Merge pull request #5 from Patribots4738/3-group-2-triggers

3 group 2 triggers to main
Patribots4738 · Dec 14, 2023 · d626319 · d626319
2 parents 7278bb4 + 95f98a5
commit d626319
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Showing 2 changed files with 34 additions and 11 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -74,15 +74,16 @@ private void configureButtonBindings() {
                 .onTrue(
                         setDriveSpeed(DriveConstants.MAX_TELEOP_SPEED_METERS_PER_SECOND));
 
-        Make a trigger so then when the current GAME_MODE 
+       (DONE) Make a trigger so then when the current GAME_MODE 
         is equal to AUTONOMOUS then set the drive speed to MAX_SPEED_METERS_PER_SECOND
 
-        Create a trigger like the one above so that 
+       (DONE) Create a trigger like the one above so that 
         while the "a" button is been pressed, 
             set the drive speed to ALIGNMENT_SPEED
         and when the "a" button has not been pressed, 
             set the drive speed to MAX_TELEOP_SPEED_METERS_PER_SECOND
 
+
         driver.y().or(driver.x()).onTrue(
                 Commands.runOnce(() -> swerve.resetOdometry(
                         new Pose2d(
@@ -97,18 +98,44 @@ private void configureButtonBindings() {
             swerve.getSetWheelsXCommand()
         );
 
-        Create a trigger so while the leftBumper is pressed, 
+        driver.a().onTrue(
+          setDriveSpeed(ALIGNMENT_SPEED)  
+        );
+
+        driver.a().onFalse(
+            setDriveSpeed(MAX_TELEOP_SPEED_METERS_PER_SECOND)
+        );
+
+        driver.leftBumper().onTrue(
+            swerve.getSetWheelsXCommand()
+        );
+
+        driver.leftStick().toggleOnTrue(
+            swerve.toggleSpeed()
+        );
+
+        driver.leftStick().onTrue(
+            claw.setSpeed(driver.getLeftTriggerAxis)
+        );
+
+        driver.rightStick.onTrue(
+            claw.setSpeed(driver.getRightTriggerAxis)
+        );
+
+        (DONE)Create a trigger so while the leftBumper is pressed, 
             run the command in swerve, getSetWheelsX
 
-        Create another trigger so 
+        (DONE) Create another trigger so 
             the swerve runs the toggleSpeed command in swerve 
             when the leftStick toggles to true
             hint (use the toggleOnTrue method)
+
 
-        Create two triggers so while the left and right triggers are true, 
+        (Done)Create two triggers so while the left and right triggers are true, 
             set the desired claw speed 
             to their respective left and right trigger axies
 
+
     }
 
     private CommandBase setDriveSpeed(double desiredSpeedMetersPerSecond) {

diff --git a/src/main/java/frc/robot/subsystems/Claw.java b/src/main/java/frc/robot/subsystems/Claw.java
@@ -29,13 +29,9 @@ public Claw() {
 
     }
 
-    @Override
-    public void periodic() {
-        set the current speed of the motors to the desired speed
+
 
-    }
-
-    private void setSpeed(double speed) {
+    public void setSpeed(double speed) {
         claw.set(-speed);
     }