhileTrue(driveSub.DriveFactory(
+        DeadbandAndSquare([this] {
+          return ShouldFlipControlsForDriver(-driverController.GetLeftY());
+        }),
+        [this] { return -rotSpeed; }, DeadbandAndSquare([this] {
+          return ShouldFlipControlsForDriver(-driverController.GetRightX());
+        }),
+        [] { return false; }));
+
+  */
+
+  driverController.RightStick().OnTrue(driveSub.XCommand());
 
   driverController.RightTrigger().WhileTrue(
       driveSub

diff --git a/src/main/cpp/subsystems/DrivebaseSubsystem.cpp b/src/main/cpp/subsystems/DrivebaseSubsystem.cpp
@@ -177,6 +177,22 @@ frc2::CommandPtr DrivebaseSubsystem::TurnToAngleFactory(
       .WithName("Turn To Angle Factory");
 }
 
+frc2::CommandPtr DrivebaseSubsystem::XCommand() {
+  return frc2::cmd::Run(
+             [this] {
+               std::array<frc::SwerveModuleState, 4> states;
+
+               states[0].angle = 45_deg;
+               states[1].angle = -45_deg;
+               states[2].angle = -45_deg;
+               states[3].angle = 45_deg;
+
+               swerveDrive.SetModuleStates(states, true);
+             },
+             {this})
+      .WithName("X Pattern");
+}
+
 frc2::CommandPtr DrivebaseSubsystem::SelfTest() {
   return swerveDrive.SelfTest({this});
 }

diff --git a/src/main/include/subsystems/DrivebaseSubsystem.h b/src/main/include/subsystems/DrivebaseSubsystem.h
@@ -59,6 +59,8 @@ class DrivebaseSubsystem : public frc2::SubsystemBase {
   frc2::CommandPtr SysIdQuasistaticDrive(frc2::sysid::Direction direction);
   frc2::CommandPtr SysIdDynamicDrive(frc2::sysid::Direction direction);
 
+  frc2::CommandPtr XCommand();
+
   frc2::CommandPtr WheelRadFwd();
   frc2::CommandPtr WheelRadRev();