rollerbar controls

Team-4795 · Jan 27, 2025 · 360cf5d · 360cf5d
1 parent 7f02be9
commit 360cf5d
Showing 1 changed file with 13 additions and 0 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -23,6 +23,9 @@
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
 import frc.robot.commands.DriveCommands;
+import frc.robot.subsystems.coralrollerbar.CoralRoller;
+import frc.robot.subsystems.coralrollerbar.CoralRollerIOReal;
+import frc.robot.subsystems.coralrollerbar.CoralRollerIOSim;
 import frc.robot.subsystems.drive.Drive;
 import frc.robot.subsystems.drive.GyroIO;
 import frc.robot.subsystems.drive.GyroIOPigeon2;
@@ -40,6 +43,7 @@
 public class RobotContainer {
   // Subsystems
   private final Drive drive;
+  private final CoralRoller coralRoller;
 
   // Controller
   private final CommandXboxController controller = new CommandXboxController(0);
@@ -51,6 +55,7 @@ public class RobotContainer {
   public RobotContainer() {
     switch (Constants.currentMode) {
       case REAL:
+        coralRoller = CoralRoller.init(new CoralRollerIOReal());
         // Real robot, instantiate hardware IO implementations
         drive =
             new Drive(
@@ -62,6 +67,7 @@ public RobotContainer() {
         break;
 
       case SIM:
+        coralRoller = CoralRoller.init(new CoralRollerIOSim());
         // Sim robot, instantiate physics sim IO implementations
         drive =
             new Drive(
@@ -73,6 +79,7 @@ public RobotContainer() {
         break;
 
       default:
+        coralRoller = CoralRoller.init(new CoralRollerIOSim());
         // Replayed robot, disable IO implementations
         drive =
             new Drive(
@@ -145,6 +152,12 @@ private void configureButtonBindings() {
                             new Pose2d(drive.getPose().getTranslation(), new Rotation2d())),
                     drive)
                 .ignoringDisable(true));
+    controller
+        .leftBumper()
+        .onTrue(Commands.runOnce(() -> coralRoller.setVelocity(0.9), coralRoller));
+    controller
+        .rightBumper()
+        .onTrue(Commands.runOnce(() -> coralRoller.setVelocity(-0.9), coralRoller));
   }
 
   /**